# US 10,372,141 B2 · Systems and methods for controlling autonomous vehicles that provide a vehicle service to users > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,372,141 B2 - Document ID: US10372141B2 - Status: Granted - Kind: B2 - Application number: 15/662,327 - Filed: 2017-07-28 - Published: 2018-11-29 - Granted: 2019-08-06 - Earliest claimed: 2017-05-24 - Assignees: Uber Technologies, Inc. - Applicants: Uber Technologies, Inc. - Inventors: Richard Brian Donnelly; Michael Aitken - Web page: https://patentgrep.com/patent/US10372141B2 ## CPC - G05D 1/0276: {using signals provided by a source external to the vehicle (involving a plurality of vehicles G05D1/0287; automatically controlling vehicle speed responsive to externally generated signals B60K31/0058)} - B60R 16/037: for occupant comfort {, e.g. for automatic adjustment of appliances according to personal settings, e.g. seats, mirrors, steering wheel} - B60R 25/24: using electronic identifiers containing a code not memorised by the user - B60W 60/00253: {Taxi operations} - G01C 21/3438: {Rendezvous; Ride sharing} - G01C 21/3492: {employing speed data or traffic data, e.g. real-time or historical (traffic control systems for road vehicles involving transmission of navigation instructions to the vehicle G08G1/0968)} - G01C 21/3676: {Overview of the route on the road map} - G05D 1/00: Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots (drive control systems specially adapted for autonomous road vehicles B60W60/00) - G08G 1/005: including pedestrian guidance indicator - G08G 1/0112: {from the vehicle, e.g. floating car data [FCD]} - G08G 1/0129: {for creating historical data or processing based on historical data} - G08G 1/0137: {for specific applications} - G08G 1/0145: {for active traffic flow control} - G08G 1/09: Arrangements for giving variable traffic instructions ({railroad crossing signals B61L; reflectors E01F, G08B}; indicating arrangements for variable information by selection or combination of individual elements G09F9/00) - G08G 1/09623: {Systems involving the acquisition of information from passive traffic signs by means mounted on the vehicle (G08G1/0967 takes precedence)} - G08G 1/09626: {where the origin of the information is within the own vehicle, e.g. a local storage device, digital map} - G08G 1/096725: {where the received information generates an automatic action on the vehicle control} - G08G 1/096775: {where the origin of the information is a central station} - G08G 1/096791: {where the origin of the information is another vehicle} - G08G 1/096827: {where the route is computed onboard} - G08G 1/123: indicating the position of vehicles, e.g. scheduled vehicles; {Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams}(transmission of navigation instructions to vehicles G08G1/0968) - G08G 1/143: {inside the vehicles} - G08G 1/147: {where the parking area is within an open public zone, e.g. city centre} - G08G 1/202: {Dispatching vehicles on the basis of a location, e.g. taxi dispatching} - G08G 1/205: {Indicating the location of the monitored vehicles as destination, e.g. accidents, stolen, rental} - H04W 4/46: for vehicle-to-vehicle communication [V2V] - H04W 4/40: for vehicles, e.g. vehicle-to-pedestrians [V2P] - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - B60R: VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S) - G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93}) - H04W: WIRELESS COMMUNICATION NETWORKS (broadcast communication H04H; communication systems using wireless links for non-selective communication, e.g. wireless extensions H04M1/72) ## Abstract Systems and methods for determining autonomous vehicle user boarding times are provided. In one example embodiment, a computer implemented method includes obtaining location data associated with a user device associated with a user. The method includes determining an estimated time until the user starts boarding the autonomous vehicle based at least in part on the location data associated with the user device. The method includes obtaining data associated with the user. The method includes determining an estimated time of boarding duration for the user based at least in part on the data associated with the user. The method includes determining an estimated time until the user completes boarding of the autonomous vehicle based at least in part on the estimated time until the user starts boarding the autonomous vehicle and the estimated time of boarding duration for the user. ## Claims ### Claim 1 A computer-implemented method of determining autonomous vehicle user boarding times, comprising: obtaining, by a computing system that comprises one or more computing devices onboard an autonomous vehicle, location data associated with a user device associated with a user; determining, by the computing system, a heading of the user based at least in part on the location data associated with the user device; determining, by the computing system, an estimated time until the user starts boarding the autonomous vehicle based at least in part on the location data associated with the user device and the heading of the user; obtaining, by the competing system, data associated with the user; determining, by the computing system, an estimated time of boarding duration for the user based at least in part on the data associated with the user; and determining, by the computing system, an estimated time until the user completes boarding of the autonomous vehicle based at least in part on the estimated time until the user starts boarding the autonomous vehicle and the estimated time of boarding duration for the user. ### Claim 2 (depends on 1) The computer-implemented method of claim 1, wherein determining, by the computing system, the estimated time until the user starts boarding the autonomous vehicle based at least in part on the location data associated with the user device comprises: determining, by the computing system, a distance between the user and the autonomous vehicle based at least in part on the location data associated with the user device, wherein the estimated time until the user starts boarding the autonomous vehicle is based at least in part on the distance between the user and the autonomous vehicle. ### Claim 3 (depends on 1) The computer-implemented method of claim 1, wherein determining, by the computing system, the estimated time until the user starts boarding the autonomous vehicle based at least in part on the location data associated with the user device comprises: determining, by the computing system, an altitude of the user based at least in part on the location data associated with the user device, wherein the estimated time until the user starts boarding the autonomous vehicle is based at least in part on the altitude of the user. ### Claim 4 (depends on 1) The computer-implemented method of claim 1, wherein determining, by the computing system, the