WO2024099775A1 - Procédé de commande d'un véhicule automobile autonome et véhicule automobile autonome - Google Patents

Procédé de commande d'un véhicule automobile autonome et véhicule automobile autonome Download PDF

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Publication number
WO2024099775A1
WO2024099775A1 PCT/EP2023/079794 EP2023079794W WO2024099775A1 WO 2024099775 A1 WO2024099775 A1 WO 2024099775A1 EP 2023079794 W EP2023079794 W EP 2023079794W WO 2024099775 A1 WO2024099775 A1 WO 2024099775A1
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WIPO (PCT)
Prior art keywords
delivery
motor vehicle
autonomous motor
autonomous
delivery device
Prior art date
Application number
PCT/EP2023/079794
Other languages
German (de)
English (en)
Inventor
Moritz Schönauer
Andreas Pfadler
Original Assignee
Volkswagen Aktiengesellschaft
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Volkswagen Aktiengesellschaft filed Critical Volkswagen Aktiengesellschaft
Publication of WO2024099775A1 publication Critical patent/WO2024099775A1/fr

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Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • 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
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G06Q10/083—Shipping
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • 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
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G06Q10/083—Shipping
    • G06Q10/0835—Relationships between shipper or supplier and carriers
    • G06Q10/08355—Routing methods

