# US 2025/0083708 A1 · Automated pickup and drop off planning and execution for vehicles

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- Number: US 2025/0083708 A1
- Document ID: US20250083708A1
- Status: Published application
- Kind: A1
- Application number: 18/464,702
- Filed: 2023-09-11
- Published: 2025-03-13
- Earliest claimed: 2023-09-11
- Assignees: GM Global Technology Operations LLC
- Applicants: GM Global Technology Operations LLC
- Inventors: Alireza Esna Ashari Esfahani; Prabhjot Kaur
- Web page: https://patentgrep.com/patent/US20250083708A1

## CPC

- B60W 60/00253: {Taxi operations}
- G06Q 10/0283: {for travel seating}
- G06Q 50/40: Business processes related to the transportation industry (shipping G06Q10/083)
- B60W 2540/00: Input parameters relating to occupants
- 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
- 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

## Abstract

A method for automated pickup and drop-off planning and execution includes receiving people-transfer data. The people-transfer data includes passenger data and a destination data. The method also includes detecting a plurality of restricted locations along the infrastructure using the destination data. The method also includes determining a transfer location based on the plurality of restricted locations and the passenger data. The transfer location is a position where the passenger will transfer between the vehicle and the pedestrian location outside the vehicle. The method also includes commanding the vehicle to move toward the transfer location; and commanding the vehicle to stop once the vehicle reaches the transfer location.

## Claims

### Claim 1

A method for pickup and drop off planning, comprising:
receiving people-transfer data, wherein the people-transfer data includes passenger data and a destination data, the passenger data includes information about a person that will move between a vehicle and a pedestrian location outside the vehicle, the pedestrian location outside the vehicle is adjacent to an infrastructure, and the destination data includes information about the infrastructure and an area directly adjacent to the infrastructure;
detecting a plurality of restricted locations along the infrastructure using the destination data, wherein each of the plurality of restricted locations is unavailable for the vehicle to stop;
determining a transfer location based on the plurality of restricted locations and the passenger data, wherein the transfer location is a position where the passenger will transfer between the vehicle and the pedestrian location outside the vehicle; and
commanding the vehicle to perform a control action in response to determining the transfer location.

### Claim 2 (depends on 1)

The method of claim 1, further comprising filtering out the plurality of restricted locations to determine a plurality of available stop segments along the infrastructure, wherein the control action is to command a user interface of the vehicle to show the transfer location on a map.

### Claim 3 (depends on 2)

The method of claim 2, further comprising determining a time required for the passenger to transfer between the vehicle and the pedestrian location outside the vehicle.

### Claim 4 (depends on 3)

The method of claim 3, further comprising determining an optimal transfer point without restrictions.

### Claim 5 (depends on 4)

The method of claim 4, further comprising determining a midpoint of a length of each of the plurality of available stop segments.

### Claim 6 (depends on 5)

The method of claim 5, further comprising determining a length of each of the plurality of available stop segments.

### Claim 7 (depends on 6)

The method of claim 6, further comprising filtering out segments that have a length that is less than a predetermined length threshold to determine a plurality of feasible stop segments.

### Claim 8 (depends on 7)

The method of claim 7, further comprising determining a distance from the midpoint of the length of each of the plurality of feasible stop segments to the optimal transfer point without restrictions to determine a plurality of segment distances.

### Claim 9 (depends on 8)

The method of claim 8, further comprising determining, for each of the plurality of feasible stop segments, a probability that the plurality of feasible stop segments will be available when the vehicle reaches a corresponding one of the plurality of feasible stop segments to determine a plurality of available probabilities.

### Claim 10 (depends on 9)

The method of claim 9, further comprising sorting the plurality of feasible stop segments based on a ratio between the distance from the midpoint of the length of each of the plurality of feasible stop segments to the optimal transfer point without restrictions with respect to the probability that the plurality of feasible stop segments will be available when the vehicle reaches a corresponding one of the plurality of feasible stop segments.

### Claim 11 (depends on 10)

The method of claim 10, further comprising:
determining which of the plurality of feasible stop segments has a lowest value ratio between the distance from the midpoint of the length of each of the plurality of feasible stop segments to the optimal transfer point without restrictions with respect to the probability that the plurality of feasible stop segments will be available when the vehicle reaches a corresponding one of the plurality of feasible stop segments to
selecting the plurality of feasible stop segments with the lowest value of the ratio between the distance from the midpoint of the length of each of the plurality of feasible stop segments to the optimal transfer point without restrictions with respect to the probability that the plurality of feasible stop segments will be available when the vehicle reaches a corresponding one of the plurality of feasible stop segments to determine a selected feasible stop segment.

### Claim 12 (depends on 11)

The method of claim 11, wherein the selected feasible stop segment is designated as the transfer location, and the method further includes commanding the vehicle to move toward the feasible stop segment.

### Claim 13

A vehicle, comprising:
a plurality of sensors;
a controller including a processor and a tangible, non-transitory, machine-readable medium, wherein the controller is in communication with the a plurality of sensors, and the controller is programmed to:
receive people-transfer data, wherein the people-transfer data includes passenger data and a destination data, the passenger data includes information about a person that will move between a vehicle and a pedestrian location outside the vehicle, the pedestrian location outside the vehicle is adjacent to an infrastructure, and the destination data includes information about the infrastructure and an area directly adjacent to the infrastructure;
detect a plurality of restricted locations along the infrastructure using the destination data, wherein each of the plurality of restricted locations is unavailable for the vehicle to stop;
determine a transfer location based on the plurality of restricted locations and the passenger data, wherein the transfer location is a position where the passenger will transfer between the vehicle and the pedestrian location outside the vehicle; and
command the vehicle to perform a control action in response to determining the transfer location.

### Claim 14 (depends on 13)

The vehicle of claim 13, wherein the controller is programmed to filter out the plurality of restricted locations to determine a plurality of available stop segments along the infrastructure, wherein the control action includes:
commanding the vehicle to autonomously move the transfer location; and
commanding the vehicle to autonomously stop when the vehicle reaches the transfer location.

### Claim 15 (depends on 14)

The vehicle of claim 14, wherein the controller is programmed to determine a time required for the passenger to transfer between the vehicle and the pedestrian location outside the vehicle.

### Claim 16 (depends on 15)

The vehicle of claim 15, wherein the controller is programmed to determine an optimal transfer point without restrictions.

### Claim 17 (depends on 16)

The vehicle of claim 16, wherein the controller is programmed to determine a midpoint of a length of each of the plurality of available stop segments.

### Claim 18 (depends on 17)

The vehicle of claim 17, wherein the controller is programmed to determine a length of each of the plurality of available stop segments.

### Claim 19 (depends on 18)

The vehicle of claim 18, wherein the controller is programmed to filter out segments that have a length that is less than a predetermined length threshold to determine a plurality of feasible stop segments.

### Claim 20 (depends on 19)

The vehicle of claim 19, wherein the controller is programmed to determine a distance from the midpoint of the length of each of the plurality of feasible stop segments to the optimal transfer point without restrictions to determine a plurality of segment distances.