Patent Publication Number: US-2021165404-A1

Title: Autonomous scooter system

Description:
CROSS REFERENCED TO RELATED APPLICATIONS 
     A notice of issuance for a continuation in part of in reference to patent application Ser. No. 16/293,631, filing date: Mar. 5, 2019, titled: Autonomous Scooter. 
    
    
     TECHNICAL FIELD 
     This disclosure relates generally to autonomous techniques for an autonomous scooter used in ride sharing services, use for delivery services, and use a control center or a network server to control the autonomous scooter operating with or without a rider onboard, and use of a battery charging station for a vehicle. 
     BACKGROUND 
     Motorized electric scooters form factors with two wheels are widely used around the globe. These scooters often rely on a rider to keep the scooter upright during operation. As a result of heavy reliance on a rider for balance and for steering control, these common scooters are typical techniques applied to E-Scooters. 
     What is needed are intelligent electric scooters like an autonomous scooter provided with a manual driving mode for personal use, and/or provided with an autonomous diving mode for commercial rental service used to for riders to travel to the ideal destinations by using autonomous technology with remote human intervention from a control center through tele-communication or through a preferred network server. 
     SUMMARY 
     The present system offers an autonomous scooter or A-Scooter for personal use and for commercial rental service used to for riders to travel to the ideal destinations hands free since the scooter drives itself. Respectively the present autonomous scooter comprising a manual driving mode for personal use, and an autonomous diving mode for personal use or for commercial use to travel to the ideal destination and origin plans where the rider can rent one or more scooters, and the rider can leave the scooter wherever their destination is by using autonomous technology in tandem with remote human intervention from a control center through tele-communication or a network server. The present autonomous scooter utilizes a modular steering column configured to robotically steer the autonomous scooter with or without a rider onboard. The autonomous scooter in which the rider stands up to ride and may opt to manual control the scooter or use the scooter with hands free during autonomous driving mode. The present invention provides an autonomous scooter characterized as one of; a classified (level 1) having a manual driving mode with respect to the rider self-reliantly controlling the autonomous scooter, or can be classified (level 2) operating in semiautonomous driving mode with respect to the rider&#39;s riding plan, or can be classified as (level 3) operating in autonomous driving mode from a control center operator in real-time with respect to sensor and camera imaging data, a navigation system, a stabilizing system which may involve a robotic kickstand with training wheels, or a common kickstand may be utilized, the present invention offers a three wheel autonomous scooter which does not require a kickstand. Ideally the autonomous control system and control center system can be utilized for wirelessly controlling other vehicles like an autonomous bicycle, an autonomous moped, an autonomous motorcycle, an autonomous three-wheeler like a golf cart or an autonomous ATV with respect to having stabilization control from gyroscope or IMU sensors to prevent tipping, as well as having a propulsion system may include a motorized unit transmitted drive force to the rear wheel to propel the autonomous scooter forward. The control center associated with a rental service plan and a battery charging service plan provided by a battery charging station. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1A  and  FIG. 1B  are perspective views of autonomous scooter  100 A and autonomous scooter  100 B in accordance with exemplary embodiments of the present invention. 
         FIG. 1C  is back view of a modular steering column  5  for autonomous scooter  100 A and autonomous scooter  100 B in accordance with exemplary embodiments of the present invention. 
         FIG. 1D  is back view of a modular steering column  5  for autonomous scooter  100 B in accordance with exemplary embodiments of the present invention. 
         FIG. 1E  is an illustration of control panel  16  elements in accordance with exemplary embodiments of the present invention. 
         FIG. 2  is a flowchart illustrating an operation of the autonomous control system  200  in accordance with exemplary embodiments of the present invention. 
         FIG. 3A  is a flowchart illustrating an operation of the control center  300  in accordance with exemplary embodiments of the present invention. 
         FIG. 3B  is a graph illustrating a threshold value for switching driving modes, which changes stepwise with respect to a distance to an obstacle in accordance with exemplary embodiments of the present invention. 
         FIG. 4  is a graph illustrating the threshold value for switching to manual driving mode  304 , which linearly changes with respect to the distance to the obstacle in accordance with exemplary embodiments of the present invention. 
         FIG. 5  is a graph illustrating the threshold value for switching to autonomous driving mode  306  with respect to the distance to the obstacle and a type of the obstacle in accordance with exemplary embodiments of the present invention. 
         FIG. 6  is a flowchart of a method of operating a tele-communication system  600  in accordance with exemplary embodiments of the present invention. 
         FIG. 7  is an autonomous scooter  100  battery charging system  700  in accordance with exemplary embodiments of the present invention. 
     
    
    
     DETAILED DESCRIPTION OF THE DRAWINGS 
     The present disclosure provides various modes of autonomous transportation vehicles which can hired for personal use and for commercial rental service used to for riders to travel to the ideal destinations, respectively the present invention is an autonomous scooter comprising a manual driving mode for personal use, and an autonomous diving mode for personal use or for commercial use to travel to the ideal destination and origin plans where the rider can rent one or more scooters, and the rider can leave the scooter wherever their destination is by using autonomous technology in tandem with remote human intervention from a control center through tele-communication or a network server. The present autonomous scooter (A-Scooter) utilizes a modular steering column configured to robotically steer the autonomous scooter with or without a rider onboard, these services and unique operations are disclosed hereafter. 
     In greater detail  FIG. 1  is an autonomous scooter  100  characterized as an autonomous scooter  100  having a modular steering column  1  connected to a handlebar  2  for changing the direction of the front wheel  3  via a rider  101 . Accordingly, the modular steering column  1  and handlebar  2  are to manually steer. The modular steering column  1  is connected to a steering actuator  4 , and the steering actuator  4  is spaced at a lateral location of a deck  5  and is affixed thereon, the deck  5  is connected to a rear wheel  6  via a rear wheel hub  6   a , the deck has a wide platform allowing the rider  101  stands up to ride, accordingly the rider  101  and may opt to manual control the scooter or use the autonomous scooter with hands free during autonomous driving mode. 
     The head tube  1   a  of the modular steering column  1  supported for rotation relative to the handlebar  2  is to manually steer the autonomous scooter  100  during manual driving mode  304 , or the steering actuator  4  is to steer the autonomous scooter  100   101  during autonomous driving mode  306 . 
     The modular steering column comprises a throttle controller  7  electrically connecting to controllers  9  of various electronic motors/actuators, comprises a brake controller  8  electrically connecting to a brake device  8 (BD). 
     In various elements the throttle controller  7  and the brake controller  8  that is attached to the handlebar  2  of the modular steering column  1  and both handles can be operated by a rider  101 , or an alternative is possible in which the throttle controller  7  and the brake controller  8  are systematically controller by an onboard navigation system  205  or remotely through a control center  300 . Wherein the throttle controlling connecting to at least one electronic motor  3   a / 3   b , the brake controller  8  connecting to at least one brake device  9  of a front wheel  3 , or a brake device  9  rear wheel  6 . 
