# US 11,441,912 B2 · Systems and methods for multi-modality autonomous vehicle transport > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,441,912 B2 - Document ID: US11441912B2 - Status: Granted - Kind: B2 - Application number: 16/288,064 - Filed: 2019-02-27 - Published: 2020-08-27 - Granted: 2022-09-13 - Earliest claimed: 2019-02-27 - Assignees: GM Cruise Holdings LLC - Applicants: GM Cruise Holdings LLC - Inventors: Mohamed M. Elshenawy - Web page: https://patentgrep.com/patent/US11441912B2 ## CPC - G01C 21/3423: {Multimodal routing} - G01C 21/343: {Calculating itineraries (travelling salesman problem G06Q10/04; optimisation of routes G06Q10/047)} - G05D 1/0088: {characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours (using knowledge based models G06N5/00)} - G05D 1/0274: {using mapping information stored in a memory device (navigation using map-matching G01C21/30)} - G05D 1/246: using environment maps, e.g. simultaneous localisation and mapping [SLAM] - G05D 1/81: Handing over between on-board automatic and on-board manual control - G08G 1/096805: {where the transmitted instructions are used to compute a route} - G08G 1/202: {Dispatching vehicles on the basis of a location, e.g. taxi dispatching} - G05D 1/0212: {with means for defining a desired trajectory (involving a plurality of land vehicles G05D1/0287)} - G05D 1/0257: {using a radar (radar systems designed for anti-collision purposes between land vehicles or between land vehicle and fixed obstacles G01S13/931)} - G05D 1/027: {comprising intertial navigation means, e.g. azimuth detector (inertial navigation G01C21/16; inertial navigation combined with non-inertial navigation instruments G01C21/165)} - G05D 1/0278: {using satellite positioning signals, e.g. GPS} - G05D 1/245: using dead reckoning - G05D 1/247: using signals provided by artificial sources external to the vehicle, e.g. navigation beacons - G05D 1/248: generated by satellites, e.g. GPS - G05D 1/646: Following a predefined trajectory, e.g. a line marked on the floor or a flight path - G08G 1/096866: {where the complete route is shown to the driver} - 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) - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - 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}) ## Abstract Technologies disclosed herein facilitate identification of a trip route from an origin of a user to a desired destination of the user, wherein the trip route includes multiple transportation modalities, at least one of which is an autonomous vehicle (AV), and dispatching of the AV to a pickup location for the user in connection with providing transportation to the user along a portion of the identified trip route. ## Claims ### Claim 1 A computing system comprising: a processor; and memory that stores computer-executable instructions that, when executed by the processor, cause the processor to perform acts comprising: receiving a trip request pertaining to passenger transportation, the trip request comprising data indicative of a trip origin and a trip destination; generating a route plan for the trip request that includes multiple transportation modalities by performing an optimization over routing information, the multiple transportation modalities including transport by way of an autonomous vehicle (AV) and a second transportation modality, the routing information including a map of a first operational region that includes the trip origin and the trip destination, wherein generating the route plan is based upon a user modality setting, the user modality setting specifying a first set of transportation modalities that the user is willing to take in the first operational region and a second set of transportation modalities that the user is willing to take in a second operational region, wherein the first set of transportation modalities fails to include at least one transportation modality included in the second set of transportation modalities, and wherein the route plan includes only transportation modalities specified in the first set of transportation modalities; and issuing a pickup instruction to an AV in communication with the computing system, the AV configured for conveyance of passengers, wherein the pickup instruction is configured to cause the AV to navigate to a pickup location included in the route plan, wherein the pickup instruction is configured such that responsive to the AV arriving at a terminus point included in the route plan, the terminus point associated with the second transportation modality, the AV displays, by way of a display included on the AV, a graphical indication of a location of the terminus point associated with the second transportation modality. ### Claim 2 (depends on 1) The computing system of claim 1, wherein the routing information includes data pertaining to public transportation routes, and wherein at least one of the multiple transportation modalities is public transportation. ### Claim 3 (depends on 1) The computing system of claim 1, wherein at least one of the multiple transportation modalities is a train, a bus, or a personal transportation device. ### Claim 4 (depends on 1) The computing system of claim 1, wherein the routing information includes data indicative of locations of AVs in a fleet of AVs operating in the region. ### Claim 5 (depends on 1) The computing system of claim 1, wherein performing the optimization over the routing information comprises identifying a fastest route from the trip origin to the trip destination across the multiple transportation modalities. ### Claim 6 (depends on 1) The computing system of claim 1, wherein performing the optimization over the routing information comprises identifying a route across the multiple modalities that costs a least amount of money subject to at least one of a time constraint, a distance constraint, or a location constraint. ### Claim 7 (depends on 6) The computing system of claim 6, the location constraint comprising a region of permissible travel, wherein the route plan is constrained to lie within the region of permissible travel. ### Claim 8 (depends on 1) The computing system of claim 1, the AV being a first AV, the acts further comprising issuing a second pickup instruction to a second AV, the second pickup instruction configured to cause the second AV to navigate to a second pickup location, the second pickup location being a location other than the terminus point associated with the second transportation modality. ### Claim 9 (depends on 8) The computing system of claim 8, wherein the second pickup location is determined by the computing system based upon a terminus point of a transportation modality other than the first AV. ### Claim 10 (depends on 1) The computing system of claim 1, wherein the trip request is received from a client computing