Patent Publication Number: US-11030889-B2

Title: Systems and methods for dynamic traffic lane management

Description:
TECHNICAL FIELD 
     The present disclosure relates to systems and methods for traffic management, and more specifically, to systems and methods for dynamic traffic lane management. 
     BACKGROUND 
     Traffic accidents and roadway congestion represents significant challenges in present transportation systems. In some cases, toll roads can include public or private roads (e.g., a controlled-access road) for which a toll may be assessed for passage. Tolls can serve as a form of road pricing implemented to help recover the cost of road construction and maintenance. Toll roads can help vehicles having a heightened sense of urgency to arrive at a destination to pass through an area faster than travelling on non-toll roads. In other cases, high-occupancy vehicle lanes (also known as an HOV lanes, carpool lanes, diamond lanes, and/or transit lanes) can include restricted traffic lanes reserved for the use of vehicles with a driver and one or more passengers, including carpools, vanpools, and transit buses. HOV lanes can facilitate vehicles carrying more passengers pass faster than vehicles carrying a single passenger. 
     However, despite their use in mitigating traffic congestion and providing convenience for drivers and passengers, toll roads and HOV lanes may need to be physically built and may have corresponding physical infrastructure. For roads without the physical infrastructure to support such lanes, the lanes of the road may not be distinguishable. Further, even in the case of roads having appropriate physical infrastructure, there may be downsides. For example, toll roads may slow traffic at least by taking time from drivers to stop and pay the toll. Further, the toll roads may have toll booth operators which can have associated costs. Such costs may be up to about one-third of revenues in some cases. 
     Therefore, systems and methods are needed to provide enhanced and dynamic traffic lane management to improve transportation systems. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  shows a diagram of an example environmental context for dynamic traffic lane management, in accordance with example embodiments of the disclosure. 
         FIG. 2  shows a diagram of example components that may be used for dynamic traffic lane management, in accordance with example embodiments of the disclosure. 
         FIG. 3  shows example process flows describing a method of dynamic traffic lane management, in accordance with example embodiments of the disclosure. 
         FIG. 4  is a schematic illustration of an example autonomous vehicle (AV) that can be used in dynamic traffic lane management contexts using the disclosed systems and methods, in accordance with one or more embodiments of the disclosure. 
         FIG. 5  is a schematic illustration of an example server architecture for one or more servers that can be used for dynamic traffic lane management, in accordance with one or more embodiments of the disclosure. 
     
    
    
     DETAILED DESCRIPTION 
     Overview 
     Embodiments of the disclosure are generally directed to a virtual managed lane system and methods that can serve to provide dynamic traffic lane management. In some examples, the virtual managed lane system can include a roadside unit, a server, and one or more vehicles capable of communicating with the roadside server and/or other vehicles. In some examples, the disclosed systems can configure the vehicles to communicate via a vehicle-to-everything (V2X) communication system with the roadside unit. In other aspects, the vehicles can include autonomous vehicles (AVs). In other aspects, the disclosed systems can configure the virtual managed lane system to not need to use physical lanes having a fixed designation as a physical toll or carpool lane. Rather, the disclosed systems can be configured to dynamically designate any given lane of a road as a managed lane (e.g., a lane that can serve as a physical toll lane, a carpool lane, and the like), as described further below. 
     In some examples, the disclosed systems can configure the roadside unit to receive traffic data and transmit the data to the server. If the server determines there is traffic, the disclosed systems can configure the server to send an alert to the vehicles on a portion of the road that a managed lane (e.g., a toll lane or a carpool lane) has opened. In some examples, if the server determines that the traffic is particularly heavy, the disclosed systems may configure the server to open multiple managed lanes simultaneously or in succession. In some examples, the disclosed systems can configure the roadside unit to receive requests to open a managed lane by the vehicles and/or drivers and passengers of the vehicles. The disclosed systems can configure the server to open a managed lane if a predetermined threshold amount (e.g., a user configurable amount) of requests are received. If the managed lane is a toll lane, then the disclosed systems can be configured to receive payments of the toll from the vehicles (e.g., from accounts associated with users of the vehicles or the vehicles themselves) to enter the lane. Additionally, vehicles that remain in the slower, normal lanes may receive a benefit, such as a monetary reward. 
     The disclosed systems can provide dynamic, managed lanes to enable vehicles of users that have a heightened need to arrive at a destination to move faster in the toll lane by making a payment. In other aspects, the disclosed systems can permit vehicles of users that have a reduced sense of urgency to arrive at a destination to take the unmanaged traffic lanes and be rewarded for taking such unmanaged lanes. In some examples, this dynamic and differential traffic control can be convenient and useful for AV fleet services. In other examples, the disclosed systems can dynamically determine the managed lanes, depending on the flow of traffic. For example, the managed lane(s) can be switched over time to mirror changing traffic flow rates. As noted, multiple managed lanes may be opened and closed to balance traffic flow. 
     In some examples, the disclosed systems can allow users to specify (e.g., via an application on a user&#39;s device) certain options that indicate the users&#39; degree of urgency to get to a destination via a particular route or to indicate users&#39; flexibility in taking alternative routes that may take additional time (e.g., for a reward). The disclosed systems can pool statistics of information about the users&#39; needs and determine dynamic lane changes accordingly based on the specified options from the users. 