     An electric propulsion system  10 A for a front wheel  3  may include an electronic hub motor  3   a  attached to the lower end of the front hub  3   b  to propel the autonomous scooter  100  forward, the rear wheel  6  may include an electronic hub motor  6   a  attached of the rear hub  6   b  to propel the autonomous scooter  100  forward, or a propulsion system  10 B may be a rear wheel  6  rotatably connected to a motorized sprocket and belt or chain causing rotational driving force to be transmitted to the rear wheel  6  via a sprocket linked to a belt or chain to propel the rear wheel  5  forward. 
     Alternatively, the brake device  9  may use a rim brake that presses a brake shoe that operates by operating a brake lever against a rim  3   c  of a front wheel  3 , or the rear wheel  5 , a roller brake, or a coaster brake may be provided on the rear rim  5   c  of the rear wheel  5  to be braked by manually when the brake controller  8  is manually activated by the rider  101 , whereby the thumb of the rider presses the throttle lever, respectively. 
     In some embodiments, the foot brake is further configured to rotate about a pivot axis when the foot brake is pressed down. In addition, the foot brake can be further configured to return to its un-pivoted position when the foot brake is no longer pressed down. In some embodiments, a rear portion of the deck comprises the foot brake. In other embodiments, the foot brake and the deck are separate, respectively the foot brake to apply a braking force to the rear wheel  6 . The method can further comprise identifying a location of the foot brake by sensing a plurality of ridges on the foot brake, (not drawn). 
     In various elements the common kickstand  11  can be manually activated by the rider  101  for a two wheel autonomous scooter when parked. 
     In various elements an automated kickstand  11 (AK) or (robotic) kickstand with training wheels can be autonomously activated to maintain an upright position without during autonomous driving mode  306 , respectively the automated kickstand  11 (AK) maintains the vertical axis with respect to keeping the autonomous scooter  100  upright. 
     In various elements the automatic kickstand  11 (AM) may be configured with actuating motors to raise and lower during manual driving mode  304 , the automatic or (robotic) kickstand with training wheels can be detached by the rider who prefers a common kickstand. 
     In various elements an electrical system  12  and a battery system  13  which is managed by an autonomous scooter  100  battery charging system  700 , as detailed in  FIG. 7  through the autonomous control system  200  based on a service plane of the control center  300 . 
     Accordingly the battery system  12  to receive an electrical connection via wiring  12 (W) linking regulated battery power  14 (BP) to system components, the autonomous scooter  100  battery charging system  700  is to charge batteries  14   a . Wherein the internal battery system  13  to provide a dock mechanism  15  regulated battery power  14 (BP) from a battery pack with lithium batteries, or may include a secondary battery pack which is interchangeable. Wherein the electrical system  12  and wiring  12 (W) connect the battery system  13  to internal electrical components of the autonomous scooter  100  to external auxiliary components such as a control panel  16 , lights, horn, audio speakers, sensors, cameras, etc. 
     Alternatively, another example of the battery charging element can use a capacitor which may involve batteries charged by autonomous scooter  100  battery charging system  700  whereby a first battery  14   b  or a secondary battery to be automatically charged. 
     In greater detail  FIG. 1C  is the modular steering column  5  for autonomous scooter  100 A and autonomous scooter  100 B in accordance with exemplary embodiments of the present invention. 
     In greater detail  FIG. 1D  is the modular steering column  5  for autonomous scooter  100 B in accordance with exemplary embodiments of the present invention. 
     In greater detail  FIG. 1E  is a diagram of the control panel  16  for rider interface  101 ( 1 ), the control panel  16  may be situated between the handlebar  2  in view of the rider  101 . The control panel  16  may comprise a virtual display with menu  17  for rider interface  101 ( 1 ). 
     Accordingly, the rider interface  101 ( 1 ) via a virtual a touch screen menu  17  displays control settings and performance status of autonomous scooter  100  provided from a control unit  209  linked to external sensors  201 , cameras  202 , and GPS  203  the sensor which may involve one of; LIDAR, radar, GPS routes  203   a , electronic components  210  like Gyros  210   a , IMU  210   b  having stabilization to prevent tipping, software  605  hardware  210   c , linked to the control panel  16 . The control unit  209  then storing performance data to memory in Cloud. Accordingly, the rider provides wireless instruction via a smartphone connected therein providing Internet, WIFI, Bluetooth and mobile APPs. Wherein an APP having programming systematically receives rider input in accordance with linked information received from sensor data to manually navigate the autonomous scooter  100   a / 100 B to selected geographic areas and the like, the system components  1 - 16  are associated with systems  200 - 300  detailed in  FIG. 2  and  FIG. 3 . 
     Other communications in which the control center plan may involve one of renting an autonomous scooter  100  for delivering a payload to a rider-selected starting location established to pick-up order, the payload may be carried or stored in a basket  18  set on the front section of the handlebar  2 , or other storage compartment; the order information to store in memory. 
     In some embodiments, components of the autonomous scooter  100  comprises plastic, carbon fiber, metal and other elements. 
     Accordingly the modular steering column  1  may be utilized by an autonomous scooter  100  having seats like, autonomous bicycles, autonomous tricycles, autonomous mopeds, and autonomous motorcycles configured at least one function based on a riders plan  101 (RP) which may involve the rider  101  wirelessly linking her or his smart  211  device (iPad, Tablet, PC, etc.) or smartphone  602  via Wi-Fi, Bluetooth or use a preferred APP to interface with the autonomous scooter  100 &#39;s controller such that the rider  101  can communicate remotely or control the autonomous scooter  100  system remotely via her or his smartphone  602  to generate GPS routes  203   a  for the rider  101  of the autonomous scooter  100  based on a rider-selected starting location and based on a rider-selected destination location based on the action of the rider whilst riding. The following paragraphs disclose the autonomous control system  200  configured with combinations of external sensors  201 , cameras  202 , and GPS  203  all linked to a navigation system  205  indicative of whichever rider&#39;s plan during manual navigation or indicative of a control center  300  driver  301  controlling steering, velocity, and position of the autonomous scooter  100 , exampled herein. 