Definitions

  • the invention relates to a method for controlling an autonomous motor vehicle and an autonomous motor vehicle for transporting an object.
  • An autonomous robot vehicle is known from US 2019/0064847 A1.
  • the autonomous robot vehicle comprises a first land transport system configured to travel on vehicle roads.
  • the autonomous robot vehicle further comprises a navigation system configured to navigate to a destination, as well as an outer housing and a sub-robot vehicle housed in the outer housing while the first land transport system autonomously travels on the vehicle roads to the destination.
  • the sub-robot vehicle comprises a second land transport system configured to move on pedestrian paths.
  • the sub-robot vehicle further comprises one or more modules configured to store customer items.
  • the sub-robot vehicle can be caused to autonomously control the second land transport system to leave the outer housing and move on the pedestrian path to a customer pick-up location.
  • US 2017/0124512 A1 discloses a method for delivering a package to a final delivery point.
  • the package is handed over to a handover point accessible via a public road network using a first vehicle designed for operation on public roads.
  • the package is handed over from the first vehicle to a second vehicle, wherein the second vehicle is autonomous and can be operated in such a way that it can reach a final delivery point that is not accessible to the first vehicle.
  • the object of the present invention is to provide a solution which enables a particularly efficient use of an autonomous motor vehicle which is designed to transport an object.
  • the invention relates to a method for controlling an autonomous motor vehicle which is designed to transport an object such as a package.
  • the object is transported to a delivery location by means of the autonomous motor vehicle and is made available for delivery.
  • the delivery location describes an area in which a final delivery point or a final delivery address for the object is located.
  • this final delivery point is not accessible to the autonomous motor vehicle, so that the autonomous motor vehicle stops at a distance from the final delivery point.
  • the method further provides for the autonomous motor vehicle to communicate via a communication link with a delivery device used to deliver the item.
  • This delivery device is set up to accompany the delivery of the item from the autonomous motor vehicle to the final delivery point. Information can be exchanged between the autonomous motor vehicle and the delivery device via the communication link.
  • the method further provides that a control device of the autonomous motor vehicle receives at least one item of delivery information from the delivery device via the communication connection, which item characterizes a current status of the delivery.
  • the delivery device provides the delivery information for the control device of the autonomous motor vehicle, the delivery information characterizing the current status of the delivery.
  • the autonomous motor vehicle can thus be informed via the communication connection based on the delivery information about the current status of the delivery and consequently how successful the delivery is.
  • the transmission of the delivery information via the communication connection thus enables a real-time delivery status update of the autonomous motor vehicle.
  • the motor vehicle can be informed about the current status of the delivery, in particular in real time, based on the respective delivery information. This makes it possible to Autonomous vehicle is always provided with particularly comprehensive information about the status of the delivery, in particular about the success of the delivery.
  • the method further provides that the autonomous motor vehicle is controlled by means of the control device depending on the current status of the delivery. This means that, for example, a decision as to whether the autonomous motor vehicle waits at the delivery location or moves away from the delivery location is made depending on the current status of the delivery.
  • TaaS describes the delivery or dispatch of goods and packages by the autonomous motor vehicle.
  • the autonomous motor vehicle can be loaded in a parcel hub and then the autonomous motor vehicle automatically brings the freight to the recipient.
  • the last few meters from the autonomous motor vehicle to the front door or parking position cannot be covered by the autonomous motor vehicle itself.
  • human parcel carriers or automated delivery robots can act as deliverers.
  • there are still various uncertainties regarding the interaction between the deliverer and the autonomous motor vehicle suitable for TaaS for example how communication can be made efficient.
  • the autonomous vehicle can only remain in place and wait for feedback instead of heading to the next delivery address or parcel hub.
  • the autonomous motor vehicle communicates with a delivery robot as a delivery device or with a mobile electronic device carried by a parcel carrier as a delivery device.
  • the delivery robot can be set up to transport the object autonomously from the autonomous motor vehicle to the final delivery point.
  • the Delivery robots can be set up to move along the respective sidewalks or through house entrances in order to deliver the item to the final delivery address.
  • the delivery robot can use the communication connection to inform the autonomous motor vehicle at any time about the respective status and thus the respective state of the delivery.
  • the delivery device is the mobile electronic device that the parcel carrier who delivers the item to the final delivery point or to the final delivery address carries with him.
  • the mobile electronic device can, for example, comprise a position detection device by means of which a respective current position of the mobile electronic device can be determined. It is assumed here that the item that the parcel carrier carries with him in addition to the mobile electronic device has at least essentially the same position as the mobile electronic device. If the mobile electronic device is, for example, a scanner, then an acknowledgement confirmation can be received via the mobile electronic device from a person receiving the item when the item is received. As soon as the mobile electronic device has received the acknowledgement confirmation, it is determined that the delivery was successful.
  • the delivery information characterizes the current status of the delivery, that a) the item has been successfully delivered to a specified recipient or b) the item is being delivered to an alternative recipient that is different from the specified recipient, for example a parcel shop or a neighbor or c) the item cannot be delivered and is returned to the autonomous motor vehicle.
