# US 12,223,841 B2 · System amd method for providing a ride assistant for on-demand autonomy

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- Number: US 12,223,841 B2
- Document ID: US12223841B2
- Status: Granted
- Kind: B2
- Application number: 17/447,132
- Filed: 2021-09-08
- Published: 2023-03-09
- Granted: 2025-02-11
- Earliest claimed: 2021-09-08
- Applicants: GM Global Technology Operations LLC
- Inventors: Arun Adiththan; Prakash Mohan Peranandam; Ramesh Sethu
- Web page: https://patentgrep.com/patent/US12223841B2

## CPC

- G08G 1/22: {Platooning, i.e. convoy of communicating vehicles}
- B60W 30/14: {Adaptive} cruise control
- B60W 60/0027: {using trajectory prediction for other traffic participants}
- G07C 5/008: {communicating information to a remotely located station (transmission systems for measured values G08C)}
- G07C 5/02: Registering or indicating driving, working, idle, or waiting time only (apparatus forming part of taximeters G07B13/00)
- G08G 1/205: {Indicating the location of the monitored vehicles as destination, e.g. accidents, stolen, rental}
- H04L 67/10: in which an application is distributed across nodes in the network (software deployment G06F8/60; multiprogramming arrangements G06F9/46)
- H04L 67/12: specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
- H04W 4/46: for vehicle-to-vehicle communication [V2V]
- H04W 4/44: for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
- 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})
- 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
- G07C: TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- H04L: TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION (arrangements common to telegraphic and telephonic communication H04M)
- H04W: WIRELESS COMMUNICATION NETWORKS (broadcast communication H04H; communication systems using wireless links for non-selective communication, e.g. wireless extensions H04M1/72)

## Abstract

A method in an On-Demand Autonomy system includes: monitoring for a trip change request from a plurality of platoon vehicles including a first leader vehicle (Lv) and a follower vehicle (Fv). When a trip termination request is received from a platoon vehicle, the method includes broadcasting information regarding the request to the other platoon vehicles, and monitoring for an acknowledgement of the request. When the trip termination request originated from the first Lv, the method includes electing a new Lv, computing a rendezvous point for the new Lv and the Fv, and signaling the Fv and new Lv regarding the rendezvous point. When a trip modification request is received from the Fv, the method includes broadcasting information regarding the request to the first Lv, electing a new Lv, computing a rendezvous point for the new Lv and the Fv, and signaling the Fv and new Lv regarding the rendezvous point.

## Claims

### Claim 1

An On-Demand Autonomy (ODA) system comprising:
a plurality of platoon vehicles comprising:
a follower vehicle (Fv) configured to be controlled toward a requested location; and
a first leader vehicle (Lv) configured to control the Fv toward the requested location;
a cloud based server (ODAS) comprising a controller for supporting ODA platooning, the controller comprising non-transitory computer readable media and one or more processors configured by programming instructions on the non-transitory computer readable media; and
the ODAS configured to receive a trip request for ODA platooning service from a first vehicle, seek an agreement to establish a virtual coupling link between the first vehicle and at least one second vehicle, wherein the ODAS is further configured to:
broadcast the trip request to a plurality of second vehicles;
receive a set of responses from at least one of the plurality of second vehicles to the broadcast trip request;
coordinate one or more responses between the first and second vehicles based on results of a matching operation to confirm an acceptance of the agreement and facilitate the establishment of the virtual coupling;
in response to confirmation of the acceptance of the agreement, create a trip plan for the trip request for the ODA service based on a set of preferences received from the plurality of platoon vehicles, wherein the first vehicle is the Fv and the second vehicle is the first Lv;
monitor the Fv and the first Lv during the platooning trip for information comprising trip termination request, trip modification request, platooning status, vehicle health status, virtual coupling health status and safety information;
communicate and broadcast the information comprising platooning status, vehicle health status, virtual coupling health status, and safety information to the platoon vehicles;
monitor for periodic heartbeat messages from the platoon vehicles, and compute a first result upon receipt of each heartbeat message to determine whether a fault has occurred with the vehicle that sent the message;
upon detecting a fault, diagnose a fault type;
select a feedback mechanism from one or more options comprising voice, text, and non-verbal cue; and
signal the platoon vehicles using the selected feedback mechanism with an alert message identifying the fault type.