     In greater detail  FIG. 2  is a diagram of the autonomous control system  200  configured for accomplishing at least one function involving a plan for an autonomous scooter  100  operating with or without a rider onboard. The present autonomous scooter may be characterized as one of; a classified (level 1) having a manual driving mode with respect to the rider self-reliantly controlling the autonomous scooter  100 , or can be classified (level 2) operating in semiautonomous driving mode with respect to the rider&#39;s riding plan, or can be classified as (level 3) operating in autonomous driving mode from a control center operator in real-time with respect to sensor and camera imaging data, a navigation system, a stabilizing system which may involve a robotic kickstand with training wheels, or a common kickstand may be utilized, the present invention offers a three wheel autonomous scooter which does not require a kickstand. Ideally the autonomous control system and control center system can be utilized for wirelessly controlling other vehicles like an autonomous bicycle, an autonomous moped, an autonomous motorcycle, an autonomous three-wheeler like a golf cart or an autonomous ATV with respect to having stabilization control from gyroscope or IMU sensors to prevent tipping. the following elements can be applied to accommodate driving systems of electric autonomous scooters  100 . 
     Respectively the autonomous scooter  100  operates by manual control, operates remotely by a control center  300  or operated with a combination of both to control steering directions and propulsion of the autonomous scooter  100  via an autonomous control system  200  which is configured to manual navigation switch  303  from a manual driving mode  304  to an autonomous driving mode  306 , or vice versa when indicative of a rider&#39;s plan  101 (RP) accordingly when the autonomous scooter  100  is manned or when the autonomous scooter  100  is unmanned. Respectively the navigation system  205  is systematically linked via the control unit  209  to a stabilization system which receives data signals from the gyros sensors and/or IMU sensors monitoring balance states of the autonomous scooter  100 . Respectively the navigation system  205  is systematically linked via the control unit  209  to a steering system which receives data signals from the steering actuator sensor. 
     The autonomous control system  200  utilizes the control center  300  configured to implement an autonomous driving mode  306  state indicative of a rider&#39;s plan  101 (P) or indicative of a control center plan  208  executed by a virtual operator in real-time, wherein the control center  300  is in contact with the autonomous scooter  100  when the rider is presently onboard or when the rider is not presently onboard. The control center  300  generates a control center plan  208  with respect to feedback of external sensors including LIIDAR  201   a  and/or radar  201   b  which detect threats and obstacles in an environment of the autonomous scooter  100  during manual navigation or during autonomous navigation, the navigation system associated with determining GPS routes based on a control center plan  208 . 
     The control unit  209  outputs a control signal corresponding to the control center plan  208  to the control unit  209 , in this way, the control unit  209  controls the travelling of the autonomous scooter  100  such that the autonomous driving mode  306  can be executed according to the control center plan  208 . In addition, when the amount of operation acquired by the operation amount acquisition unit is equal to or greater than the threshold value for switching to manual driving mode  304  calculated by the calculation unit step, the control unit  209  can switch the driving state from autonomous driving mode  306  to manual driving mode  304  which is detailed in  FIG. 3A . 
     For example, the communication path of autonomous scooter  100  can include wireless rider interface within, optical communication, ultrasonic communication, or the combination thereof. For example, satellite communication, cellular communication, Bluetooth connecting with the rider terminal via Wi-Fi or Bluetooth®, Infrared Data Association standard (IrDA), wireless fidelity (Wi-Fi), and worldwide interoperability for microwave access (WiMAX) are examples of wireless communication that can be included in the communication path. Cable, Ethernet, digital subscriber line (DSL), fiber optic lines, fiber to the home (FTTH), and plain old telephone service (POTS) are examples of wired communication that can be included in the communication path. Further, the communication path can traverse a number of control center  300  topologies and distances. For example, a communication path can include direct connection, personal area network (PAN), local area network (LAN), metropolitan area network (MAN), wide area network (WAN), or a combination thereof. The control system  101  can further execute software  605  programming to include interaction with the communication path the connect rider interface  101 ( 1 ) with a virtual operator  301  at the control center  300 . 
     For example, the navigation system  205  utilizes detection devices configured to detect an external situation which is peripheral information of the autonomous scooter  100  in which LIDAR  201   a  detects the obstacle outside the autonomous scooter  100  using light. The LIDAR  201   a  transmits the light to the surroundings of the autonomous scooter  100 , measures the distance to the reflection point by receiving the light reflected from the obstacle, and then, detects the obstacle. The LIDAR  201   a  can output, for example, the distance or direction to the obstacle as the obstacle information of the obstacle. The LIDAR  201   a  outputs the detected obstacle information to the autonomous scooter  100 . 
     For example, the navigation system  205  utilizes detection devices configured to detect an external situation which is peripheral information of the autonomous scooter  100  having radar  201   b  which detects an obstacle outside of the autonomous scooter  100  using a radio wave. The radio wave is, for example, a millimeter wave. The radar  201   b  detects the obstacle by transmitting the radio wave to the surroundings of the autonomous scooter  100  and receiving the wave reflected from the obstacle. The radar outputs, for example, the distance or direction to the obstacle as obstacle information of the obstacle. The radar outputs detected obstacle information to the autonomous scooter  100 . In a case of performing sensor fusion, the received information on the reflected radio wave may be output to the autonomous scooter  100 . 
     In a case of performing sensor fusion, the received information on the reflected light may be output to the autonomous scooter  100 . The LIDAR  201   a , and the radar  201   b  are not necessarily provided in an overlapping manner. 
     For example, external cameras  202  providing imaging of an external situation of the autonomous scooter  100 . The camera  202  is, for example, provided on the frame sections of the autonomous scooter  100 . The camera  202   c  may be a monocular camera  202   a  or may be a stereo camera  202   b . The stereo camera  202   c  has, for example, two imaging units that are arranged so as to reproduce a binocular parallax. The image information of the stereo camera  202   c  also includes information on the depth direction. The camera  202  outputs the image information relating to the external situation to the of the autonomous scooter  100 . In addition, the camera  202  may be an infrared camera  202   d  or a visible light camera  202   e.    
     For example, GPS  203  receives signals from three or more GPS satellites and acquires position information indicating the position of the autonomous scooter  100 . The latitude and the longitude of the autonomous scooter  100  may be included in the position information. The GPS  203  receiver  203   a  outputs the measured position information of the autonomous scooter  100 . Instead of the GPS  203  another means for specifying the latitude and the longitude at which the autonomous scooter  100  is present may be used. 
     The map database  203   a  is a database in which map information is included. The map database  203   a  is formed, for example, in a hard disk drive (HDD) mounted on the autonomous scooter  100 . In the map information, for example, position information of roads, information on road types, and position information of intersections, and branch points are included. For example, type of a curve or a straight portion and a curvature of the curve are included in the information on the road type. 
     Furthermore when engaged by the navigation system  205 , the autonomous driving mode  306  adjust position information for simultaneous localization and mapping technology (SLAM), the map information may include an output signal of the external sensors  201 , cameras  202  and the GPS map database  203   a  may be stored in a computer in a facility such as an information processing center which is capable of communicating with autonomous scooter  100 . 
     For example, the navigation system  205  is a device configured to perform guidance to a destination set on the map by a rider  101  and calculates a travelling route of the autonomous scooter  100  based on the position information of the autonomous scooter  100  measured by the GPS  203  uses a receiver and the map information in the map database  203   a . The route may be a route on which a travelling lane is specified, in which the autonomous scooter  100  travels in a multi-lane section. 