  • the delivery information thus characterizes how successful the delivery is.
  • the delivery information therefore characterizes whether the item has been successfully delivered to the recipient or is expected to be delivered to an alternative recipient or cannot be delivered and is therefore returned to the autonomous motor vehicle so that the item can be transported further by means of the autonomous motor vehicle.
  • the motor vehicle can make a particularly informed decision regarding further movement, so that the motor vehicle can be used particularly efficiently to deliver several items, in particular particularly time-efficiently.
  • the more detailed the delivery information characterizes the respective status of the delivery, the better the respective control of the autonomous vehicle must be adapted to the current status of the delivery.
  • the control device a) steers the autonomous motor vehicle to a next delivery location or a parking position or b) adjusts the route guidance of the autonomous motor vehicle or c) keeps the autonomous motor vehicle in its position.
  • the respective control options a), b) and c) can in particular be assigned to the respective current delivery statuses a), b) and c) characterized by the delivery information. This means that if it has been determined that the item has been successfully delivered to a specified recipient, the autonomous motor vehicle is steered to a next delivery location or the parking position. At this next delivery location, the motor vehicle can deliver another item or make it available for delivery.
  • the autonomous motor vehicle can be parked at the parking position, for example overnight. If it is determined that the item is being delivered to an alternative recipient that is different from the specified recipient, then the route guidance of the autonomous motor vehicle can be adjusted. In particular, the autonomous motor vehicle can be moved close to the alternative recipient so that the autonomous motor vehicle can receive the item again if the item cannot be delivered to the alternative recipient either. Alternatively, the route of the autonomous motor vehicle can be adjusted such that the motor vehicle is moved to a next delivery location at which another item is to be made available for delivery, with this next delivery location being located near the alternative recipient. For this purpose, the motor vehicle can, for example, change a series of planned delivery stops at different delivery locations for respective items.
  • the item is transported to the alternative recipient by means of the delivery device in order to hand it over to the alternative recipient.
  • the additional item can be removed from the autonomous motor vehicle located near the alternative recipient and delivered by means of the delivery device.
  • the autonomous motor vehicle transports a first item to a first delivery location and makes this first item available for delivery.
  • the delivery device which is for example the delivery robot
  • the first object is received by the autonomous motor vehicle and a delivery attempt is made to a final delivery address carried out. This delivery attempt fails, so that the delivery device decides to hand over the first object to a predetermined alternative recipient for delivery.
  • the first object is moved to the alternative recipient by means of the delivery device.
  • the autonomous motor vehicle determines that it wants to deliver a second object to this address of the alternative recipient or in the vicinity of the address of this alternative recipient, then the autonomous motor vehicle moves to a second delivery location assigned to this alternative address. At this second delivery location, the autonomous motor vehicle makes the second object available for delivery. If the delivery device has thus delivered the first object to the alternative recipient, then the delivery device can move to the autonomous motor vehicle arranged at the second delivery location and receive and deliver the second object for delivery. This avoids the delivery device having to move back to the first delivery location in order to remove the second object from the motor vehicle or to drive together with the autonomous motor vehicle from the first delivery location to the second delivery location. This means that the delivery device can save time, which in turn saves time when delivering individual items. The method therefore enables a particularly time-efficient delivery of multiple items.
  • the motor vehicle is controlled by the control device in such a way that the autonomous motor vehicle is held in its position and thus at the delivery location and waits for the item there.
  • the method thus enables the autonomous motor vehicle to only wait at the delivery location when the package is returned to the autonomous motor vehicle by the delivery device. If the delivery is successful - either to the intended recipient or to an alternative recipient - then the autonomous motor vehicle can be moved on immediately when the delivery is successful, in particular to the next delivery location, which means that the autonomous motor vehicle can drive to several delivery locations one after the other particularly quickly. Using the autonomous motor vehicle, a particularly fast delivery of several items to different delivery locations is thus possible.
  • the autonomous motor vehicle transmits to the delivery device via the communication connection how the autonomous motor vehicle is controlled by means of the control device in response to the received current status of the delivery.
  • the autonomous motor vehicle informs the delivery device via the communication connection whether the autonomous motor vehicle is waiting at the delivery location or is being moved away from the delivery location or where the motor vehicle is being moved from the delivery location.
  • the delivery device can react to this control or this movement of the autonomous motor vehicle.
  • the delivery device can be moved to another delivery location, provided that the delivery device has been informed that the autonomous motor vehicle is being moved to the other delivery location by means of the control device.
  • the communication connection thus enables a particularly well coordinated control of the autonomous motor vehicle with a movement of the delivery device, whereby the delivery robot is moved as the delivery device or the parcel courier carries the delivery device.
  • the autonomous motor vehicle transmits at least one of the following information to the delivery device via the communication connection: delivery address, alternative address, parking location, access data to the parking location.