### Claim 2 (depends on 1)

The system of claim 1, wherein the ODAS is further configured to:
provide decoupling instructions for the Fv and first Lv responsive to receipt of the Fv trip termination request;
broadcast information regarding the trip termination request to the plurality of platoon vehicles including the Lv; and
monitor for an acknowledgement and acceptance of the trip termination request from the Lv, wherein the Lv stops controlling the Fv toward the requested location responsive to the broadcast information regarding the trip termination request.

### Claim 3 (depends on 1)

The system of claim 1, wherein the ODAS is further configured to:
provide decoupling instructions for the Fv and first Lv and coupling instructions for the Fv and a second Lv responsive to receipt of the Fv trip modification request;
broadcast information regarding the trip modification request to the first Lv;
monitor for a first Lv acknowledgement of the trip modification request, elect the second Lv, compute a rendezvous point at which the second Lv will begin to lead the Fv, and signal the Fv and the second Lv that the second Lv will take over as the leader for the platooning trip at the rendezvous point; and
monitor for an acknowledgement that indicates acceptance of the second Lv as the leader for the platooning trip at the rendezvous point, wherein the second Lv controls the Fv toward the requested location and the first Lv stops controlling the Fv.

### Claim 4 (depends on 3)

The system of claim 3, wherein the ODAS is further configured to:
consistently monitor the platooning trip for information comprising trip termination request, trip modification request, platooning status, vehicle health status, virtual coupling health status and safety information;
communicate and broadcast the information to the platoon vehicles;
monitor for periodic heartbeat messages from the platoon vehicles, and compute a first result upon receipt of each heartbeat message to determine whether a fault has occurred in the vehicle that sent the message;
upon detecting a fault, diagnose the fault type; and
select a feedback mechanism from one or more feedback options, and signal the platoon vehicles with an alert message identifying the fault type.

### Claim 5 (depends on 1)

The system of claim 1, wherein the ODAS is further configured to:
provide decoupling instructions for the Fv and first Lv responsive to receipt of the first Lv trip termination request; and
elect a second Lv, compute a rendezvous point at which the second Lv will begin to lead the Fv, and signal the Fv and second Lv that the second Lv will take over as the leader for the platooning trip at the rendezvous point;
wherein the second Lv controls the Fv toward the requested location and the first Lv stops controlling the Fv.

### Claim 6 (depends on 1)

The system of claim 1, wherein the ODAS is further configured to monitor for a subsequent periodic heartbeat message from each of the plurality of platoon vehicles that acknowledges receipt of the alert message that identifies the diagnosed type of fault.

### Claim 7 (depends on 1)

The system of claim 1, wherein the ODAS is further configured to:
when a periodic heartbeat message is not received from one of the plurality of platoon vehicles, query the platoon vehicle from which the periodic heartbeat message was not received regarding vehicle health status and virtual coupling health status;
select a feedback mechanism from one or more options comprising voice, text, and non-verbal cue, and signal using the selected feedback mechanism to other of the plurality of platoon vehicles an alert message that provides notification that the periodic heartbeat message was not received; and
when a responsive message to the query is received, signal the other of the plurality of platoon vehicles with status information regarding the platoon vehicle from which the periodic heartbeat message was not received.

### Claim 8 (depends on 1)

The system of claim 1, wherein the ODAS is further configured to
when a safety alert message regarding the Fv is received, request further information from a message sender;
when further information is received, calculate a second result comprising a safety event response, cause the safety response to occur, and signal the first Lv that a safety alert message was received and to adjust driving accordingly;
monitor for an acknowledgement from the first Lv after signaling the first Lv that a safety alert message was received;
broadcast an alert regarding the safety event response to the Fv; and
monitor for an acknowledgement from the Fv.

### Claim 9 (depends on 1)

The system of claim 1, wherein the virtual coupling enables the first Lv to control and command the Fv toward the requested location during a platooning trip, and is further configured to allow future vehicle maneuvers to be communicated ahead of time to allow the platoon vehicles to accelerate or brake simultaneously.