     The navigation system  205  calculates, for example, a target route from the position of the autonomous scooter  100  to the destination and performs notification to the rider  101  by auxiliary devices  204  like lights  204   a , speakers  204   b , microphone  204   c . The navigation system  205 , for example, transmits the target route information of the autonomous scooter  100 . 
     As other communications between the tele-communication system  600  and the smart device  211 ,  602  are possible for instance, GPS  203  using a receiver  203   a  and map information  203   b  if the tele-communication system  600  is unable to receive GPS satellite signals or generate GPS coordinates, the tele-communication system  600  can query the smart device  211 ,  602  to obtain GPS coordinates  202   c.    
     For example, the control panel  16  is configured to perform an input and output of the information between the rider  101  of the autonomous scooter  100 , accordingly wherein the control panel  16  includes a display panel  16   a  for displaying the image information, input operation data and output operation data for the rider to review. For example, the rider  101  may wirelessly link her or his mobile phone, the autonomous scooter  100 &#39;s control unit through wireless communication involving one of Wi-Fi, Bluetooth, or a tele-communication to provide feedback to the rider via the control panel  16 , and incorporates sensor input for monitoring movement based on the action of the rider whilst riding. 
     For example, the autonomous scooter  100  system may utilize a service plan may involve one of renting an autonomous scooter  100  for delivering a payload to a preselected starting location established to pick-up order, and may provide one or more storage compartments for transporting the delivery payload to a delivery location. 
     For example, the tele-communication path of autonomous scooter  100  can include wireless rider interface method of controlling the rented autonomous scooter  100 , comprising the steps of: storing a software  605  application for remotely controlling the unmanned autonomous scooter  100 ; establishing a short-range wireless tele-communication link between the autonomous scooter  100  when the smartphone  602  is at the autonomous scooter  100 ; receiving data via the short-range wireless communication link from the autonomous scooter  100  that is used by the software  605  application to display a menu of telematics service selections to the control center driver; receiving a service selection that is chosen from one of the displaying the service selections; and transmitting a command that controls at least one function of the autonomous scooter  100  based on the received the service selection from over the short-range or long range wireless tele-communication link. 
     The auxiliary components or (A-components  204 ) linked to the control panel  16 , are manually switched on the rider on switched on by the CC drive  201 , wherein subsystem devices may include a telematics Control Unit (TCU) or (telematics unit  601 ) may involve: receiving data via the short-range wireless communication link from the telematics unit  601  that is used by the software  605  application to display a menu of telematics service selections on a smartphone having a mobile APP; transmitting a command that controls at least one function of the autonomous scooter  100  based on the received telematics service selection from the smartphone or provide other indicative instruction. 
     The autonomous control system  200  accordingly may involve an operation amount acquisition unit providing; an environment recognition unit, a control center plan  208  generation unit, thusly as the above-described operation amount acquisition unit is performed by loading the program stored in the ROM into the RAM and executing the control unit programming, a central processing unit (CPU), read only memory (ROM), random access memory (RAM), and various processes and steps exampled herein. 
     The operation amount acquisition unit acquires the amount of the steering operation, the acceleration operation and the braking operation by the rider  101  of the autonomous scooter  100  during the autonomous driving mode  306  based on the information acquired by the internal sensor  203 . The amount of operation is, for example, the steering angle of the modular steering column  1 , the steering torque with respect to the modular steering column  1 , the amount of depression on the throttle controller  7 , the amount of depression on the brake controller  8 , or the operation force on the brake controller. Alternatively, the amount of operation may be a duration of a state in which the steering angle of the modular steering column  1 , the steering torque with respect to the modular steering column  1 , the amount of depression on the throttle controller, the amount of depression on the brake controller, or the operation force on the brake controller is equal to or greater than a threshold value set in advance. The operation amount acquisition unit may also be configured as an operation amount acquirer. 
     The environment recognition unit step recognizes the surrounding environment of the autonomous scooter  100  based on the information acquired by one or more of the external sensor  201 - 202 , the GPS  202 , receiver  202   a , and the map database  202   b . The environment recognition unit step includes an obstacle recognition unit step, a road width recognition unit step, and an object recognition unit step. The obstacle recognition unit step recognizes the obstacle around the autonomous scooter  100  as a status of the surrounding environment of the autonomous scooter  100  based on the information acquired by the external sensors  201 . 
     For example, a pedestrian, another AS  100 , a moving object such as a common motorcycle or a common scooter, a lane boundary line (lane line, yellow line), a stationary object such as a curb, a guardrail, a pole, a median strip, a building, or a tree may be included in obstacles recognized by the obstacle recognition unit step. The obstacle recognition unit step acquires information on one or more of a distance between the obstacle and the autonomous scooter  100 , a position of the obstacle, a relative speed of the obstacle with respect to the autonomous scooter  100 , and a type of obstacle. The type of obstacle may be identified as a pedestrian, another AS  100 , a moving object or a stationary object. The environment recognition unit step may be configured as an environment recognizer. Furthermore, the obstacle recognition unit step may be configured as an obstacle recognizer. 
     The road width recognition unit step recognizes a road width of the road on which the autonomous scooter  100  travels as the surrounding environment of the autonomous scooter  100  based on the information acquired by one or more of the external sensors. 
     The control center  300  recognizes whether or not the autonomous scooter  100  control center plan  208  is a route for traveling on a scooter lane, sidewalk, on a street, or driving through an intersection or a parking lot as the surrounding environment in which the autonomous scooter  100  control center plan  208  or riders plan  101 (RP) is based on one or more of the map information acquired by the map database and the position information of the autonomous scooter  100  acquired by the GPS  203 . For example, as the surrounding environment of the autonomous scooter  100  based on the map information and position information of the autonomous scooter  100 , in which the road has potential threats or obstacles. 
     The generation unit generates a control center plan  208  for the autonomous scooter  100  based on the information on the target route calculated by the navigation system  205 , the information of the obstacle around the autonomous scooter  100  recognized by the environment recognition unit step, and the map information acquired by the map database. The control center plan  208  is a trajectory of the autonomous scooter  100  on the target route. For example, a speed, an acceleration, a deceleration, a direction, and a steering angle of the autonomous scooter  100  may be included in the control center plan  208 . The control center plan  208  may involve a generation unit which generates a control center plan  208  such that the autonomous scooter  100  can travel while satisfying standards such as a safety, regulatory compliance, and driving efficiency on the target route. Furthermore, the control center plan generation unit generates a control center plan  208  for the autonomous scooter  100  so as to avoid contact with an obstacle based on the situation of the obstacle around the autonomous scooter  100 . 