     Illustrative Embodiments 
     Embodiments of the present disclosure are described herein. It is to be understood, however, that the disclosed embodiments are merely examples and other embodiments can take various and alternative forms. The figures are not necessarily to scale; some features could be exaggerated or minimized to show details of particular components. Therefore, specific structural and functional details disclosed herein are not to be interpreted as limiting, but merely as a representative basis for teaching one skilled in the art to variously employ the present invention. As those of ordinary skill in the art will understand, various features illustrated and described with reference to any one of the figures can be combined with features illustrated in one or more other figures to produce embodiments that are not explicitly illustrated or described. The combinations of features illustrated provide representative embodiments for typical applications. Various combinations and modifications of the features consistent with the teachings of this disclosure, however, could be desired for particular applications or implementations. 
     As used herein, a “communication system” can refer to a computer network in which vehicles and roadside units serve as communicating nodes, providing each other with information, such as safety warnings and traffic information. These components can be used in avoiding accidents and in reducing traffic congestion. The components may include dedicated short-range communications (DSRC) devices, cellular vehicle-to-everything (C-V2X) devices, vehicle-to-network (V2N) devices, or other V2X-capable devices. DSRC can refer to one-way or two-way short-range to medium-range wireless communication channels specifically designed for automotive use and a corresponding set of protocols and standards. 
     As used herein, “vehicle-to-everything” (V2X) communication may refer to the communication of information between a vehicle and any entity that may affect the vehicle. It is a vehicular communication system that incorporates other more specific types of communication as V2I (vehicle-to-infrastructure), V2N (vehicle-to-network), V2V (vehicle-to-vehicle), V2P (vehicle-to-pedestrian), V2D (vehicle-to-device) and V2G (vehicle-to-grid). In some aspects, V2X communication technology can include wide local area network (WLAN)-based, and cellular-based communications. V2X communication can include any suitable network-based V2X communication such as vehicle-to-network (V2N) or WLAN-based V2X communication. In some examples, V2N can use long-term evolution (LTE) (and its variants) as described, for example, in 3GPP standards Release 14. Moreover, V2X functionalities can support 5G, as described in connection with various standards, such as 3GPP Release 15. In some examples, the V2N can include a PC5 side link peer-to-peer short range communication capability. 
     As used herein, a “basic safety message,” (BSM) can refer to an electronic message in vehicle-to-vehicle (V2V) applications. The BSM may include a low latency, localized broadcast that can be used in connection with V2V safety applications. Such V2V safety applications can be built around any suitable standard, such as a society of automotive engineers (SAE) J2735 BSM standard. In some examples, the BSM may include a portion having vehicle data elements (vehicle size, position, speed, heading acceleration, brake system status, and/or the like). In some cases, the BSM can be transmitted using any suitable technique, such as DSRC, and may have a range of about 1,000 meters. 
     As noted, conventional toll roads and carpool lanes may need to be built physically. Unfortunately, for roads without such physical toll roads and/or carpool lanes, users of vehicles on the road may all be treated equally in terms of traffic flow. However, at times, vehicles may need to pass through a road quickly, for example, for passengers to get to a destination such as an airport at a certain time. Other vehicles may transport passengers that are not necessarily in a rush and may rather enjoy entertaining themselves during the ride, for example, by watching movies in the vehicle. The vehicles in these examples can be conventional driver-based vehicles or can be AVs, for example, AVs that are a part of a fleet service. Accordingly, conventional systems that treat users of vehicles in traffic in the same manner may not satisfy all passengers&#39; needs and desires. 
     As noted, the disclosed systems can selectively open virtual managed lanes (e.g., toll lanes and/or carpool lanes) in a dynamic manner based on traffic flow. Accordingly, vehicles that have individuals in a rush to get to their respective destinations can pay a fee to use the managed lane, while vehicles that have individuals that are not in a rush to get to their respective destinations can stay in a lane having normal traffic flow. Such vehicles and/or passengers of such vehicles may be incentivized to remain in their unmanaged lanes by receiving monetary rewards and/or credits (e.g., discounts or points towards AV ride sharing services). 
       FIG. 1  shows a diagram of an environmental context for dynamic traffic lane management, in accordance with example embodiments of the disclosure.  FIG. 1  represents an environmental context  100  that includes vehicles (e.g., vehicles  102 ,  104 ,  106 ,  108 ,  110 , and/or  112 ) traveling on a road  101 , along with infrastructural components such as roadside unit  132 . Further, the vehicles may include vehicle antennas. The roadside unit  132  can include memory and at least one processor. The vehicle antennas may communicate messages (e.g., V2X messages) to and from between vehicles in addition to the antenna of the roadside unit  132 . 
     In some examples, the road  101  may have multiple lanes (e.g., lanes  103 ,  105 ,  107 , and  109 ), but may not have a physical carpool lane or a toll lane. The vehicles (e.g., vehicles  102 ,  104 ,  106 ,  108 ,  110 , and  112 ) can include AVs, and may have wireless devices capable of V2X communications to roadside unit  132  or a communications network (e.g., via cell tower  144 ). In some examples, the disclosed systems can configure the vehicles to periodically send messages (e.g., BSMs), along with the vehicles&#39; location information and velocities to the roadside unit  132  and/or to a server  134 . 