estimated time until the user starts boarding the autonomous vehicle based at least in part on the location data associated with the user device comprises: obtaining, by the computing system, historic data indicative of historic start boarding times, wherein the estimated time until the user starts boarding the autonomous vehicle is based at least in part on the historic data. ### Claim 5 (depends on 1) The computer-implemented method of claim 1, wherein determining, by the computing system, the estimated time until the user starts boarding the autonomous vehicle based at least in part on the location data associated with the user device comprises: determining, by the computing system, the estimated time until the user starts boarding the autonomous vehicle based at least in part on a machine-learned model. ### Claim 6 (depends on 1) The computer-implemented method of claim 1, wherein the data associated with the user comprises data indicative of one or more preferences of the user. ### Claim 7 (depends on 1) The computer-implemented method of claim 1, wherein the data associated with the user comprises data indicative of one or more vehicle service parameters associated with the user. ### Claim 8 (depends on 1) The computer-implemented method of claim 1, wherein the data associated with the user comprises historic data indicative of a boarding behavior associated with one or more other users. ### Claim 9 (depends on 1) The computer-implemented method of claim 1, further comprising: causing, by the computing system, one or more doors of the autonomous vehicle to unlock based at least in part on the location data associated with the user device. ### Claim 10 (depends on 1) The computer-implemented method of claim 1, further comprising: causing, by the computing system, the autonomous vehicle to implement one or more vehicle settings associated with the user based at least in part on the location data associated with the user device. ### Claim 11 A computing system for determining autonomous vehicle user boarding times, comprising: one or more processors; and one or more memory devices, the one or more memory devices storing instructions that when executed by the one or more processors cause the computing system to perform operations, the operations comprising: obtaining location data associated with a user device associated with a user of an autonomous vehicle; determining a heading of the user based at least in part on the location data associated with the user device; obtaining data associated with the user of the autonomous vehicle; and determining an estimated time until the user completes boarding of the autonomous vehicle based at least in part on the location data associated with the user device, the heading of the user, and the data associated with the user. ### Claim 12 (depends on 11) The computing system of claim 11, wherein the operations further comprise: determining an estimated time of boarding duration for the user based at least in part on the data associated with the user; and determining an estimated time until the user starts boarding the autonomous vehicle based at least in part on the location data associated with the user device, wherein determining the estimated time until the user completes boarding of the autonomous vehicle based at least in part on the location data associated with the user device and the data associated with the user comprises determining the estimated time until the user completes boarding of the autonomous vehicle based at least in part on the estimated time until the user starts boarding the autonomous vehicle and the estimated time of boarding duration for the user. ### Claim 13 (depends on 12) The computing system of claim 12, wherein obtaining the location data associated with the user device comprises: obtaining the location data via at least one altimeter located onboard the autonomous vehicle, wherein the operations further comprise determining an altitude of the user based at least in part on the location data obtained via the at least one altimeter, and wherein the estimated time until the user starts boarding the autonomous vehicle is based at least in part on the altitude of the user. ### Claim 14 (depends on 12) The computing system of claim 12, wherein the estimated time until the user starts boarding the autonomous vehicle is based at least in part on the heading of the user. ### Claim 15 (depends on 11) The computing system of claim 11, wherein obtaining the location data associated with the user device comprises: obtaining the location data based at least in part on a triangulation of signals via at least one of multiple input, multiple output communication between the autonomous vehicle and the user device, one or more Bluetooth low energy beacons located onboard the autonomous vehicle, or a light signal handshake between the user device and the autonomous vehicle. ### Claim 16 An autonomous vehicle comprising: a communication system; one or more processors; and one or more memory devices, the one or more memory devices storing instructions that when executed by the one or more processors cause the autonomous vehicle to perform operations, the operations comprising: obtaining, via the communication system, location data associated with a user device associated with a user; determining a heading of the user based at least in part on the location data associated with the user device; determining an estimated time until the user starts boarding the autonomous vehicle based at least in part on the location data associated with the user device and the heading of the user; obtaining data associated with the user; determining an estimated time of boarding duration for the user based at least in part on the data associated with the user; and determining an estimated time until the user completes boarding of the autonomous vehicle based at least in part on the estimated time until the user starts boarding the autonomous vehicle and the estimated time of boarding duration for the user. ### Claim 17 (depends on 16) The autonomous vehicle of claim 16, wherein the autonomous vehicle is to provide a vehicle service to the user, wherein the vehicle service is a transportation service. ### Claim 18 (depends on 16) The autonomous vehicle of claim 16, wherein the communication system comprises one or more receivers configured to obtain one or more radio frequency signals from the user device. ### Claim 19 (depends on 16) The autonomous vehicle of claim 16, wherein the operations further comprise: causing the autonomous vehicle to perform the one or more vehicle actions based at least in part on the estimated time until the user completes boarding of the autonomous vehicle, wherein the one or more vehicle actions comprise at least one of stopping the autonomous vehicle within a vicinity of a location associated with the user or entering into a vehicle holding pattern.