     In greater detail  FIG. 3A  is a chart of the control center  300 , accordingly the control center is wirelessly in communication with the autonomous control system  200  and the control unit  209 . The control center  300  is configured to control the travelling of the autonomous scooter  100  based on the control center plan  308  generated by the control center plan generation unit  309  and executed by the autonomous drive mode  205  when the rider  101  is not engaged (paying attention) or distracted, or when the autonomous scooter  100  is unmanned. 
     For example, a preferred mobile APP may be configured or the rider to interface with the autonomous scooter  100  such that the rider can communicate with the autonomous scooter  100  system or communicate with a control center remotely  310 . 
     The control center  300  is configured to control the travelling of the autonomous scooter  100  based on the control center plan  308  generated by the control center plan generation unit and executed by the autonomous drive mode  205  when the rider  101  is not engaged (paying attention) or distracted, or when the autonomous scooter  100  is unmanned. 
     The control center  300  provide one or more remote drivers  301  whom receive inputs/outputs via signal corresponding to various signals from the control unit  209  pair with the autonomous scooter  100 . In this way, the control center  300  controls the travelling of the autonomous scooter  100  such that the autonomous driving mode  306  of the autonomous scooter  100  can be executed according to the control center plan  208  for driving to a destination  209 / 210 , the destination may apply to a job generated from the control center indicative of the rider&#39;s plan  101 (RP) as well as indicative of the control center&#39;s plan  308 . 
     The control center  300  is in control of a manual navigation switch  303  for switching to manual driving mode  304  and the navigation switch  305  into autonomous driving mode  306 . In addition, the control center operation or (remote driver  301 ) is to instruct the control unit  209  by remote interface methodology to provide procedure involving an operation to switch  305  to manual driving mode  304  calculated by the calculation unit step, the control center  300  via the control unit to switch  305  the autonomous driving mode  306  back to manual driving mode  304 , switching process examples are detailed in  FIG. 3B . 
     The control center  300  is systematically connected to the autonomous scooter  100 &#39;s electronic components (E-Components) internal/external sensors  21 - 210 , the external sensors, cameras, GPS, providing data of manual driving mode  304  and providing data from autonomous driving mode  306  to the remote operation  301 . Systematically via programming a computer of the control center  300  provides a calculation unit processors for calculating the threshold value for switching to manual driving mode  304  according to the surrounding environment of the autonomous scooter  100  recognized by the environment recognition unit step. As described below, when the obstacle is recognized by the obstacle recognition unit step of the environment recognition unit step, the calculation unit step may calculate the threshold value for switching  305  to manual driving mode  304  according to the distance between the obstacle and the autonomous scooter  100  and the type of obstacle. In addition, when the obstacle is not recognized by the obstacle recognition unit step of the environment recognition unit step, the calculation unit step may calculate the threshold value for switching  305  to manual driving mode  304  according to one or more of the road width of the road on which the autonomous scooter  100  travels and a type of facilities such as a parking lot on which the autonomous scooter  100  travels. As described below, a function describing the threshold value for switching  305  to manual driving mode  304  corresponding to the surrounding environment of the autonomous scooter  100  is stored in the autonomous scooter  100 . The calculation unit step may be configured as a calculator. 
     For example various processors providing instruction data, performance data, rider data, or external linked data. 
     For example, the autonomous control system  200  comprising a steering system which may involve steering actuators, controllers, gyroscope or inertial measurement units for controlling motion and balance of the autonomous scooter  100  utilized indicative with a rider&#39;s plan  101 (RP). 
     For example, the autonomous scooter&#39;s  100  control unit  209  configured to determine the current position of the autonomous scooter  100  based on the action of the rider whilst riding. 
     For example the autonomous scooter  100  system may involve a CC Plan  313  may involve an autonomous scooter  100  to be scheduled for delivering a payload to a rider-selected starting location established to pick-up order  312  or scheduling a trip to a nearby autonomous scooter battery charging station  701  which is CC plan  316  or other numbering indicated in  FIG. 7 . 
     For example the control panel  16  providing a virtual readout of real-time performance data pertaining to one or more operations of the electronic components; receive scheduling information corresponding to a location requesting to pick-up delivery order  312 ; confirm a rider-selected starting location established to pick-up order then, delivery the order to a rider-selected destination location  313 ; delivering the payload to a rider-selected destination location or to a recipient  314 , whereby the payload is stored in a container, basket, saddlebags, or other storage compartment; provide memory configured to store map information including road information and preselected pick-up stops  315 . 
     In greater detail  FIG. 3B , the control unit  209  of the autonomous scooter  100  executes the autonomous driving mode  306  of the autonomous scooter  100  based on the control center plan  208  may be accomplished by the following step examples: First using a control unit  209 ; (S 1 ). In starting the autonomous driving mode  306 , for example, when an ignition of the autonomous scooter  100  is turned ON, the control unit  209  determines whether autonomous driving mode  306  can be executed or not based on the surrounding environment of the autonomous scooter  100  recognized by the external sensor  201 , camera  202 , GPS  203  and the environment recognition unit step of the autonomous scooter  100 . When it is determined that autonomous driving mode  306  can be executed, the control unit  209  notifies the rider  101  though the autonomous scooter  100  of the fact that autonomous driving mode  306  can be executed. By the rider  101  performing a predetermined input operation to the autonomous scooter  100 , the autonomous driving mode  306  device  100  starts autonomous driving mode  306 . The operation amount acquisition unit of the autonomous scooter  100  acquires the amount of any of the steering operation, the acceleration operation and the braking operation by the rider  101  of the autonomous scooter  100  during the autonomous driving mode  306  (S 2 ). 
     The environment recognition unit step recognizes the surrounding environment of the autonomous scooter  100  (S 3 ). When the obstacle recognition unit step of the environment recognition unit step recognizes an obstacle around the autonomous scooter  100  as information relating to a status of the surrounding environment of the autonomous scooter  100  (S 4 ), the calculation unit step calculates the threshold value for switching to manual driving mode  304  corresponding to the obstacle (S 5 ). The obstacle recognition unit step of the environment recognition unit step may recognize a presence or position, for example, of the obstacle as information relating to the status of the surrounding environment. 
     Hereinafter, the calculation of the threshold value for switching to manual driving mode  304  corresponding to the obstacle by the calculation unit step will be described. For example, a function describing the threshold value for switching to manual driving mode  304  with respect to the distance between the obstacle and the autonomous scooter  100  is stored in the autonomous scooter  100 . In the example in  FIG. 3 , when the distance between the obstacle and the autonomous scooter  100  exceeds a value of 2, the calculation unit step calculates a threshold value for switching to manual driving mode  304  Th.sub. 0  which is a reference of the threshold value for switching to manual driving mode  304 . On the other hand, when the distance between the obstacle and the autonomous scooter  100  is equal to or less than 2, the calculation unit step calculates a threshold value for switching to manual driving mode  304  Th.sub. 1  which is lower than Th.sub. 0 . In the above example, the function describing the threshold value for switching to manual driving mode  304  with respect to the distance between the obstacle and the autonomous scooter  100  comprises a stepwise function. 