     In some examples, the disclosed systems can configure the roadside unit  132  or another wireless network (e.g., cellular network) to receive information from the vehicles, determine a vehicle traffic situation on the road  101 , and transmit the information to the server  134 . In an example, if the server  134  senses that the traffic density on the road  101  is above a predetermined traffic threshold and/or that the average vehicle speed is below a predetermined traffic speed threshold, the disclosed systems can configure the server  134  to broadcast messages to the vehicles on the road  101  in the affected area. In particular, the disclosed systems can configure the server  134  to broadcast messages to indicate that a managed lane (e.g., a toll lane and/or a carpool lane) has been opened in one of the lanes of the road  101  (e.g., one of lanes  103 ,  105 ,  107 , and/or  109 ). 
     In some examples, the disclosed systems can designate the managed lane as a toll lane (e.g., designate managed lane  103  as a toll lane). Alternatively, vehicles (e.g., vehicle  104 ) can transmit a toll lane request  124  via the wireless device  122 . Once the disclosed systems designate a lane as a managed lane, an infrastructural element such as roadside unit  132  can transmit a V2X message (e.g., message  143 ) that the toll lane (e.g., managed lane  103 ) has opened. In other examples, a given vehicle (e.g., vehicle  102 ) can transmit the V2X message that the toll lane (e.g., managed lane  103 ) has opened. Accordingly, vehicles in other lanes than the managed lane can move to the toll lane. 
     In some examples, the disclosed systems can be configured to communicate with the wireless device  122  associated with a user of the vehicle (e.g., a mobile device of the user, a vehicle-based device, etc.) in order to cause the wireless device  122  to transmit payment (e.g., to the roadside unit  132 ). In one example, a user of the vehicle can agree to make the payment (e.g., via a confirmation sent by a user device), and the server  134  can process the payment from an account associated with the vehicle or a user of the vehicle, and notify the user after the payment is completed. In some examples, the payment may also be made automatically if the vehicle stays in the managed toll lane. In other examples, the disclosed systems can configure a vehicle&#39;s human-machine interface (HMI)  126  to show the designated managed lane, indicate that the vehicle is in toll lane, and display the payment and processing thereof. If the vehicle does not make the payment for a certain time period or distance in the toll lane, the server may automatically charge the vehicle&#39;s account and notify the user. 
     As noted, if the customer agrees to make payment (e.g., via real-time approval or via a customer preauthorization), the server  134  can charge the vehicle. In some examples, the disclosed systems may charge different amount of fee based on the location on the road and/or based on an amount of distance that the vehicle takes to switch to the managed lane) where a given vehicle changes to the opened management lane. For example, vehicle  104  may change relatively quickly to the opened lane  103 , while vehicle  110  changed relatively slowly (e.g., about 1 mile late) to the opened lane  103 . Accordingly, vehicle  110  may be charged less. In other cases, the disclosed systems can determine the fee amount based on the vehicle lane location. For example, a vehicle (e.g., vehicle  104 ) that is in a lane (e.g., lane  105 ) that is closer to the opened managed lane (e.g., lane  103 ) can be charged more than a vehicle (e.g., vehicle  110 ) that is in a lane (e.g., lane  109 ) that requires more lane changes to arrive at the opened managed lane. The disclosed systems can dynamically update the differential pricing to optimize the flow of traffic and minimize delays. Further, in some examples, the disclosed systems can cause customers associated with vehicles in the unmanaged lanes (e.g., non-toll or non-carpool lanes such as lanes  105 ,  107 , and/or  109 ) to obtain a discount, a reward, and/or to earn points, for example, in order to enforce a traffic fairness or to further control the flow of traffic. 
     In some examples, the disclosed systems can permit users and/or the vehicles (e.g., vehicle  104 ) to request (e.g., via a request message  120 ) the server  134  to open a toll lane or a carpool lane. For example, the disclosed systems can configure interfaces in the displays of the vehicles and/or applications associated with the vehicles on user devices to allow the users to submit a toll-lane request to the local network. In some examples, if the server  134  receives a threshold amount of requests, the server  134  can open a managed lane such as a toll lane or carpool lane. 
     The vehicles (e.g., vehicles  102 ,  104 ,  106 ,  108 ,  110 , and/or  112 ) may include any suitable vehicle such as a motorcycle, car, truck, recreational vehicle, etc., and may be equipped with suitable hardware and software that enables it to communicate over a network, such as a local area network (LAN). As noted, the vehicles may include an AV as shown and described in connection with  FIG. 4 , below. 
     In another embodiment, the vehicles may include a variety of sensors that may aid the disclosed systems traffic management and lane determination based on location. The sensors may include radio detection and ranging (RADAR), light detection and ranging (LIDAR), cameras, magnetometers, ultrasound, barometers, and the like (to be described below). In one embodiment, the sensors and other devices of the vehicles may communicate over one or more network connections. Examples of suitable network connections include a controller area network (CAN), a media-oriented system transfer (MOST), a local interconnection network (LIN), a cellular network, a Wi-fi network, and other appropriate connections such as those that conform with known standards and specifications (e.g., one or more Institute of Electrical and Electronics Engineers (IEEE) standards, and the like). 
     In some examples, the vehicles may have on-board units (not shown) may include microcontrollers and devices that can communicate with each other in applications without a host computer. The on-board unit may use a message-based protocol to perform internal communications. Further, the on-board unit can cause a transceiver to send and receive messages (for example, V2X messages) to and from infrastructural components such as the roadside unit  132  and to other vehicles&#39; on-board units. 
