Fleet management for autonomous vehicles

Patent metadata

Field	Value
Publication number	US-10545510-B2
Application number	US-201715838650-A
Country	US
Kind code	B2
Filing date	Dec 12, 2017
Priority date	Dec 12, 2017
Publication date	Jan 28, 2020
Grant date	Jan 28, 2020

Abstract

Aspects of the disclosure relate to assigning a fleet of driverless vehicles to a plurality of parking locations for parking vehicles of the fleet. For instance, locations of the vehicles of the fleet as well as a number of available spaces at each of the plurality of parking location locations may be tracked. A subset of the fleet not already located at one of the plurality of parking locations is identified. At least one assignment assigning each vehicle of the subset to a respective parking location of the plurality of parking locations is determined according to the numbers of available spaces and the identified locations of the subset. For the at least one assignment, a total cost is determined by determining a cost value for each of a plurality of factors. The given assignment is sent to the fleet based on the total cost and the cost value.

First claim

The invention claimed is:

1. A method of assigning a fleet of driverless vehicles to a plurality of parking locations for parking vehicles of the fleet, the method comprising:
identifying, by one or more processors, locations of the vehicles of the fleet;
identifying, by the one or more processors, a number of available spaces at each of the plurality of parking locations;
identifying, by the one or more processors, a subset of the vehicles of the fleet not already located at one of the plurality of parking locations;
determining, by the one or more processors, at least one assignment assigning each vehicle of the subset to a respective assigned parking location of the plurality of parking locations based on the numbers of available spaces and the identified locations of the subset;
determining, by the one or more processors, a total cost for the at least one assignment by determining a cost value for each of a plurality of factors including how quickly the vehicles of the subset are able to reach the respective assigned parking locations; and
sending, by the one or more processors, the at least one assignment to the fleet based on the total cost.

2. The method of claim 1 , further comprising sending an instruction to the fleet, after sending the at least one assignment, thereby causing all vehicles of the subset to travel to a corresponding respective assigned parking location according to the at least one assignment.

3. The method of claim 1 , wherein the plurality of factors include how long it takes all of the vehicles of the subset to park at assigned parking locations.

4. The method of claim 1 , wherein the plurality of factors include a number of spaces available at each parking location of the plurality of parking locations.

5. The method of claim 1 , wherein the plurality of factors include whether any vehicles of the subset will reach a given parking location at a rate which is greater than an intake bandwidth of the given parking location.

6. The method of claim 1 , wherein the plurality of factors include whether sending the subset to respective assigned parking locations will cause traffic congestion concerns.

7. The method of claim 6 , wherein determining a cost value for the factor of sending the subset to assigned parking locations will cause traffic congestion for the at least one assignment includes:
determining a route for each vehicle of the subset to reach a respective assigned parking location according to the at least one assignment;
for each route, determining a plurality of segments; and
for each of the plurality of segments, identifying a number of vehicles of the subset which will traverse the segment, wherein the cost value for the factor of sending the subset to respective assigned parking locations will cause traffic congestion for the at least one assignment is based on the number of vehicles for each of the plurality of segments.

8. The method of claim 1 , further comprising:
receiving from each vehicle of the fleet a periodic broadcast identifying a status of the vehicle;
identifying a first vehicle of the fleet in need of service based on the periodic broadcast received from the first vehicle;
assigning the first vehicle to a first parking location of the plurality of parking locations; and
after assigning the first vehicle, removing the first vehicle from the subset.

9. The method of claim 8 , wherein the periodic broadcast received from the first vehicle identifies a service need of the first vehicle, and wherein each location of the plurality of parking locations is associated with a set of service capabilities, and wherein the first vehicle is assigned to the first parking location based on the service need and the set of service capabilities of the first location.

10. The method of claim 8 , further comprising, after assigning the first vehicle to the first location, adjusting the number of available parking spaces at the first location.

11. The method of claim 1 , further comprising, sending a set of navigation instruction for each vehicle of the subset to maneuver to a corresponding respective assigned parking location according to the at least one assignment.

12. The method of claim 1 , further comprising:
determining, by the one or more processors, a plurality of assignments, for assigning each vehicle of the subset to a respective assigned parking location of the plurality of parking locations based on according to the numbers of available spaces and the identified locations of the vehicles of the fleet; and
for each assignment of the plurality of assignments, determining a total cost using the plurality of factors including how quickly vehicles of the subset are able to reach the respective assigned parking locations, and wherein sending the at least one assignment includes selecting, by the one or more processors, the at least one assignment based on the determined total costs for the plurality of assignments and the total cost for the at least one assignment, and wherein sending the at least one assignment is further based on the selecting.

13. The method of claim 12 , wherein the selecting is further based on the total cost for the at least one assignment being lower than all of the total costs for the plurality of assignments.

14. The method of claim 1 , wherein sending the at least one assignment is further based on the total cost meeting a threshold value.

15. The method of claim 1 , further comprising:
determining a restriction rule for at least a second subset of the fleet; and
broadcasting the restriction rule to the fleet with instructions for each given vehicle of the fleet to determine whether the restriction rule applies to that given vehicle.

16. The method of claim 15 , wherein the restriction rule restricts highway driving of the second subset.

17. The method of claim 15 , wherein the restriction rule restricts driving of the second subset on roads having speed limits above a speed limit defined in the restriction rule.

18. A system for assigning a fleet of driverless vehicles to a plurality of parking locations for parking vehicles of the fleet, the system comprising one or more processors configured to:
identify locations of the vehicles of the fleet;
identify a number of available spaces at each of the plurality of parking locations;
identify a subset of the vehicles of the fleet not already located at one of the plurality of locations;
determine at least one assignment assigning each vehicle of the subset to a respective assigned parking location of the plurality of parking locations based on the numbers of available spaces and the identified locations of the subset;
determine a total cost for the at least one assignment by determining a cost value for each of a plurality of factors including how quickly vehicles of the subset are able to reach the respective assigned locations; and
send the at least one assignment to the fleet based on the total cost.

19. The system of claim 18 , wherein the one or more processors are further configured to send an instruction to the fleet, after sending the assignment, thereby causing all vehicles of the subset to travel to a respective assigned location according to the at least one assignment.

20. The system of claim 18 , further comprising the fleet.

Assignees

• Waymo Llc

Inventors

• Colijn Peter
• Feenstra Laurens Andreas
• Herbach Joshua Seth
• Patterson Katharine

Classifications

• G08G1/146

  where the parking area is a limited parking space, e.g. parking garage, restricted space · CPC title

• G08G1/14

  indicating individual free spaces in parking areas · CPC title

• B60W30/06

  Automatic manoeuvring for parking · CPC title

• G08G1/20

  Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles · CPC title

• G08G1/143

  inside the vehicles · CPC title