# US 9,519,290 B2 · Associating passenger docking locations with destinations

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- Number: US 9,519,290 B2
- Document ID: US9519290B2
- Status: Granted
- Kind: B2
- Application number: 14/597,515
- Filed: 2015-01-15
- Published: 2016-07-21
- Granted: 2016-12-13
- Earliest claimed: 2015-01-15
- Assignees: Nissan North America, Inc.
- Applicants: Nissan North America, Inc.
- Inventors: Naoki Kojo; Siddharth Kumar Thakur; Nicolas Meuleau; Daisuke Saito; Nikhil Lele
- Web page: https://patentgrep.com/patent/US9519290B2

## CPC

- G05D 1/0291: {Fleet control (monitoring fleets in traffic control systems for road vehicles G08G1/127, G08G1/127)}
- G01C 21/34: Route searching; Route guidance
- G05D 1/00: Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots (drive control systems specially adapted for autonomous road vehicles B60W60/00)
- G05D 1/0217: {in accordance with energy consumption, time reduction or distance reduction criteria}
- G05D 1/0225: {involving docking at a fixed facility, e.g. base station or loading bay (parking aids B62D15/027)}
- G05D 1/0274: {using mapping information stored in a memory device (navigation using map-matching G01C21/30)}
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- 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)

## Abstract

A method and apparatus for associating passenger docking locations with destinations are disclosed. Associating passenger docking locations with destinations may include an autonomous vehicle identifying transportation network information representing a vehicle transportation network, including a primary destination, wherein identifying the transportation network information includes identifying the transportation network information such that the transportation network information includes docking location information representing a plurality of docking locations, wherein each docking location corresponds with a respective location in the vehicle transportation network, and such that at least one docking location from the plurality of docking locations is associated with the primary destination. The autonomous vehicle may determine a target docking location from the plurality of docking locations for the primary destination based on the transportation network information, identify a route from an origin to the target docking location, and travel from the origin to the target docking location using the route.

## Claims

### Claim 1

An autonomous vehicle comprising:
a processor configured to execute instructions stored on a non-transitory computer readable medium to:
identify transportation network information representing a vehicle transportation network, the vehicle transportation network including a primary destination, wherein identifying the transportation network information includes identifying the transportation network information such that the transportation network information includes docking location information representing a plurality of docking locations, wherein each docking location from the plurality of docking locations corresponds with a respective location in the vehicle transportation network, and such that at least one docking location from the plurality of docking locations is associated with the primary destination,
determine a target docking location from the plurality of docking locations for the primary destination based on the transportation network information, and
identify a route from an origin to the target docking location in the vehicle transportation network using the transportation network information; and
a trajectory controller configured to operate the autonomous vehicle to travel from the origin to the target docking location using the route.

### Claim 2 (depends on 1)

The autonomous vehicle of claim 1, wherein the processor is configured to execute instructions stored on the non-transitory computer readable medium to:
in response to performing a docking operation at the target docking location, identify a secondary destination in the vehicle transportation network, wherein the secondary destination is a parking area associated with the primary destination, and wherein the trajectory controller is configured to operate the autonomous vehicle to park at the secondary destination;
identify a subsequent route from the target docking location to the secondary destination in the vehicle transportation network using the transportation network information, and wherein the trajectory controller is configured to operate the autonomous vehicle to travel from the target docking location to the secondary destination using the route.

### Claim 3 (depends on 1)

The autonomous vehicle of claim 1, wherein the processor is configured to execute instructions stored on the non-transitory computer readable medium to identify the transportation network information such that the docking location information is based on operating information for a plurality of vehicles, wherein the operating information includes a plurality of operations, wherein each operation from the plurality of operations is associated with a respective vehicle from the plurality of vehicles, and wherein each docking location from the plurality of docking locations corresponds with a respective operation from the plurality of operations.

### Claim 4 (depends on 3)

The autonomous vehicle of claim 3, wherein the processor is configured to execute instructions stored on the non-transitory computer readable medium to identify the transportation network information such that the target docking location from the plurality of docking locations is associated with the primary destination on a condition that an operation from the plurality of operations corresponding to the docking location indicates the primary destination and a distance between the target docking location and the primary destination is within a defined threshold.