     In some examples, the vehicle can have antennas and may include any suitable communications antenna. Some non-limiting examples of suitable communications antennas include Wi-Fi antennas, Institute of Electrical and Electronics Engineers (IEEE) 802.11 family of standards compatible antennas, directional antennas, non-directional antennas, dipole antennas, folded dipole antennas, patch antennas, multiple-input multiple-output (MIMO) antennas, or the like. The communications antenna may be communicatively coupled to a radio component to transmit and/or receive signals, such as communications signals to and/or from the vehicles and from the roadside unit  132 . 
     Further, various devices of the vehicles and/or the infrastructural components such as roadside unit  132  may include any suitable radio and/or transceiver for transmitting and/or receiving radio frequency (RF) signals in the bandwidth and/or channels corresponding to the communications protocols utilized by any of the vehicle devices to communicate with each other. The radio components may include hardware and/or software to modulate and/or demodulate communications signals according to pre-established transmission protocols. The radio components may further have hardware and/or software instructions to communicate via one or more Wi-Fi and/or Wi-Fi direct protocols, as standardized by the Institute of Electrical and Electronics Engineers (IEEE) 802.11 standards. 
     Typically, when an example vehicle  102  establishes communication with another vehicle  104  and/or establishes communication with an infrastructural component such as roadside unit  132 , the vehicle  102  may communicate (e.g., via a V2X communication protocol) by sending data frames (e.g. a data frame which can comprise various fields such as a frame control field, a duration field, an address field, a data field, and a checksum field). The data frames may be preceded by one or more preambles that may be part of one or more headers. These preambles may be used to allow the user device to detect a new incoming data frame from the vehicle device. A preamble may be a signal used in network communications to synchronize transmission timing between two or more devices (e.g., between the vehicle  102  device and the roadside unit  132 ). 
     In another aspect, the environmental context  100  may include one or more satellites  142  and one or more cellular towers  144 . As noted, the vehicles may have transceivers, which in turn may include one or more location receivers (e.g., global positioning system (GPS) receivers) that may receive location signals (e.g., GPS signals) from one or more satellites  142 . In another embodiment, a receiver may refer to a device that can receive information from satellites (e.g., satellites  142 ) and calculate the vehicles&#39; geographical position. 
       FIG. 2  shows a diagram of example components that may be used for dynamic traffic lane management, in accordance with example embodiments of the disclosure. In particular, diagram  200  shows computational resources including an exemplary server  202 , a database  204 , processor(s)  206 , memory  208 , user devices  213 , and infrastructural element  215  that may include a roadside unit. Diagram  200  further shows an example vehicle  210  that may communicate using antennas  211 . In various embodiments, the various components of diagram  200  may communicate over a network  216 . 
     In some examples, the infrastructural component  215  may include road and highway networks, including structures (bridges, tunnels, culverts, retaining walls), signage and markings, electrical systems (street lighting and traffic lights), and/or the like. As noted, the infrastructural component  215  can include a roadside unit, and the roadside unit can communicate messages with the vehicles such as vehicle  210 . 
     In another embodiment, the vehicles  210  may send and receive wireless signals using antenna  211 . The wireless signal may be sent to other vehicles in proximity to the transmitting vehicle, or to infrastructural component  215  including the roadside unit that can be part of the transportation network. A wireless signal may additionally be sent to a user device  213 , for example, to inform the user regarding dynamic traffic lane designations, payment requests, payment authorizations, and the like. For example, the vehicles may transmit such a wireless signal to the user device  213  such as a mobile phone to notify the user that the vehicle  210  is one lane away from a designated managed lane serving as a toll lane, confirm a user&#39;s desire to switch lanes, and confirm payment to a server of the disclosed systems to making a lane change to the managed lane. 
     The vehicles  210  and/or the user devices  213  may be configured to communicate with the one or more devices of the vehicle using a network  216 , wirelessly or wired. For example, the vehicle  210  and the user devices  213  may synchronize their operations via an application running on the user device  213 . The network  216  may include, but not limited to, any one of a combination of different types of suitable communications networks such as, for example, broadcasting networks, public networks (for example, the Internet), private networks, wireless networks, cellular networks, or any other suitable private and/or public networks. 
     Diagram  200  further shows an example server  202  that may be in communication with the various other components (for example, the database  204 , the processor(s)  206 , the memory  208 , and/or the vehicles  210 ) over the network  216 . In an embodiment, the server  202  may include a cloud-based server that may serve to store and transmit information (for example, payment information, traffic lane requests, historical information regarding vehicle lane changes and/or locations, and/or the like). Some or all of the individual components may be optional and/or different in various embodiments. 
     Diagram  200  further shows an example database  204 . In some examples, the disclosed systems may obtain and analyze map information associated with an environment of the vehicles, previous vehicle locations in a given environment, infrastructural updates regarding the transportation network (for example, construction activity, road closures, etc.), and/or the like. This information can be used by the server  202  and/or the infrastructural element  215  to determine a traffic condition associated with a particular area. The database  204  may be controlled by any suitable system, including a database management systems (DBMS), discussed further in connection with  FIG. 5 , below. The DBMS may use any of a variety of database models (for example, relational model, object model, etc.) and may support any of a variety of query languages to obtain information from database  204 . In some examples, the database  204  may include a cloud-based database or a vehicle-based database. 