     In addition, a function describing the threshold value for switching to manual driving mode  304  with respect to the distance between the obstacle and the autonomous scooter  100  as illustrated in  FIG. 4  may be stored in the autonomous scooter  100 . In the example in  FIG. 4 , when the distance between the obstacle and the autonomous scooter  100  exceeds a value of 3, the calculation unit step calculates a threshold value for switching to manual driving mode  304  Th.sub. 0  which is a reference of the threshold value for switching to manual driving mode  304 . When the distance between the obstacle and the autonomous scooter  100  is equal to or less than 1, the calculation unit step calculates a threshold value for switching to manual driving mode  304  Th.sub. 1  which is lower than Th.sub. 0 . When the distance between the obstacle and the autonomous scooter  100  is equal to or lower than 3 and exceeds 1, the calculation unit step calculates a threshold value for switching to manual driving mode  304  which linearly decreases from the threshold value for switching to manual driving mode  304  Th.sub. 0  at the time when the distance is 3 to the threshold value for switching to manual driving mode  304  Th.sub. 1  at the time when the distance is 1 as the distance between the obstacle and the autonomous scooter  100  becomes smaller. In the above example, the function describing the threshold value for switching to manual driving mode  304  with respect to the distance between the obstacle and the autonomous scooter  100  comprises a linear function. However, a non-linear function may be included in which the rate of decrease from the threshold value for switching to manual driving mode  304  Th.sub. 0  at the time when the distance is 3 to the threshold value for switching to manual driving mode  304  Th.sub. 1  at the time when the distance is 1 increases or decreases as the distance becomes closer to 1 or 3. 
     As  FIG. 3B  further examples, when the obstacle recognition unit step does not recognize an obstacle around the autonomous scooter  100  (S 4 ) and the facility recognition unit step of the environment recognition unit step recognizes that the autonomous scooter  100  travels on an intersection or parking lot (S 6 ) as information relating to a status of the surrounding environment of the autonomous scooter  100 , the calculation unit step calculates the threshold value for switching to manual driving mode  304  corresponding to the intersection and the parking lot recognized by the facility recognition unit step (S 7 ). The facility recognition unit step can recognize the fact that, for example, the autonomous scooter  100  travels on an intersection by detecting a blinking of a traffic signal using the external sensor  201 , camera  202  or by the information acquired by the GPS  203 . In addition, the facility recognition unit step can recognize the fact that the autonomous scooter  100  travels on a parking lot by detecting external signs, such as a mark “P”, using the external sensor  201 - 205  or by the information acquired by the GPS  201   a . Respectively, even when the obstacle recognition unit step does not recognize an obstacle around the autonomous scooter  100  (S 4 ) and the facility recognition unit step of the environment recognition unit step does not recognize that the autonomous scooter  100  travels on an intersection or a parking lot (S 6 ) as information relating to a status of the surrounding environment of the autonomous scooter  100 , the calculation unit step may calculate the threshold value for switching to manual driving mode  304  based on the road width recognized by the road width recognition unit step of the environment recognition unit step (S 8 ). 
     A function describing the threshold value for switching to manual driving mode  304  with respect to the parking lot scenario for example, the calculation unit step calculates a threshold value for switching to manual driving mode  304  Th.sub. 0  which is a reference of the threshold value for switching to manual driving mode  304 . On the other hand, when the autonomous scooter  100  travels in the parking lot, the calculation unit step calculates a threshold value for switching to manual driving mode  304  Th.sub.p which is lower than Th.sub. 0 . 
     Alternatively, a function of the threshold value for switching to manual driving mode  304  with respect to a predetermined time before the autonomous scooter  100  enters the intersection and at a predetermined time after passing through the intersection, the calculation unit step calculates a threshold value for switching to manual driving mode  304  Th.sub. 0  which is a reference of the threshold value for switching to manual driving mode  304 . When the autonomous scooter  100  travels in the intersection, the calculation unit step calculates a threshold value for switching to manual driving mode  304  Th.sub.c which is lower than Th.sub. 0 . 
     During the time from a predetermined time before the autonomous scooter  100  enters the intersection to a time when the autonomous scooter  100  enters the intersection, the calculation unit step calculates a threshold value for switching to manual driving mode  304  which linearly decreases from the threshold value for switching to manual driving mode  304  Th.sub. 0  to the threshold value for switching to manual driving mode  304  Th.sub.c as the autonomous scooter  100  becomes closer to the intersection. During the time from when the autonomous scooter  100  passes through the intersection to a time when a predetermined time has elapsed, the calculation unit step calculates a threshold value for switching to manual driving mode  304  which linearly increases from the threshold value for switching to manual driving mode  304  Th.sub.c to the threshold value for switching to manual driving mode  304  Th.sub. 0  as the autonomous scooter  100  moves away from the intersection. In a similar manner, the calculation unit step can calculate a threshold value for switching to manual driving mode  304  when the autonomous scooter  100  travels on a GPS route  203   a . Although the above examples have been described with respect to a functional relationship between the threshold value for switching to manual driving mode  304  and time, the relationship may be based on a distance or a positional relationship with respect to the intersection. 
     A function describing the threshold value for switching to manual driving mode  304  with respect to the road width when the road width exceeds an ordinary width, the calculation unit step calculates a threshold value for switching to manual driving mode  304  Th.sub. 0  which is the reference of the threshold value for switching to manual driving mode  304 . When the road width is a minimum width in which the autonomous scooter  100  can travel, the calculation unit step calculates a threshold value for switching to manual driving mode  304  Th.sub.min which is a minimum value of the threshold value for switching to manual driving mode  304 . When the road width is equal to or less than the ordinary width and exceeds the minimum width, the calculation unit step calculates a threshold value for switching to manual driving mode  304  which linearly decreases from the threshold value for switching to manual driving mode  304  Th.sub. 0  of the ordinary width to the threshold value for switching to manual driving mode  304  Th.sub.min of the minimum width as the road width becomes narrower. The calculation unit step may calculate the threshold value for switching to manual driving mode  304  Th.sub. 0  based on a AS  100 -width of the autonomous scooter  100  registered in the autonomous scooter  100  in advance or a general road width registered in the autonomous scooter  100  or in the map database  202   b  in advance. 
     In addition, a unit of the road width can be a meter [m], and when the amount of operation by the rider  101  relates to the steering operation, a unit of the threshold value for switching to manual driving mode  304  Th.sub. 0  can be a degree which indicates the steering angle. 