### Claim 5 (depends on 3)

The autonomous vehicle of claim 3, wherein the vehicle transportation network includes a plurality of candidate destinations, wherein the primary destination is one of the plurality of candidate destinations, and wherein the processor is configured to execute instructions stored on the non-transitory computer readable medium to identify the transportation network information such that the target docking location from the plurality of docking locations is associated with the primary destination on a condition that a distance between the primary destination and the target docking location is minimized.

### Claim 6 (depends on 5)

The autonomous vehicle of claim 5, wherein the distance between the primary destination and the target docking location is minimized by:
generating a plurality of distances by determining a respective distance between the target docking location and each candidate destination from the plurality of candidate destinations based on the transportation network information, wherein determining the respective distance between the target docking location and a candidate destination from the plurality of candidate destinations includes determining a distance between the target docking location and a location of the primary destination; and
selecting, as the primary destination, the candidate destination corresponding to the minimal distance from the plurality of distances.

### Claim 7 (depends on 6)

The autonomous vehicle of claim 6, wherein determining the distance between the target docking location and the location of the primary destination includes:
determining a distance between the target docking location and a defined entrance location for the primary destination, on a condition that the transportation network information identifies the defined entrance location for the primary destination;
determining a distance between the target docking location and a predicted entrance location for the primary destination, on a condition that the transportation network information omits a defined entrance location for the primary destination and the transportation network information identifies the predicted entrance location;
determining a distance between the target docking location and an edge location of the primary destination, on a condition that the transportation network information omits a defined entrance location for the primary destination, the transportation network information omits a predicted entrance location for the primary destination, and the transportation network information identifies the edge location of the primary destination; and
determining a distance between the target docking location and a defined location of the primary destination, on a condition that the transportation network information omits a defined entrance location for the primary destination, the transportation network information omits a predicted entrance location for the primary destination, and the transportation network information omits an edge location of the primary destination.

### Claim 8 (depends on 7)

The autonomous vehicle of claim 7, wherein the defined location of the primary destination is a global positioning system (GPS) location.

### Claim 9 (depends on 3)

The autonomous vehicle of claim 3, wherein the processor is configured to execute instructions stored on the non-transitory computer readable medium to identify the transportation network information such that the docking location information includes a set of docking locations from the plurality of docking locations, wherein each docking location from the set of docking locations is associated with the primary destination, and such that the target docking location is associated with the primary destination by:
identifying a plurality of docking location clusters based on the set of docking locations; and
associating the target docking location with the primary destination based on the plurality of docking location clusters, wherein associating the target docking location with the primary destination includes identifying a selected docking location cluster from the plurality of docking location clusters such that a size of the selected docking location cluster is maximal.

### Claim 10 (depends on 9)

The autonomous vehicle of claim 9, wherein associating the target docking location with the primary destination includes:
identifying a docking location cluster mean for the selected docking location cluster; and
using the docking location cluster mean as the target docking location.

### Claim 11 (depends on 9)

The autonomous vehicle of claim 9, wherein associating the target docking location with the primary destination includes using the selected docking location cluster as the target docking location.

### Claim 12

An autonomous vehicle comprising:
a processor configured to execute instructions stored on a non-transitory computer readable medium to:
identify transportation network information representing a vehicle transportation network, the vehicle transportation network including a primary destination, wherein identifying the transportation network information includes identifying the transportation network information such that the transportation network information includes docking location information representing a plurality of docking locations, wherein each docking location from the plurality of docking locations corresponds with a respective location in the vehicle transportation network, and such that the docking location information includes a set of docking locations from the plurality of docking locations, wherein each docking location from the set of docking locations is associated with the primary destination, and wherein a target docking location from the set of docking locations is associated with the primary destination by identifying a plurality of docking location clusters based on the set of docking locations and identifying the target docking location based on the plurality of docking location clusters,
determine whether to use the target docking location based on the transportation network information, and
identify a route from an origin to the target docking location in the vehicle transportation network using the transportation network information; and
a trajectory controller configured to operate the autonomous vehicle to travel from the origin to the target docking location using the route.