     Processor(s)  206  may include application processors, various coprocessors, and other dedicated processors for performing dynamic traffic lane management. Processor(s)  206  may be communicably coupled with memory  208  and configured to run the operating system, user interfaces, sensors, navigation system, communication system, image processing systems, and/or other components. In some embodiments, processor(s)  206  may include multiple dedicated or shared processors configured to perform signal processing, analyze traffic conditions in a given area, implement/manage real-time radio transmission operations of the vehicle  210 , send and receive messages in accordance with a V2X protocol to and from vehicles, collect and process payment information, and the like. The volatile and nonvolatile memories found in various embodiments may include storage media for storing information such as processor-readable instructions, data structures, program modules, or other data. Some examples of information that may be stored include basic input/output systems (BIOS), operating systems, and applications. 
       FIG. 3  shows example process flows describing a method of providing dynamic traffic lane management, in accordance with example embodiments of the disclosure. At block  302 , the method can include receiving traffic information associated with vehicles travelling on a portion of a multilane road. In some examples, receiving the traffic information can further include the disclosed systems receiving request messages from the vehicles for the device to designate the lane of the multilane road as the managed lane. Accordingly, the disclosed systems can determine that a threshold number of the request messages are received, and determine to designate the lane as the managed lane based on the received threshold number of request messages and traffic information associated with the portion of the multilane road. 
     At block  304 , the method can include determining to designate at least one lane of the multilane road as a managed lane based on the traffic information. In some examples, based on the level of traffic, the disclosed systems can designate multiple lanes as managed lanes. Further, the disclosed systems can change the lane that is designated as the managed lane over time, based on changes in the traffic information. 
     At block  306 , the method can include transmitting a message to the vehicles, the message indicative of the designation of the lane as the managed lane. The disclosed systems can further transmit the messages using a V2X communications protocol or any other suitable protocol. 
     At block  308 , the method can include receiving a confirmation message from a vehicle, the confirmation message indicative of the vehicle&#39;s acceptance of travelling on the managed lane. Further, the disclosed systems can be configured to receive a payment from an account associated with the vehicle based on the vehicle&#39;s acceptance of travelling on the managed lane. Alternatively, the disclosed systems can be configured to a rejection message from a vehicle, the rejection message indicative of the vehicle&#39;s non-acceptance of travelling on the managed lane. Accordingly, the disclosed systems can be configured to dispose a monetary reward or a credit to an account associated with the vehicle based on the vehicle&#39;s non-acceptance of travelling on the managed lane. 
     In some examples, (a) an amount of a payment from an account associated with the vehicle based on the vehicle&#39;s acceptance of travelling on the managed lane or (b) an amount of a monetary reward or a credit to the account based on the vehicle&#39;s non-acceptance of travelling on the managed lane can be determined based on the traffic information. Further, the amount of payment or the amount of the monetary reward or the credit can be based on a number of lane changes that the vehicle makes to travel on the managed lane. 
       FIG. 4  is a schematic illustration of an example autonomous vehicle, in accordance with one or more embodiments of the disclosure. As noted, the vehicle (for example, any of vehicles  102 ,  104 ,  106 ,  108 ,  110 , and/or  112  shown and described in connection with  FIG. 1 , above), may include an AV. Referring to  FIG. 4 , an example vehicle  400  may include a power plant  402  (such as a combustion engine and/or an electric motor) that provides torque to driven wheels  404  that propel the vehicle forward or backward. 
     Autonomous vehicle operation, including propulsion, steering, braking, navigation, and the like, may be controlled autonomously by a vehicle controller  406 . For example, the vehicle controller  406  may be configured to receive feedback from one or more sensors (for example, sensor system  434 , etc.) and other vehicle components to determine road conditions, vehicle positioning, and so forth. The vehicle controller  406  may also ingest data from various sensors such as speed monitor and yaw sensor, as well as the tires, brakes, motor, and other vehicle components. The vehicle controller  406  may use the feedback and route/map data of the route to determine actions to be taken by the autonomous vehicle, which may include operations related to the engine, steering, braking, and so forth. Control of the various vehicle systems may be implemented using any suitable mechanical means, such as servo motors, robotic arms (for example, to control steering wheel operation, acceleration pedal, brake pedal, etc.), and so forth. The controller  406  may be configured to interact with the user by communicating with the user&#39;s user device. 
     The vehicle controller  406  may include one or more computer processors coupled to at least one memory. The vehicle  400  may include a braking system  408  having disks  410  and calipers  412 . The vehicle  400  may include a steering system  414 . The steering system  414  may include a steering wheel  416 , a steering shaft  418  interconnecting the steering wheel to a steering rack  420  (or steering box). The front and/or rear wheels  404  may be connected to the steering rack  420  via axle  422 . A steering sensor  424  may be disposed proximate the steering shaft  418  to measure a steering angle. The vehicle  400  also includes a speed sensor  426  that may be disposed at the wheels  404  or in the transmission. The speed sensor  426  is configured to output a signal to the controller  406  indicating the speed of the vehicle. A yaw sensor  428  is in communication with the controller  406  and is configured to output a signal indicating the yaw of the vehicle  400 . 
     The vehicle  400  includes a cabin having a display  430  in electronic communication with the controller  406 . The display  430  may be a touchscreen that displays information to the passengers of the vehicle and/or functions as an input. A person having ordinary skill in the art will appreciate that many different display and input devices are available and that the present disclosure is not limited to any particular display. An audio system  432  may be disposed within the cabin and may include one or more speakers for providing information to users that pick up items. The audio system  432  may also include a microphone for receiving voice inputs or detecting sounds at the residence (for example, animal sounds). The vehicle may include a communications system  436  that is configured to send and/or receive wireless communications via one or more networks. The communications system  436  may be configured for communication with devices in the car or outside the car, such as a user&#39;s device, the delivery vehicles, etc. 