     Accordingly, when the amount of operation is equal to or greater than the threshold value for switching to manual driving mode  304  (S 9 ), the control unit  209  switches the driving state from autonomous driving mode  306  to manual driving mode  304  (S 10 ). On the other hand, when the amount of operation is less than the threshold value for switching to manual driving mode  304  (S 9 ), the control unit  209  continues to execute the autonomous driving mode  306 . 
     According to the first embodiment, the threshold value for switching to manual driving mode  304  which is used for switching the driving state from autonomous driving mode  306  to manual driving mode  304  with respect to the amount of operation such as the steering operation by the rider  101  is calculated by the calculation unit step according to the surrounding environment of the autonomous scooter  100  recognized by the environment recognition unit step. Therefore, the amount of intervention of the driving operation by the rider  101  for switching the driving state from autonomous driving mode  306  to manual driving mode  304  conforms to the surrounding environment of the autonomous scooter  100 . 
     In addition, according to the first embodiment, regardless of the presence or absence of the recognition of an obstacle, as the road width becomes narrower, it becomes easier to switch the driving state from autonomous driving mode  306  to manual driving mode  304 , and thus, the ease of coping with the case of a narrow road width is improved. In addition, regardless of the presence or absence of the recognition of an obstacle, it becomes easier to switch the driving state from autonomous driving mode  306  to manual driving mode  304  when the autonomous scooter  100  travels on an intersection or a parking lot, and thus, the ease of coping with the case of the intersection or the parking lot is improved. 
     In addition, the environment recognition unit step may not include all of the obstacle recognition unit step, the road width recognition unit step, and may not execute all of the processing tasks. For example, any one or a plurality of configuration elements among the obstacle recognition unit step the road width recognition unit step may be omitted from the environment recognition unit step. When the road width recognition unit step and the recognition unit step are omitted, the calculation unit step may execute only the processing tasks of S 4  and S 5 . In addition, when the obstacle recognition unit step and the road width recognition unit step are omitted, the calculation unit step may execute only the processing tasks of S 6  and S 7  after the processing of S 3 , and may not execute the processing of S 8 . In addition, when the obstacle recognition unit step and the recognition unit step are omitted from the environment recognition unit step, the calculation unit step may execute only the processing of S 8  after the processing of S 3 , and may not execute the processing tasks of S 4  to S 7 . 
     In addition, when the road width recognition unit step is omitted from the environment recognition unit step, the calculation unit step may execute only the processing tasks of S 6  and S 7  when the obstacle is not recognized in the processing of S 4 , and may not execute the processing of S 8 . In addition, when the facility recognition unit step is omitted from the environment recognition unit step, the calculation unit step may execute only the processing of S 8  when the obstacle is not recognized in the processing step of S 4 , and may not execute the processing tasks of S 6  and S 7 . In addition, when the obstacle recognition unit step is omitted from the environment recognition unit step, the calculation unit step may execute only the processing tasks of S 6  to S 8  after the processing of S 3 , and may not execute the processing tasks of S 4  and S 5 . 
     Furthermore, when the environment recognition unit step includes the obstacle recognition unit step, the obstacle recognition unit step may recognize any of the distance between the obstacle and the autonomous scooter  100  and the type of the obstacle, and then, the calculation unit step may calculate the threshold value for switching to manual driving mode  304  according only to any of the distance between the obstacle and the autonomous scooter  100  and the type of the obstacle. In addition, when the obstacle recognition unit step recognizes the type of the obstacle and the calculation unit step calculates the threshold value for switching to manual driving mode  304  according to the type of the obstacle, the obstacle recognition unit step may recognize only any of whether the obstacle is a pedestrian and another AS  100  and whether the obstacle is a moving object or a stationary object, and then, the calculation unit step may calculate the threshold value for switching to manual driving mode  304  according to only any of whether the obstacle is a pedestrian or another AS  100  and whether the obstacle is a moving object or a stationary object. 
     Furthermore, when the environment recognition unit step includes the obstacle recognition unit step, the road width recognition unit step and the facility recognition unit step the processing tasks shown may be rearranged, such that, for example, the processing S 4  may take place at the position of S 6 , and so on. 
     In greater detail  FIG. 4  and  FIG. 5  illustrates a function describing the threshold value for switching to manual driving mode  304  with respect autonomous driving mode  306  in which the travelling of the autonomous scooter  100  is controlled using the control center plan  208  generated by the control center plan  208  and the semi-autonomous driving state  607  in which the travelling of the autonomous scooter  100  is controlled based on both the control center plan  208  generated by the rider plan  101 (RP) in which any of the amount of the navigation system  205  operation controls the acceleration operation and the braking operation by the rider  101  of the autonomous scooter  100  is reflected in the travelling of the autonomous scooter  100 , based on any of the amount of the steering operation, the acceleration operation and the braking operation by the rider  101  of the autonomous scooter  100 . In this case, when any of the amount of steering operation, the acceleration operation and the braking operation by the rider  101  of the autonomous scooter  100  during autonomous driving mode  306  is equal to or greater than a first threshold value, the control unit  209  switches the driving state from autonomous driving mode  306  to semi-autonomous driving state, and when any of the amount of steering operation, the acceleration operation and the braking operation by the rider  101  of the autonomous scooter  100  during the semi-autonomous driving state  607  is equal to or greater than a second threshold value which is greater than the first threshold value, the control unit  209  switches the fully autonomous driving mode  306 —to a semi-autonomous driving state  607  semi-autonomous driving mode state to a manual driving mode  304 . The calculation unit step can calculate the first threshold value and the second threshold value by a method similar to that of calculating the threshold value for switching to manual driving mode  304  described above. 
     Furthermore, in  FIG. 4  and  FIG. 5  a function describing the threshold value for switching to manual driving mode  304  with respect to the distance between the obstacle and the autonomous scooter  100  as illustrated in  FIG. 4  may be stored in the autonomous scooter  100 . In the example in  FIG. 5 , when the distance between the obstacle and the autonomous scooter  100  exceeds a value of 3, the calculation unit step calculates a threshold value for switching to manual driving mode  304  Th.sub. 0  which is the reference of the threshold value for switching to manual driving mode  304  regardless of the type of the obstacle. In  FIG. 5 , a unit of the distance can be a meter [m], and when the amount of operation by the rider  101  relates to a steering operation, a unit of the threshold value for switching to manual driving mode  304  controls the steering angle. The units mentioned above are merely exemplary, and, for example, a unit of a different scale or an index could be used alternatively. Furthermore, particular values are mentioned above, but such values are merely examples of a predetermined value which may be set appropriately. 