  • the autonomous motor vehicle can thus inform the delivery device about the intended final delivery address or an intended parking location, such as a parcel box, as well as access data to this parking location.
  • the autonomous motor vehicle can inform the delivery device about possible alternative delivery addresses and thus alternative addresses in the event that delivery to the intended delivery address is not successful. This enables a particularly high success rate in the delivery of the object.
  • the object it is possible for the object to be delivered to the alternative address specified by a recipient, for example, if delivery to the delivery address is unsuccessful, so that the recipient can receive the object particularly conveniently.
  • the autonomous motor vehicle receives the updated delivery information several times and at regular intervals from the delivery device. This allows the autonomous Motor vehicle is informed in real time about the current status of the delivery. In particular, if the status of the delivery changes, the autonomous motor vehicle is informed particularly reliably about the current status of the delivery by transmitting the current delivery information several times. This allows the control of the autonomous motor vehicle to be adapted particularly well to the current status of the delivery. In particular, if the status of the delivery changes, the control of the autonomous motor vehicle can be adapted particularly easily and quickly to this change in the delivery.
  • the autonomous motor vehicle transmits its location to the delivery device via the communication connection.
  • the delivery device is particularly well informed about the current location of the autonomous motor vehicle at all times.
  • the delivery device can thus be moved particularly close to the autonomous motor vehicle, whereby the object can be successfully transferred with particularly high reliability.
  • the respective movements of the delivery device can be coordinated particularly well with movements of the autonomous motor vehicle.
  • the autonomous motor vehicle communicates with the delivery device indirectly via a server device or directly via radio.
  • the server device can be a so-called backend, for example. Any information exchanged between the delivery device and the autonomous motor vehicle can thus be transmitted between the autonomous motor vehicle and the delivery device via the server device.
  • Communication via the server device enables information to be transmitted between the autonomous motor vehicle and the delivery device particularly reliably and with a particularly low susceptibility to errors, regardless of the distance between the autonomous motor vehicle and the delivery device.
  • the server device can be particularly well informed about the current status of the delivery. This means that, for example, at least one other vehicle in a fleet of autonomous motor vehicles can be controlled by means of the server device depending on the current status of the delivery.
  • the autonomous The motor vehicle and the delivery device can communicate with each other particularly quickly and easily.
  • the invention further relates to an autonomous motor vehicle for transporting an object, which is designed to transport the object to a delivery location and to make it available for delivery.
  • the autonomous motor vehicle makes the object available for delivery to a final delivery address or to a final delivery point.
  • the autonomous motor vehicle comprises a communication device via which a communication connection can be established with a delivery device used to deliver the object.
  • This delivery device can be, for example, an autonomous delivery robot or a mobile electronic terminal of a parcel courier.
  • direct communication can take place between the autonomous motor vehicle and the delivery device, for example via radio, or indirect communication can take place via an external server device.
  • the autonomous motor vehicle further comprises a control device which is designed to receive at least one delivery information item from the delivery device which characterizes a current status of the delivery.
  • the control device is designed to control the autonomous motor vehicle depending on the current status of the delivery.
  • the control device can be used in particular to control a movement or a stopping of the motor vehicle depending on the state of the delivery characterized by the delivery information.
  • the invention can further comprise a delivery device which is designed to receive the object from the autonomous motor vehicle and to transport it to the final delivery address or to a final delivery point in order to deliver the object there.
  • the delivery device is in particular the autonomous delivery robot or the mobile electronic terminal of the postman.
  • the delivery device is designed to provide delivery information via a communication connection for an autonomous motor vehicle, in particular the autonomous motor vehicle described in the context of the autonomous motor vehicle according to the invention, which provides delivery information which characterizes a current status of a delivery of the object.
  • the autonomous motor vehicle can be controlled depending on the status of the delivery characterized by the delivery information.
  • the invention may further comprise a system comprising an autonomous motor vehicle, as has already been described in connection with the autonomous motor vehicle according to the invention, and a delivery device, as has already been described in connection with the delivery device according to the invention.
  • FIG. 1 a process diagram for a method for controlling an autonomous motor vehicle which is designed to transport an object.
  • Fig. 1 shows a process diagram for a method for controlling an autonomous motor vehicle, which can also be referred to as an automated vehicle.
  • the autonomous motor vehicle is set up to be used as part of a so-called Transportation as a Service (TaaS) process for transporting an object.
  • the object is in particular a package to be delivered.
  • TaaS Transportation as a Service
  • the method comprises four method steps V1 to V4.
  • a first method step V1 it is provided that the object to be delivered is transported to a delivery location and made available for delivery by means of the autonomous motor vehicle.
  • the object is made available for delivery to a delivery device by means of the autonomous motor vehicle.
  • the delivery device is an at least partially automated, in particular fully automated and thus autonomous delivery robot or a mobile electronic device carried by a parcel courier, such as a scanner.
  • the autonomous motor vehicle communicates via a communication link with the delivery device used to deliver the item.