     The vehicle  400  may also include a sensor system for sensing areas external to the vehicle. The sensor system may include a plurality of different types of sensors and devices such as cameras, ultrasonic sensors, RADAR, LIDAR, and/or combinations thereof. The sensor system may be in electronic communication with the controller  406  for controlling the functions of various components. The controller may communicate via a serial bus or via dedicated electrical conduits. The controller generally includes any number of microprocessors, ASICs, ICs, memory (for example, FLASH, ROM, RAM, EPROM and/or EEPROM) and software code to co-act with one another to perform a series of operations. The controller also includes predetermined data, or “look up tables” that are based on calculations and test data and are stored within the memory. The controller may communicate with other vehicle systems and controllers over one or more wired or wireless vehicle connections using common bus protocols (for example, CAN and LIN). Used herein, a reference to “a controller” refers to one or more controllers and/or computer processors. The controller  406  may receive signals from the sensor system  434  and may include memory containing machine-readable instructions for processing the data from the sensor system. The controller  406  may be programmed to output instructions to at least the display  430 , the audio system  432 , the steering system  414 , the braking system  408 , and/or the power plant  402  to autonomously operate the vehicle  400 . 
       FIG. 5  is a schematic illustration of an example server architecture for one or more server(s)  500  in accordance with one or more embodiments of the disclosure. The server  500  illustrated in the example of  FIG. 5  may correspond to a server that may be used by a roadside server and/or vehicle (for example, roadside server  134  and/or any of vehicles  102 ,  104 ,  106 ,  108 ,  110 , and/or  112  as shown and described in connection with  FIG. 1 , above) on a network associated with the vehicle or a user device. In an embodiment, the server  500  may include a cloud-based server that may serve to store and transmit information (for example, messages between the roadside unit and the vehicles or between vehicles, etc. for dynamic traffic lane management, and the like). Some or all of the individual components may be optional and/or different in various embodiments. In some embodiments, at least one of the servers described  FIG. 5  may be located at an autonomous vehicle. 
     The server  500  may be in communication with an AV  540 , and one or more user devices  550 . The AV  540  may be in communication  546  with the one or more user devices  550 . Further, the server  500 , the AV  540 , and/or the user devices  550  may be configured to communicate via one or more networks  542 . The AV  540  may additionally be in wireless communication over one or more network(s)  542  with the user devices  550  via a connection protocol such as Bluetooth or NFC. Such network(s)  542  may include, but are not limited to, any one or more different types of communications networks such as, for example, cable networks, public networks (for example, the Internet), private networks (for example, frame-relay networks), wireless networks, cellular networks, telephone networks (for example, a public switched telephone network), or any other suitable private or public packet-switched or circuit-switched networks. Further, such network(s) may have any suitable communication range associated therewith. In addition, such network(s) may include communication links and associated networking devices (for example, link-layer switches, routers, etc.) for transmitting network traffic over any suitable type of medium including, but not limited to, coaxial cable, twisted-pair wire (for example, twisted-pair copper wire), optical fiber, a HFC medium, a microwave medium, a radio frequency communication medium, a satellite communication medium, or any combination thereof. 
     In an illustrative configuration, the server  500  may include one or more processors  502 , one or more memory devices  504  (also referred to herein as memory  504 ), one or more input/output (I/O) interface(s)  506 , one or more network interface(s)  508 , one or more sensor(s) or sensor interface(s)  510 , one or more transceiver(s)  512 , one or more optional display components  514 , one or more optional speakers(s)/camera(s)/microphone(s)  516 , and data storage  520 . The server  500  may further include one or more bus(es)  518  that functionally couple various components of the server  500 . The server  500  may further include one or more antenna(e)  530  that may include, without limitation, a cellular antenna for transmitting or receiving signals to/from a cellular network infrastructure, a GNSS antenna for receiving GNSS signals from a GNSS satellite, a Bluetooth antenna for transmitting or receiving Bluetooth signals, a NFC antenna for transmitting or receiving NFC signals, and so forth. These various components will be described in more detail hereinafter. 
     The bus(es)  518  may include at least one of a system bus, a memory bus, an address bus, or a message bus, and may permit the exchange of information (for example, data (including computer-executable code), signaling, etc.) between various components of the server  500 . The bus(es)  518  may include, without limitation, a memory bus or a memory controller, a peripheral bus, an accelerated graphics port, and so forth. The bus(es)  518  may be associated with any suitable bus architecture. 
     The memory  504  of the server  500  may include volatile memory (memory that maintains its state when supplied with power) such as RAM and/or non-volatile memory (memory that maintains its state even when not supplied with power) such as read-only memory (ROM), flash memory, ferroelectric RAM (FRAM), and so forth. Persistent data storage, as that term is used herein, may include non-volatile memory. In certain example embodiments, volatile memory may enable faster read/write access than non-volatile memory. However, in certain other example embodiments, certain types of non-volatile memory (for example, FRAM) may enable faster read/write access than certain types of volatile memory. 
     The data storage  520  may include removable storage and/or non-removable storage including, but not limited to, magnetic storage, optical disk storage, and/or tape storage. The data storage  520  may provide non-volatile storage of computer-executable instructions and other data. 