### Claim 13 (depends on 12)

The autonomous vehicle of claim 12, wherein the processor is configured to execute instructions stored on the non-transitory computer readable medium to:
in response to performing a docking operation at the target docking location, identify a secondary destination in the vehicle transportation network, wherein the secondary destination is a parking area associated with the primary destination, and wherein the trajectory controller is configured to operate the autonomous vehicle to park at the secondary destination;
identify a subsequent route from the target docking location to the secondary destination in the vehicle transportation network using the transportation network information, and wherein the trajectory controller is configured to operate the autonomous vehicle to travel from the target docking location to the secondary destination using the route.

### Claim 14 (depends on 12)

The autonomous vehicle of claim 12, wherein the processor is configured to execute instructions stored on the non-transitory computer readable medium to identify the transportation network information such that the docking location information is based on operating information for a plurality of vehicles, wherein the operating information includes a plurality of operations, wherein each operation from the plurality of operations is associated with a respective vehicle from the plurality of vehicles, and wherein each docking location from the plurality of docking locations corresponds with a respective operation from the plurality of operations.

### Claim 15 (depends on 14)

The autonomous vehicle of claim 14, wherein the processor is configured to execute instructions stored on the non-transitory computer readable medium to identify the transportation network information such that the target docking location is associated with the primary destination on a condition that an operation from the plurality of operations corresponding to the target docking location indicates the primary destination and a distance between the target docking location and the primary destination is within a defined threshold.

### Claim 16 (depends on 14)

The autonomous vehicle of claim 14, wherein the vehicle transportation network includes a plurality of candidate destinations, wherein the primary destination is one of the plurality of candidate destinations, and wherein the processor is configured to execute instructions stored on the non-transitory computer readable medium to identify the transportation network information such that the target docking location is associated with the primary destination on a condition that a distance between the primary destination and the target docking location is minimized.

### Claim 17 (depends on 16)

The autonomous vehicle of claim 16, wherein the distance between the primary destination and the target docking location is minimized by:
generating a plurality of distances by determining a respective distance between the target docking location and each candidate destination from the plurality of candidate destinations based on the transportation network information; and
selecting, as the primary destination, the candidate destination corresponding to the minimal distance from the plurality of distances.

### Claim 18 (depends on 17)

The autonomous vehicle of claim 17, wherein determining the respective distance between the target docking location and a candidate destination from the plurality of candidate destinations includes determining a distance between the target docking location and a location of the primary destination.

### Claim 19 (depends on 18)

The autonomous vehicle of claim 18, wherein determining the distance between the target docking location and the location of the primary destination includes:
determining a distance between the target docking location and a defined entrance location for the primary destination, on a condition that the transportation network information identifies the defined entrance location for the primary destination;
determining a distance between the target docking location and a predicted entrance location for the primary destination, on a condition that the transportation network information omits a defined entrance location for the primary destination and the transportation network information identifies the predicted entrance location;
determining a distance between the target docking location and an edge location of the primary destination, on a condition that the transportation network information omits a defined entrance location for the primary destination, the transportation network information omits a predicted entrance location for the primary destination, and the transportation network information identifies the edge location of the primary destination; and
determining a distance between the target docking location and a defined location of the primary destination, on a condition that the transportation network information omits a defined entrance location for the primary destination, the transportation network information omits a predicted entrance location for the primary destination, and the transportation network information omits an edge location of the primary destination.

### Claim 20 (depends on 19)

The autonomous vehicle of claim 19, wherein the defined location of the primary destination is a global positioning system (GPS) location.

### Claim 21 (depends on 12)

The autonomous vehicle of claim 12, wherein identifying the target docking location based on the plurality of docking location clusters includes identifying a selected docking location cluster from the plurality of docking location clusters such that a size of the selected docking location cluster is maximal.

### Claim 22 (depends on 21)

The autonomous vehicle of claim 21, wherein identifying the target docking location based on the plurality of docking location clusters includes:
identifying a docking location cluster mean for the selected docking location cluster; and
using the docking location cluster mean as the target docking location.

### Claim 23 (depends on 12)

The autonomous vehicle of claim 12, wherein associating the target docking location with the primary destination includes using the selected docking location cluster as the target docking location.