### Claim 10

A method in an On-Demand Autonomy (ODA) system comprising a follower vehicle (Fv), a first leader vehicle (Lv), and a cloud based server (ODAS), the method comprising:
receiving by the ODAS a trip request for ODA service from a first vehicle;
seeking by the ODAS an agreement to establish a virtual coupling link between the first vehicle and at least one second vehicle, wherein seeking an agreement comprises:
broadcasting the trip request to a plurality of second vehicles;
receiving a set of responses from at least one of the plurality of second vehicles to the broadcast trip request; and
coordinating one or more responses between the first and second vehicles based on results of a matching operation to confirm an acceptance of the agreement and facilitate the establishment of the virtual coupling;
in response to confirmation of the acceptance of the agreement, creating a trip plan for the ODA service based on a set of preferences received from a plurality of platoon vehicles, wherein the first vehicle is the Fv and the second vehicle is the first Lv;
monitoring, by the ODAS, the Fv and the first Lv during the platooning trip for information comprising a trip termination request, a trip modification request, platooning status, vehicle health status, virtual coupling health status and safety information;
communicating and broadcasting, by the ODAS, the information comprising platooning status, vehicle health status, virtual coupling health status, and safety information to the platooned vehicles;
monitoring, by the ODAS, for periodic heartbeat messages from the platooned vehicles, and computing a first result upon receipt of each heartbeat message to determine whether a fault has occurred with the vehicle that sent the message;
upon detecting a fault, diagnosing, by the ODAS, a fault type;
selecting, by the ODAS, a feedback mechanism from one or more options comprising voice, text, and non-verbal cue; and
signaling the platoon vehicles, by the ODAS, using the selected feedback mechanism with an alert message identifying the fault type.

### Claim 11 (depends on 10)

The method of claim 10, further comprising:
providing decoupling instructions for the Fv and first Lv responsive to receipt of the Fv trip termination request; and
broadcasting, by the ODAS, information regarding the trip termination request to the plurality of platoon vehicles including the Lv, and monitoring for an acknowledgment and acceptance of the trip termination request from the Lv, wherein the Lv stops controlling the Fv responsive to the broadcast information regarding the trip termination request.

### Claim 12 (depends on 11)

The method of claim 11, further comprising:
providing, by the ODAS, decoupling instructions for the Fv and first Lv responsive to receipt of a first Lv trip modification request and coupling instructions for the Fv and a second Lv responsive to receipt of the Fv trip modification request;
broadcasting, by the ODAS, information regarding the trip modification request to the first Lv, monitoring for the first Lv acknowledgement of the trip modification request, electing the second Lv, computing a rendezvous point at which the second Lv will begin to lead the Fv, and signaling the Fv and the second Lv that a third Lv will take over as the leader for the platooning trip at the rendezvous point; and
monitoring, by the ODAS, for an acknowledgement that indicates acceptance of the second Lv as the leader for the platooning trip at the rendezvous point, wherein the second Lv controls the Fv toward a requested location and the first Lv stops controlling the Fv.

### Claim 13 (depends on 12)

The method of claim 12, further comprising:
consistently monitoring, by the ODAS, the platooning trip for information comprising trip termination request, trip modification request, platooning status, vehicle health status, virtual coupling health status and safety information;
communicating and broadcasting, by the ODAS, the information to the platoon vehicles;
monitoring, by the ODAS. for periodic heartbeat messages from the platoon vehicles, and compute a first result upon receipt of each heartbeat message to determine whether a fault has occurred in the vehicle that sent the message;
upon detecting a fault, diagnosing, by the ODAS, the fault type;
selecting, by the ODAS, a feedback mechanism from one or more feedback options comprising voice, text, and non-verbal cue; and
signaling the platoon vehicles with an alert message identifying the fault type.

### Claim 14 (depends on 10)

The method of claim 10, further comprising monitoring for a subsequent periodic heartbeat message from each of the plurality of platoon vehicles that acknowledges receipt of the alert message that identifies the diagnosed type of fault.

### Claim 15 (depends on 10)

The method of claim 10, further comprising:
when a periodic heartbeat message is not received from one of the plurality of platoon vehicles, querying the platoon vehicle from which the periodic heartbeat message was not received regarding vehicle health status and virtual coupling health status;
selecting a feedback mechanism and signaling using the selected feedback mechanism to other of the plurality of platoon vehicles an alert message that provides notification that the periodic heartbeat message was not received; and
when a responsive message to the querying is received, signaling the other of the plurality of platoon vehicles with status information regarding the platoon vehicle from which the periodic heartbeat message was not received.