  • the autonomous motor vehicle can use the communication link to send a location to the Delivery device.
  • the communication connection can be established directly between the autonomous motor vehicle and the delivery device, for example via radio, or indirectly via a server device, for example via the Internet.
  • the autonomous motor vehicle can transmit a delivery address and/or an alternative address for delivery and/or a parking location for the object and/or access data to the parking location for the delivery device to the delivery device via the communication connection.
  • a control device of the autonomous motor vehicle receives at least one delivery information from the delivery device via the communication connection, which characterizes a current status of the delivery.
  • the delivery information can characterize that the status of the delivery is that the object has been successfully delivered to a predetermined recipient, or that the object is delivered to an alternative recipient that is different from the predetermined recipient, or that the object cannot be delivered and is handed back over to the autonomous motor vehicle.
  • the autonomous motor vehicle can receive updated delivery information from the delivery device and thus receive the delivery information several times and at regular intervals from the delivery device.
  • the autonomous motor vehicle is controlled by means of the control device depending on the current state of the delivery.
  • the autonomous motor vehicle can be controlled by means of the control device to a next delivery location or a parking position depending on the current state of the delivery, or a route guidance of the autonomous motor vehicle can be adjusted, or the autonomous motor vehicle can be held in its position.
  • the autonomous motor vehicle is held in its position if the current state of the delivery characterizes that the object cannot be delivered and is therefore brought back to the autonomous motor vehicle by the delivery device in order to load it back into the autonomous motor vehicle.
  • the autonomous motor vehicle waits for the delivery device with the object so that the object can be loaded back into the autonomous motor vehicle and transported further by means of the autonomous motor vehicle. For example, the autonomous motor vehicle can then transport the collected object to a central collection point. If the delivery information indicates that the item has been successfully delivered to a given recipient, then the autonomous motor vehicle is moved to a next delivery location for another item or to a parking position for the autonomous motor vehicle.
  • the autonomous motor vehicle can be held in its position to wait to see whether delivery to the alternative recipient is successful, or a route of the autonomous motor vehicle can be adjusted so that the autonomous motor vehicle and the delivery device can meet at the alternative recipient or in the vicinity of the alternative recipient.
  • the autonomous motor vehicle can transmit to the delivery device via the communication connection how the autonomous motor vehicle is controlled by the control device in response to the received current status of the delivery.
  • a system comprising the autonomous motor vehicle and the delivery device can thus be provided, wherein the autonomous motor vehicle is set up to carry out the method described.
  • the procedure described below is carried out to obtain the required real-time information regarding the delivery status of a cargo and thus of the item, as well as to display an optimized route for the autonomous motor vehicle in TaaS operation.
  • the autonomous motor vehicle communicates with a last meter device, which is the delivery device, via a backend and thus an external server device, or alternatively through direct communication.
  • Direct communication can be via cellular such as Uu Link, Sidelink or Cellular Vehicle to X communication, or WiFi such as Vehicle to X communication or standard WiFi or Bluetooth.
  • the autonomous motor vehicle starts the communication connection with the last meter device and controls the transfer of the cargo from the autonomous motor vehicle to the last meter device, as well as the transmission of an exact delivery address from the autonomous motor vehicle to the last meter device.
  • alternative addresses and parking locations or parking options can be transmitted to the last meter device.
  • the Last Meter Device can communicate with the recipient, in particular via an app, and can process inputs from the recipient at short notice, in particular regarding a changed delivery address.
  • the autonomous vehicle remains at its position and waits on real-time feedback via radio from the Last Meter Device on the real-time delivery status.
  • the real-time delivery status is sent to the autonomous vehicle with a final delivery attempt from the Last Meter Device to the recipient.
  • This real-time delivery status can be that the freight has been successfully delivered to the recipient.
  • the real-time delivery status can be that the freight is being delivered by the Last Meter Device to a parcel shop or to a nearby neighbor. This delivery takes longer than initially calculated and takes place to a different address.
  • the real-time status can be that no delivery is possible and the freight or package will be loaded back into the autonomous vehicle.
  • the autonomous vehicle can already react in real time.
  • the autonomous vehicle can already head for the next planned stop on its route and look for a corresponding loading zone, or return to a parcel hub if this was the last stop.
  • the next stop of the autonomous vehicle is adjusted if necessary so that maximum synergies with the new delivery location are created in the route guidance.
  • the autonomous vehicle heads for this new stop and looks for a corresponding loading zone. If delivery is not possible and the package is to be loaded back into the autonomous vehicle, then the autonomous vehicle waits on site for the Last Meter Device to reload the freight.
  • the selected alternative of the autonomous vehicle's reactions and, if applicable, the new location of the autonomous vehicle at the respective unloading zone can be communicated to the Last Meter Device via radio.
  • the autonomous vehicle and the load meter device can then meet at the next unloading location for unloading and the described process can start again at the beginning.
  • the autonomous vehicle can follow the last meter device, especially if the autonomous vehicle has to deliver another item or another load in the vicinity of the alternative address. For example, the autonomous vehicle can bring forward a planned stop.
  • V1 to V4 respective process steps

