Vehicle Hailing In A Mobile Ecosystem

A vehicle, comprising:

• an autonomous control system configured to:
• obtain vehicle information including a vehicle location of the vehicle;
• obtain user information including a user location of a user device;
• based on a cost function that estimates a value of a confidence level above a confidence threshold using the user information:
• determine that a user of the user device is ready for a pickup by the vehicle;
• identify a pickup location for the vehicle based on the user information and the vehicle information;
• and
• determine a trajectory from the vehicle location to the pickup location;
• and
• a propulsion system configured to cause motion of the vehicle from the vehicle location toward the pickup location according to the trajectory.

A method of hailing a vehicle, comprising:

• obtaining user information including a user location from a user device;
• obtaining vehicle information including a vehicle location from the vehicle;
• in response to determining that a user is ready for a pickup by the vehicle based on the user information:
• identifying a rendezvous based on the user information and the vehicle information;
• and
• sending a command to an autonomous control system of the vehicle to cause the vehicle to travel to from the vehicle location to the rendezvous;
• and
• in response to determining that the user is ready for the vehicle to shadow the user based on the user information:
• identifying a shadow route for the vehicle or a staging location for the vehicle based on the user information and the vehicle information;
• and
• sending a command to the autonomous control system of the vehicle to cause the vehicle to follow the shadow route or travel to the staging location.