### Claim 16 (depends on 10)

The method of claim 10, further comprising:
when a safety alert message regarding the Fv is received, requesting further information from a message sender;
when further information is received, calculating a second result comprising a safety event response, causing the safety response to occur, and signaling the Lv that a safety alert message was received and to adjust driving accordingly;
monitoring for an acknowledgement from the Lv after signaling the Lv that a safety alert message was received;
broadcasting an alert regarding the safety event response to the Fv; and
monitoring for an acknowledgement from the Fv.

### Claim 17

A method in an On-Demand Autonomy (ODA) system comprising a follower vehicle (Fv), a first leader vehicle (Lv), and a cloud based server (ODAS), the method comprising:
receiving by the ODAS a trip request for ODA service from a first vehicle;
seeking by the ODAS an agreement to establish a virtual link between the first vehicle and at least one second vehicle, wherein seeking an agreement comprises:
broadcasting the trip request to a plurality of second vehicles;
receiving a set of responses from at least one of the plurality of second vehicles to the broadcast trip request; and
coordinating one or more responses between the first and second vehicles based on results of a matching operation to confirm an acceptance of the agreement and facilitate the establishment of a virtual coupling;
in response to confirmation of the acceptance of the agreement, creating a trip plan for the ODA service based on a set of preferences received from a plurality of platoon vehicles, wherein the first vehicle is the Fv and the second vehicle is the first Lv;
monitoring by the ODAS the Fv and the first Lv during the platooning trip for information comprising trip termination request, trip modification request, platooning status, vehicle health status, virtual coupling health status and safety information;
communicating and broadcasting, by the ODAS, the information comprising platooning status, vehicle health status, virtual coupling health status, and safety information to the platooned vehicles;
monitoring, by the ODAS, for periodic heartbeat messages from the platooned vehicles, and computing a first result upon receipt of each heartbeat message to determine whether a fault has occurred with the vehicle that sent the message;
upon detecting a fault, diagnosing, by the ODAS, a fault type;
selecting, by the ODAS, a feedback mechanism from one or more options comprising voice, text, and non-verbal cue; and
signaling the platoon vehicles, by the ODAS, using the selected feedback mechanism with an alert message identifying the fault type;
wherein the method further comprising:
providing decoupling instructions for the Fv and first Lv and coupling instructions for the Fv and a second Lv responsive to receipt of the Fv trip modification request;
broadcasting, by the ODAS, information regarding the trip modification request to the first Lv, monitoring for first Lv acknowledgement of the trip modification request, electing the second Lv as the leader for the platooning trip, computing a rendezvous point at which the second Lv will begin to lead the Fv, and signaling the Fv and the second Lv that the second Lv will take over as the leader for the platooning trip at the rendezvous point; and
monitoring, by the ODAS, for an acknowledgement that indicates acceptance of the second Lv as the leader for the platooning trip at the rendezvous point, wherein the second Lv controls the Fv toward a requested location and the first Lv stops controlling the Fv.

### Claim 18 (depends on 17)

The method of claim 17, further comprising:
providing decoupling instructions for the Fv and at least one Lv responsive to receipt of the Fv trip termination request; and
broadcasting, by the ODAS, information regarding the trip termination request to the plurality of platoon vehicles, and monitoring for an acknowledgment and acceptance of the trip termination request from the Lv, wherein the Lv stops controlling the Fv toward the requested location responsive to the broadcast information regarding the trip termination request.

### Claim 19 (depends on 17)

The method of claim 17, further comprising:
monitoring for periodic heartbeat messages from the plurality of platoon vehicles;
when a periodic heartbeat message is received, computing a first result that indicates whether a fault has occurred with the platoon vehicle that sent the heartbeat message and when a fault has occurred diagnose a fault type of the fault that has occurred; and
when the fault type has been diagnosed, selecting a feedback mechanism and signaling using the selected feedback mechanism the Fv and the Lv with an alert message that identifies the diagnosed type of fault.

### Claim 20 (depends on 19)

The method of claim 19, further comprising:
when a periodic heartbeat message is not received from one of the plurality of platoon vehicles, querying the platoon vehicle from which the periodic heartbeat message was not received regarding vehicle health status and virtual coupling health status;
selecting a feedback mechanism and signaling using the selected feedback mechanism to other of the plurality of platoon vehicles an alert message that provides notification that the periodic heartbeat message was not received; and
when a responsive message to the querying is received, signaling the other of the plurality of platoon vehicles with status information regarding the platoon vehicle from which the periodic heartbeat message was not received.