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  • Entrepreneurship & Innovation (AREA)
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Abstract

L'invention concerne un procédé de commande d'un véhicule automobile autonome qui est configuré pour transporter un objet, dans lequel un objet est transporté à un emplacement de livraison au moyen du véhicule automobile autonome et est fourni pour une livraison (V1), au moyen de la communication de véhicule autonome, par l'intermédiaire d'une connexion de communication, avec un dispositif de livraison utilisé pour livrer l'objet (V2), une unité de commande du véhicule automobile autonome reçoit, par l'intermédiaire de la connexion de communication, au moins un élément d'informations de livraison du dispositif de livraison, ledit élément d'informations caractérisant un état actuel de la livraison (V3), et le véhicule automobile autonome est commandé au moyen de l'unité de commande en fonction de l'état actuel de la livraison (V4).
PCT/EP2023/079794 2022-11-08 2023-10-25 Procédé de commande d'un véhicule automobile autonome et véhicule automobile autonome WO2024099775A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102022211810.3 2022-11-08
DE102022211810.3A DE102022211810A1 (de) 2022-11-08 2022-11-08 Verfahren zum Steuern eines autonomen Kraftfahrzeugs sowie autonomes Kraftfahrzeug

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WO2024099775A1 true WO2024099775A1 (fr) 2024-05-16

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20150349917A1 (en) * 2014-05-28 2015-12-03 Fedex Corporate Services, Inc. Methods and Node Apparatus for Adaptive Node Communication within a Wireless Node Network
US20170124512A1 (en) 2015-09-12 2017-05-04 Thomas Danaher Harvey Methods for delivery to multiple locations using autonomous vehicles
DE102016009573A1 (de) * 2016-08-05 2017-11-23 Daimler Ag Fahrzeug mit Bestückungsvorrichtung
EP3287399A1 (fr) * 2016-02-15 2018-02-28 V-Sync Co., Ltd. Système de livraison
US20190064847A1 (en) 2017-07-28 2019-02-28 Nuro, Inc. Systems and methods for a sub-robot unit transporting a package from on-road an autonomous vehicle to a door or dropbox

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20150349917A1 (en) * 2014-05-28 2015-12-03 Fedex Corporate Services, Inc. Methods and Node Apparatus for Adaptive Node Communication within a Wireless Node Network
US20170124512A1 (en) 2015-09-12 2017-05-04 Thomas Danaher Harvey Methods for delivery to multiple locations using autonomous vehicles
EP3287399A1 (fr) * 2016-02-15 2018-02-28 V-Sync Co., Ltd. Système de livraison
DE102016009573A1 (de) * 2016-08-05 2017-11-23 Daimler Ag Fahrzeug mit Bestückungsvorrichtung
US20190064847A1 (en) 2017-07-28 2019-02-28 Nuro, Inc. Systems and methods for a sub-robot unit transporting a package from on-road an autonomous vehicle to a door or dropbox

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