device, the acts further comprising outputting data indicative of the route plan to the client computing device. ### Claim 11 (depends on 10) The computing system of claim 10, wherein the issuing the pickup instruction is performed in response to receiving a confirmation indication from the client computing device. ### Claim 12 (depends on 1) The computing system of claim 1, the acts further comprising: receiving an authorization for the second modality of transport, the authorization indicating that a user is authorized to use the second modality of transport; and outputting the authorization to a client computing device. ### Claim 13 (depends on 12) The computing device of claim 12, the authorization comprising an electronic ticket for the second transportation modality. ### Claim 14 (depends on 1) The computing system of claim 1, wherein the terminus point is a first terminus point, and wherein the route plan includes a first leg corresponding to travel by way of a third transportation modality and a second leg corresponding to travel by way of the AV, the first leg including a second terminus point, the second terminus point being different from the trip origin or the trip destination, and wherein the pickup location is the first terminus point. ### Claim 15 A computing device configured to perform the following acts: responsive to receiving user input indicative of a desired trip destination of a user at the computing device, generating a trip request that comprises data indicative of a trip origin and the desired trip destination; outputting the trip request to a server computing device, wherein the trip request is configured to cause the server computing device to generate a route plan for the trip request that includes multiple transportation modalities by performing an optimization over routing information, the multiple transportation modalities including transport by way of an autonomous vehicle (AV) and at least one other transportation modality, the routing information including a map of a first operational region that includes the trip origin and the trip destination, wherein the server computing device generates the route plan based upon a user modality setting, the user modality setting specifying a first set of transportation modalities that the user is willing to take in the first operational region and a second set of transportation modalities that the user is willing to take in a second operational region, wherein the first set of transportation modalities fails to include at least one transportation modality included in the second set of transportation modalities, and wherein the route plan includes only transportation modalities specified in the first set of transportation modalities; responsive to receiving data indicative of the route plan generated by the server computing device, displaying, by way of a display of the computing device, a first graphical indication of at least a portion of the route plan; responsive to receiving second user input indicative of confirmation of the route plan, outputting a confirmation of the route plan to the server computing device, wherein the confirmation of the route plan is configured to cause the server computing device to issue a pickup instruction to an AV in communication with the server computing device, wherein the pickup instruction is configured to cause the AV to navigate to a pickup location included in the route plan; and responsive to the AV arriving at a terminus point included in the route plan, the terminus point associated with a modality of transport other than the AV, displaying a second graphical indication by way of the display, the second graphical indication indicating a location of the terminus point associated with the modality of transportation other than the AV. ### Claim 16 (depends on 15) The computing device of claim 15, the acts further comprising responsive to receiving an indication from the server computing device indicating that the pickup instruction has been issued to the AV, displaying an indication of the pickup location on the display. ### Claim 17 (depends on 15) The computing device of claim 15, the acts further comprising receiving location data from a sensor mounted on the computing device, and wherein generating the trip request is based upon the location data. ### Claim 18 (depends on 15) The computing device of claim 15, the acts further comprising receiving an authorization indication from the server computing device that indicates that a user of the computing device is authorized to use the at least one other transportation modality. ### Claim 19 (depends on 15) The computing device of claim 15, wherein the route plan includes a first leg, a second leg, and a third leg, the first leg and the third leg corresponding to travel by way of transportation modalities other than an AV, the second leg corresponding to travel by way of the AV, wherein the pickup location is a destination point associated with the first leg, and wherein the terminus point is an origin point associated with the third leg. ### Claim 20 An autonomous vehicle (AV), comprising: a processor; a display; and memory that stores computer-executable instructions that, when executed by the processor, cause the processor to perform acts comprising: responsive to receiving a pickup instruction from a server computing device in communication with the AV, navigating to a pickup location indicated in the pickup instruction, the pickup instruction transmitted to the AV by the server computing device in connection with a route plan that includes multiple transportation modalities, the route plan generated by the server computing device based upon a user modality setting, the user modality setting specifying a first set of transportation modalities that the user is willing to take in a first operational region that includes the pickup location and a second set of transportation modalities that the user is willing to take in a second operational region, wherein the first set of transportation modalities fails to include at least one transportation modality included in the second set of transportation modalities, and wherein the route plan includes only transportation modalities specified in the first set of transportation modalities; displaying a first graphical indication of at least a portion of the route plan by way of the display, wherein the graphical indication includes an indication that the route plan includes multiple transportation modalities; and responsive to the AV arriving at a terminus point included in the route plan, the terminus point associated with a modality of transport other than the AV, displaying a second graphical indication by way of the display, the second graphical indication indicating the modality of transportation other than the AV.