# US 2023/0068071 A1 · System, method and associated apparatus for autonomous vehicle transportation > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2023/0068071 A1 - Document ID: US20230068071A1 - Status: Published application - Kind: A1 - Application number: 18/045,420 - Filed: 2022-10-10 - Published: 2023-03-02 - Earliest claimed: 2017-07-21 - Assignees: Beijing Tusen Zhitu Technology Co., Ltd. - Applicants: Beijing Tusen Zhitu Technology Co., Ltd. - Inventors: Nan WU; He ZHENG - Web page: https://patentgrep.com/patent/US20230068071A1 ## CPC - G05D 1/0088: {characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours (using knowledge based models G06N5/00)} - G05D 1/0297: {by controlling means in a control room} - G05D 1/0225: {involving docking at a fixed facility, e.g. base station or loading bay (parking aids B62D15/027)} - G05D 1/0234: {using optical markers or beacons (optical beacons per se G01S1/70)} - G05D 1/227: Handing over between remote control and on-board control; Handing over between remote control arrangements - G05D 1/249: from positioning sensors located off-board the vehicle, e.g. from cameras - G05D 1/661: Docking at a base station (delivering or retrieving payloads G05D1/667) - G06Q 10/08: Logistics, e.g. warehousing, loading or distribution; Inventory or stock management - G06Q 10/08355: {Routing methods} - G08G 1/096816: {where the complete route is transmitted to the vehicle at once} - G08G 1/09685: {where the complete route is computed only once and not updated} - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - G06Q: INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR - 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 The present disclosure provides a system, method and associated apparatus for autonomous vehicle transportation. The system includes: an operation system configured to generate a transportation plan for a vehicle and transmit the transportation plan to a vehicle controller of the vehicle; and the vehicle controller configured to control, in accordance with the transportation plan, the vehicle to autonomously move to a position of a checkpoint at an entrance to a target highway port, and interact with a checkpoint controller corresponding to the position of the checkpoint for autonomously passing the checkpoint; and control the vehicle to autonomously move from the position of the checkpoint to a specified loading/unloading position in the target highway port, and interact with a loading/unloading control apparatus for autonomous loading/unloading at the loading/unloading position. The system, method and associated apparatus can achieve fully autonomous goods transportation, save transportation costs and reduce driving security risks. ## Claims ### Claim 1 A system, comprising: a vehicle scheduling unit configured to: generate a transportation plan for a vehicle; transmit the transportation plan to a vehicle controller of the vehicle configured to control, in accordance with the transportation plan, the vehicle to autonomously move to a position of a checkpoint at an entrance to a target highway port and from the position of the checkpoint to a specified loading/unloading position in the target highway port; and adjust the transportation plan for the vehicle based on a transportation plan execution progress for the vehicle; and a control unit configured to obtain the transportation plan execution progress for the vehicle executing the transportation plan and transmit the transportation plan execution progress to the vehicle scheduling unit. ### Claim 2 (depends on 1) The system of claim 1, wherein the obtaining the transportation plan execution progress for the vehicle executing the transportation plan comprises: receiving task execution information for the vehicle executing the transportation plan from a terminal device within the target highway port in the transportation plan; and generating the transportation plan execution progress for the vehicle based on the task execution information. ### Claim 3 (depends on 2) The system of claim 2, wherein the control unit is further configured to mark completed tasks and uncompleted tasks in a transportation task list based on the task execution information. ### Claim 4 (depends on 1) The system of claim 1, wherein the obtaining the transportation plan execution progress for the vehicle executing the transportation plan comprises: generating a transportation task list based on the transportation plan for the vehicle; transmitting the transportation task list in association with vehicle identification information of the vehicle to a highway port control system corresponding to the target highway port in the transportation plan; and receiving the transportation plan execution progress for the vehicle from the target highway port control system. ### Claim 5 (depends on 4) The system of claim 4, wherein the highway port control system is configured to mark completed tasks and uncompleted tasks in the transportation task list based on task execution information transmitted from terminal devices within the target highway port. ### Claim 6 (depends on 5) The system of claim 5, wherein the terminal devices included within the highway port include at least one of: a checkpoint controller, a ground scale sensor, a charging terminal, a loading/unloading control apparatus, a fuel refilling terminal, or an examination and repair apparatus. ### Claim 7 (depends on 6) The system of claim 6, wherein the task execution information transmitted from the checkpoint controller indicates whether the vehicle has passed the checkpoint. ### Claim 8 (depends on 6) The system of claim 6, wherein the task execution information transmitted from the ground scale sensor indicates whether the vehicle has been weighed. ### Claim 9 (depends on 6) The system of claim 6, wherein the task execution information transmitted from the charging terminal indicates whether the vehicle has paid a fee. ### Claim 10 (depends on 6) The system of claim 6, wherein the task execution information transmitted from the loading/unloading control apparatus indicates whether the vehicle has loaded or unloaded goods. ### Claim 11 (depends on 6) The system of claim 6, wherein the task execution information transmitted from the fuel refilling terminal includes whether the vehicle has been refilled with fuel. ### Claim 12 (depends on 6) The system of claim 6, wherein the task execution information transmitted from the examination and repair apparatus indicates whether the vehicle has been autonomously examined and repaired. ### Claim 13 (depends on 1) The system of claim 1, wherein the vehicle controller of the vehicle configured to control, in accordance with the transportation plan, the vehicle to: interact with a checkpoint controller corresponding to the position of the checkpoint for autonomously passing the checkpoint; and interact with a loading/unloading control apparatus for autonomous loading/unloading at the loading/unloading position. ### Claim 14 A method for autonomous vehicle transportation, comprising: transmitting a transportation plan for a vehicle to a vehicle controller of the vehicle configured to control, in accordance with the transportation plan, the vehicle to autonomously move to a position of a checkpoint at an entrance to a target highway port and from the position of the checkpoint to a specified loading/unloading position in the target highway port; obtaining a transportation plan execution progress for the vehicle executing the transportation plan; and adjusting the transportation plan for the vehicle based on the transportation plan execution progress for the vehicle. ### Claim 15 (depends on 14) The method of claim 14, further comprising: receiving task execution information for the vehicle executing the transportation plan from a terminal device within the target highway port in the transportation plan; and generating the transportation plan execution progress for the vehicle based on the task execution information. ### Claim 16 (depends on 15) The method of claim 15, further comprising: marking completed tasks and uncompleted tasks in a transportation task list based on the task execution information. ### Claim 17 (depends on 14) The method of claim 14, further comprising: generating a transportation task list based on the transportation plan for the vehicle; transmitting the transportation task list in association with vehicle identification information of the vehicle to a highway port control system corresponding to the target highway port in the transportation plan; and receiving the transportation plan execution progress for the vehicle from the target highway port control system. ### Claim 18 (depends on 17) The method of claim 17, wherein the highway port control system is configured to mark completed tasks and uncompleted tasks in the transportation task list based on task execution information transmitted from terminal devices within the target highway port. ### Claim 19 (depends on 18) The method of claim 18, wherein the terminal devices included within the highway port include at least one of: a checkpoint controller, a ground scale sensor, a charging terminal, a loading/unloading control apparatus, a fuel refilling terminal, or an examination and repair apparatus. ### Claim 20 (depends on 14) The method of claim 14, wherein the vehicle controller of the vehicle configured to control, in accordance with the transportation plan, the vehicle to: interact with a checkpoint controller corresponding to the position of the checkpoint for autonomously passing the checkpoint; and interact with a loading/unloading control apparatus for autonomous loading/unloading at the loading/unloading position.