     The data storage  520  may store computer-executable code, instructions, or the like that may be loadable into the memory  504  and executable by the processor(s)  502  to cause the processor(s)  502  to perform or initiate various operations. The data storage  520  may additionally store data that may be copied to the memory  504  for use by the processor(s)  502  during the execution of the computer-executable instructions. More specifically, the data storage  520  may store one or more operating systems (O/S)  522 ; one or more database management systems (DBMS)  524 ; and one or more program module(s), applications, engines, computer-executable code, scripts, or the like. Some or all of these component(s) may be sub-component(s). Any of the components depicted as being stored in the data storage  520  may include any combination of software, firmware, and/or hardware. The software and/or firmware may include computer-executable code, instructions, or the like that may be loaded into the memory  504  for execution by one or more of the processor(s)  502 . Any of the components depicted as being stored in the data storage  520  may support functionality described in reference to corresponding components named earlier in this disclosure. 
     The processor(s)  502  may be configured to access the memory  504  and execute the computer-executable instructions loaded therein. For example, the processor(s)  502  may be configured to execute the computer-executable instructions of the various program module(s), applications, engines, or the like of the server  500  to cause or facilitate various operations to be performed in accordance with one or more embodiments of the disclosure. The processor(s)  502  may include any suitable processing unit capable of accepting data as input, processing the input data in accordance with stored computer-executable instructions, and generating output data. The processor(s)  502  may include any type of suitable processing unit. 
     Referring now to other illustrative components depicted as being stored in the data storage  520 , the  0 /S  522  may be loaded from the data storage  520  into the memory  504  and may provide an interface between other application software executing on the server  500  and the hardware resources of the server  500 . 
     The DBMS  524  may be loaded into the memory  504  and may support functionality for accessing, retrieving, storing, and/or manipulating data stored in the memory  504  and/or data stored in the data storage  520 . The DBMS  524  may use any of a variety of database models (for example, relational model, object model, etc.) and may support any of a variety of query languages. 
     Referring now to other illustrative components of the server  500 , the input/output (I/O) interface(s)  506  may facilitate the receipt of input information by the server  500  from one or more I/O devices as well as the output of information from the server  500  to the one or more I/O devices. The I/O devices may include any of a variety of components such as a display or display screen having a touch surface or touchscreen; an audio output device for producing sound, such as a speaker; an audio capture device, such as a microphone; an image and/or video capture device, such as a camera; a haptic unit; and so forth. The I/O interface(s)  506  may also include a connection to one or more of the antenna(e)  530  to connect to one or more networks via a wireless local area network (WLAN) (such as Wi-Fi) radio, Bluetooth, ZigBee, and/or a wireless network radio, such as a radio capable of communication with a wireless communication network such as a Long Term Evolution (LTE) network, WiMAX network, 3G network, a ZigBee network, etc. 
     The server  500  may further include one or more network interface(s)  508  via which the server  500  may communicate with any of a variety of other systems, platforms, networks, devices, and so forth. The network interface(s)  508  may enable communication, for example, with one or more wireless routers, one or more host servers, one or more web servers, and the like via one or more networks. 
     The sensor(s)/sensor interface(s)  510  may include or may be capable of interfacing with any suitable type of sensing device such as, for example, inertial sensors, force sensors, thermal sensors, photocells, and so forth. 
     The display component(s)  514  may include one or more display layers, such as LED or LCD layers, touch screen layers, protective layers, and/or other layers. The optional camera(s) of the speakers(s)/camera(s)/microphone(s)  516  may be any device configured to capture ambient light or images. The optional microphone(s) of the speakers(s)/camera(s)/microphone(s)  516  may be any device configured to receive analog sound input or voice data. The microphone(s) of the speakers(s)/camera(s)/microphone(s)  516  may include microphones used to capture sound. 
     It should be appreciated that the program module(s), applications, computer-executable instructions, code, or the like depicted in  FIG. 5  as being stored in the data storage  520  are merely illustrative and not exhaustive and that processing described as being supported by any particular module may alternatively be distributed across multiple module(s) or performed by a different module. 
     It should further be appreciated that the server  500  may include alternate and/or additional hardware, software, or firmware components beyond those described or depicted without departing from the scope of the disclosure. 
     The user device  550  may include one or more computer processor(s)  552 , one or more memory devices  554 , and one or more applications, such as a vehicle application  556 . Other embodiments may include different components. 
     The processor(s)  552  may be configured to access the memory  554  and execute the computer-executable instructions loaded therein. For example, the processor(s)  552  may be configured to execute the computer-executable instructions of the various program module(s), applications, engines, or the like of the device to cause or facilitate various operations to be performed in accordance with one or more embodiments of the disclosure. The processor(s)  552  may include any suitable processing unit capable of accepting data as input, processing the input data in accordance with stored computer-executable instructions, and generating output data. The processor(s)  552  may include any type of suitable processing unit. 
     The memory  554  may include volatile memory (memory that maintains its state when supplied with power). Persistent data storage, as that term is used herein, may include non-volatile memory. In certain example embodiments, volatile memory may enable faster read/write access than non-volatile memory. However, in certain other example embodiments, certain types of non-volatile memory (for example, FRAM) may enable faster read/write access than certain types of volatile memory. 
     Referring now to functionality supported by the user device  550 , the AV application  556  may be a mobile application executable by the processor  552  that can be used to present options and/or receive user inputs of information related to the disclosed embodiments. In addition, the user device  550  may communicate with the AV  540  via the network  542  and/or a direct connect, which may be a wireless or wired connection. The user device  550  may include a camera, scanner, bio reader or the like to capture biometric data of a user, perform certain processing steps on the biometric data, such as extracting features from captured biometric data, and then communicate those extracted features to one or more remote servers, such as one or more of cloud-based servers. 