### Claim 24

An autonomous vehicle comprising:
a processor configured to execute instructions stored on a non-transitory computer readable medium to:
identify transportation network information representing a vehicle transportation network, the vehicle transportation network including a primary destination, wherein identifying the transportation network information includes identifying the transportation network information such that the transportation network information includes docking location information representing a plurality of docking locations, wherein each docking location from the plurality of docking locations corresponds with a respective location in the vehicle transportation network, and such that the docking location information includes a set of docking locations from the plurality of docking locations, wherein each docking location from the set of docking locations is associated with the primary destination, and wherein a target docking location from the set of docking locations is associated with the primary destination by identifying a plurality of docking location clusters based on the set of docking locations and identifying the target docking location based on the plurality of docking location clusters such that a distance between the primary destination and the target docking location is minimized,
determine whether to use the target docking location based on the transportation network information, and
identify a route from an origin to the target docking location in the vehicle transportation network using the transportation network information; and
a trajectory controller configured to operate the autonomous vehicle to travel from the origin to the target docking location using the route.

### Claim 25 (depends on 24)

The autonomous vehicle of claim 24, wherein the processor is configured to execute instructions stored on the non-transitory computer readable medium to:
in response to performing a docking operation at the target docking location, identify a secondary destination in the vehicle transportation network, wherein the secondary destination is a parking area associated with the primary destination, and wherein the trajectory controller is configured to operate the autonomous vehicle to park at the secondary destination;
identify a subsequent route from the target docking location to the secondary destination in the vehicle transportation network using the transportation network information, and wherein the trajectory controller is configured to operate the autonomous vehicle to travel from the target docking location to the secondary destination using the route.

### Claim 26 (depends on 24)

The autonomous vehicle of claim 24, wherein the processor is configured to execute instructions stored on the non-transitory computer readable medium to identify the transportation network information such that the docking location information is based on operating information for a plurality of vehicles, wherein the operating information includes a plurality of operations, wherein each operation from the plurality of operations is associated with a respective vehicle from the plurality of vehicles, and wherein each docking location from the plurality of docking locations corresponds with a respective operation from the plurality of operations.

### Claim 27 (depends on 24)

The autonomous vehicle of claim 24, wherein the distance between the primary destination and the target docking location is minimized by:
generating a plurality of distances by determining a respective distance between the target docking location and each candidate destination from the plurality of candidate destinations based on the transportation network information; and
selecting, as the primary destination, the candidate destination corresponding to the minimal distance from the plurality of distances.

### Claim 28 (depends on 27)

The autonomous vehicle of claim 27, wherein determining the respective distance between the target docking location and a candidate destination from the plurality of candidate destinations includes determining a distance between the target docking location and a location of the primary destination.

### Claim 29 (depends on 28)

The autonomous vehicle of claim 28, wherein determining the distance between the target docking location and the location of the primary destination includes:
determining a distance between the target docking location and a defined entrance location for the primary destination, on a condition that the transportation network information identifies the defined entrance location for the primary destination;
determining a distance between the target docking location and a predicted entrance location for the primary destination, on a condition that the transportation network information omits a defined entrance location for the primary destination and the transportation network information identifies the predicted entrance location;
determining a distance between the target docking location and an edge location of the primary destination, on a condition that the transportation network information omits a defined entrance location for the primary destination, the transportation network information omits a predicted entrance location for the primary destination, and the transportation network information identifies the edge location of the primary destination; and
determining a distance between the target docking location and a defined location of the primary destination, on a condition that the transportation network information omits a defined entrance location for the primary destination, the transportation network information omits a predicted entrance location for the primary destination, and the transportation network information omits an edge location of the primary destination.

### Claim 30 (depends on 29)

The autonomous vehicle of claim 29, wherein the defined location of the primary destination is a global positioning system (GPS) location.

### Claim 31 (depends on 24)

The autonomous vehicle of claim 24, wherein identifying the target docking location based on the plurality of docking location clusters includes identifying a selected docking location cluster from the plurality of docking location clusters such that a size of the selected docking location cluster is maximal.

### Claim 32 (depends on 31)

The autonomous vehicle of claim 31, wherein identifying the target docking location based on the plurality of docking location clusters includes:
identifying a docking location cluster mean for the selected docking location cluster; and
using the docking location cluster mean as the target docking location.

### Claim 33 (depends on 24)

The autonomous vehicle of claim 24, wherein associating the target docking location with the primary destination includes using the selected docking location cluster as the target docking location.