     It should be appreciated that the program module(s), applications, computer-executable instructions, code, or the like depicted in  FIG. 5  as being stored in the data storage  520  are merely illustrative and not exhaustive and that processing described as being supported by any particular module may alternatively be distributed across multiple module(s) or performed by a different module. 
     The autonomous vehicle  540  may include one or more computer processor(s)  560 , one or more memory devices  562 , one or more sensors  564 , and one or more applications, such as an autonomous driving application. Other embodiments may include different components. A combination or sub combination of these components may be integral to the controller  406  in  FIG. 4 . 
     The processor(s)  560  may be configured to access the memory  562  and execute the computer-executable instructions loaded therein. For example, the processor(s)  560  may be configured to execute the computer-executable instructions of the various program module(s), applications, engines, or the like of the device to cause or facilitate various operations to be performed in accordance with one or more embodiments of the disclosure. The processor(s)  560  may include any suitable processing unit capable of accepting data as input, processing the input data in accordance with stored computer-executable instructions, and generating output data. The processor(s)  560  may include any type of suitable processing unit. 
     The memory  562  may include volatile memory (memory that maintains its state when supplied with power) such as random access memory (RAM) and/or non-volatile memory (memory that maintains its state even when not supplied with power) such as read-only memory (ROM), flash memory, ferroelectric RAM (FRAM), and so forth. Persistent data storage, as that term is used herein, may include non-volatile memory. In certain example embodiments, volatile memory may enable faster read/write access than non-volatile memory. However, in certain other example embodiments, certain types of non-volatile memory (e.g., FRAM) may enable faster read/write access than certain types of volatile memory. 
     It should further be appreciated that the server  500  may include alternate and/or additional hardware, software, or firmware components beyond those described or depicted without departing from the scope of the disclosure. 
     It should further be appreciated that the server  500  may include alternate and/or additional hardware, software, or firmware components beyond those described or depicted without departing from the scope of the disclosure. 
     Although specific embodiments of the disclosure have been described, one of ordinary skill in the art will recognize that numerous other modifications and alternative embodiments are within the scope of the disclosure. For example, any of the functionality and/or processing capabilities described with respect to a particular device or component may be performed by any other device or component. Further, while various illustrative implementations and architectures have been described in accordance with embodiments of the disclosure, one of ordinary skill in the art will appreciate that numerous other modifications to the illustrative implementations and architectures described herein are also within the scope of this disclosure. 
     Blocks of the block diagrams and flow diagrams support combinations of means for performing the specified functions, combinations of elements or steps for performing the specified functions, and program instruction means for performing the specified functions. It will also be understood that each block of the block diagrams and flow diagrams, and combinations of blocks in the block diagrams and flow diagrams, may be implemented by special-purpose, hardware-based computer systems that perform the specified functions, elements or steps, or combinations of special-purpose hardware and computer instructions. 
     A software component may be coded in any of a variety of programming languages. An illustrative programming language may be a lower-level programming language such as an assembly language associated with a particular hardware architecture and/or operating system platform. A software component comprising assembly language instructions may require conversion into executable machine code by an assembler prior to execution by the hardware architecture and/or platform. 
     A software component may be stored as a file or other data storage construct. Software components of a similar type or functionally related may be stored together such as, for example, in a particular directory, folder, or library. Software components may be static (for example, pre-established or fixed) or dynamic (for example, created or modified at the time of execution). 
     Software components may invoke or be invoked by other software components through any of a wide variety of mechanisms. Invoked or invoking software components may comprise other custom-developed application software, operating system functionality (for example, device drivers, data storage (for example, file management) routines, other common routines and services, etc.), or third-party software components (for example, middleware, encryption, or other security software, database management software, file transfer or other network communication software, mathematical or statistical software, image processing software, and format translation software). 
     Software components associated with a particular solution or system may reside and be executed on a single platform or may be distributed across multiple platforms. The multiple platforms may be associated with more than one hardware vendor, underlying chip technology, or operating system. Furthermore, software components associated with a particular solution or system may be initially written in one or more programming languages but may invoke software components written in another programming language. 
     Computer-executable program instructions may be loaded onto a special-purpose computer or other particular machine, a processor, or other programmable data processing apparatus to produce a particular machine, such that execution of the instructions on the computer, processor, or other programmable data processing apparatus causes one or more functions or operations specified in the flow diagrams to be performed. These computer program instructions may also be stored in a computer-readable storage medium (CRSM) that upon execution may direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means that implement one or more functions or operations specified in the flow diagrams. The computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational elements or steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process. 
     Although embodiments have been described in language specific to structural features and/or methodological acts, it is to be understood that the disclosure is not necessarily limited to the specific features or acts described. Rather, the specific features and acts are disclosed as illustrative forms of implementing the embodiments. Conditional language, such as, among others, “can,” “could,” “might,” or “may,” unless specifically stated otherwise, or otherwise understood within the context as used, is generally intended to convey that certain embodiments could include, while other embodiments do not include, certain features, elements, and/or steps. Thus, such conditional language is not generally intended to imply that features, elements, and/or steps are in any way required for one or more embodiments or that one or more embodiments necessarily include logic for deciding, with or without user input or prompting, whether these features, elements, and/or steps are included or are to be performed in any particular embodiment.