     When the distance between the obstacle and the autonomous scooter  100  is equal to or less than 3 and exceeds 1 and the obstacle is a stationary object such as a lane line or a guardrail, the calculation unit step calculates a threshold value for switching to manual driving mode  304  which linearly decreases from the threshold value for switching to manual driving mode  304  Th.sub. 0  at the time when the distance is 3 to the threshold value for switching to manual driving mode  304  Th.sub. 1  at the time when the distance is 1. When the distance between the obstacle and the autonomous scooter  100  is equal to or less than 3 and exceeds 1 and the obstacle is another AS  100 , the calculation unit step calculates a threshold value for switching to manual driving mode  304  which linearly decreases from the threshold value for switching to manual driving mode  304  Th.sub. 0  at the time when the distance is 3 to the threshold value for switching to manual driving mode  304  Th.sub. 2  which is lower than Th.sub. 1  at the time when the distance is 1. When the distance between the obstacle and the autonomous scooter  100  is equal to or less than 3 and exceeds 1 and the obstacle is a pedestrian, the calculation unit step calculates a threshold value for switching to manual driving mode  304  which linearly decreases from the threshold value for switching to manual driving mode  304  Th.sub. 0  at the time when the distance is 3 to the threshold value for switching to manual driving mode  304  Th.sub. 3  which is lower than Th.sub. 2  at the time when the distance is 1. When the distance between the obstacle and the autonomous scooter  100  is equal to less than 1, the calculation unit step calculates the threshold value for switching to manual driving mode  304  Th.sub. 1  when the obstacle is a stationary object, calculates the threshold value for switching to manual driving mode  304  Th.sub. 2  when the obstacle is a threat, and calculates the threshold value for switching to manual driving mode  304  Th.sub. 3  when the obstacle is a pedestrian. 
     That is, when the distance between the obstacle and the autonomous scooter  100  is equal to or less than 3 and the obstacle is a pedestrian, the calculation unit step calculates a threshold value for switching to manual driving mode  304  which is lower than the threshold value for switching to manual driving mode  304  when the obstacle is another AS  100  with respect to the same distance between the obstacle and the autonomous scooter  100  (a first distance). In addition, when the distance between the obstacle and the autonomous scooter  100  is equal to or less than 3 and the obstacle is a moving object, the calculation unit step calculates a threshold value for switching to manual driving mode  304  which is lower than the threshold value for switching to manual driving mode  304  when the obstacle is a stationary object such as a lane line or a guardrail with respect to the same distance between the obstacle and the autonomous scooter  100  (a second distance). 
     In greater detail  FIG. 6  there is shown a tele-communication system  600  or “telematics unit,” provided for linking the rider wanted to communicate with the autonomous control system  200  from her or his smartphone  602  via rider interface display  603  on a smartphone, or from a smart device  211  to access features provided by one or more wireless network server systems  604  associated with any number of different systems that can link to the autonomous control system  200  and to the control center  300  by an onboard control panel  16  linked with external and auxiliary smart devices  211  or to a handheld wireless device such as the rider&#39;s smartphone  602  or wearable smart devices like a smart helmet having a virtual display to communicate with the systems  200 - 300  through the tele-communication system  600  via a wireless communication link. 
     It should be understood that the disclosed tele-communication system  600  method is not specifically limited to the operating environment shown here. Also, the architecture, construction, setup, and operation of individual components are generally known in the art. Thus, the following paragraphs simply provide a brief overview of one such exemplary system however, other systems not shown here could employ the disclosed method as well. 
     The smart devices  211  connect to the control panel  16  and the smartphone  602  carries out communication and control features of the tele-communication system  600  when using a software  605  application stored at the control panel  16 . While some autonomous scooters  100  telematics units that can monitor autonomous scooter  100  functions and wirelessly communicate data over a wireless communication link. For instance, some autonomous scooters  100  use telematics units  600  may include a visual display that is capable of showing only one line of text at a time. At the same time, the tele-communication system  600  may include speech recognition capabilities that allow the rider  101  to recite verbal queries that may benefit from responses shown on additional display space. Smartphones often include a display screen  603  that is capable of showing graphical images and speakers or audio outputs that can audibly play sound. Additionally, or the control panel  16  linked to rider&#39;s smartphone  602  can communicate using short-range wireless communication by Bluetooth  606  protocols, cellular communications over a wireless AS network server system  603 . Sensor data can be received by the smart devices  211  data, or by a smartphone  602  data from the tele-communication system  600  is stored in Cloud  607 . 
     One of the networked devices that can communicate with the tele-communication system  600  is a smart device  211 ,  602 . The smart device  211 ,  602  can include computer processing capability, a transceiver capable of communicating using a short-range wireless protocol, and a visual smart device display. In some implementations, the control panel  16  also includes a touch-screen graphical rider interface and/or a GPS capable of receiving GPS satellite signals  608  and generating GPS coordinates based on those signals. Examples of the smart devices may include the iPhone™ manufactured by Apple, Inc. and the Android™ manufactured by Motorola, Inc. While the smart devices may also include the ability to communicate via cellular communications using the wireless AS network server system, this is not always the case. For instance, Apple manufactures devices such as the iPad™, iPad, and the iPod Touch™ that include the processing capability, the display  603 , and the ability to communicate over a wireless communication link. However, the iPod Touch and some iPads do not have cellular communication capabilities. Even so, these and other similar devices may be used or considered a type of smart device  211 ,  602  for the purposes of the method described herein. 
     When a rider  101  uses a control panel  16  or rider&#39;s smartphone  602 , the tele-communication system  600  can then use the display  603  of that smart devices to show the rider  101  more detailed information, such as a menu containing a plurality of telematics service selections or geographical maps used to provide turn-by-turn directions. In this case, the tele-communication system  600  may no longer be limited by a single-line textual display installed on the autonomous scooter  100  but can display more detailed information using the control panel  16  or rider&#39;s smartphone  602 . The smart device  211 ,  602  can also receive commands from the rider  101  and transmit the more detailed information to the telematics unit  601  in response to those commands. In another example, the tele-communication system  600  can also determine that the smart device  211 ,  602  is capable of greater wireless data communication speeds than can be achieved by the telematics unit. As a result, the tele-communication system  600  can leverage the wireless communication capability of the smart device  211 ,  602  a telematics unit  601  to transmit and receive data via the smart device  211 ,  602  over a cellular wireless communication system by transferring data between the telematics unit  601  and the smart device  211 ,  602  over the wireless communication link. In short, the combination of the display and control features of the smart device  211 ,  602  can be integrated within the autonomous scooter  100  for monitoring messages and instruction information, the tele-communication system may be referred to herein also as (TC System). 
     Some of the autonomous scooter  100  electronics is shown generally in  FIG. 1  and includes a control panel  16  containing the telematics unit  601  configured with a microphone and an audio system. Some of these devices can be connected directly or indirectly connected using one or more network connections via a communications bus  609  for example, suitable network connections may include a controller area network (CAN), a media oriented system transfer (MOST), a local interconnection network (LIN), a local area network (LAN), and other appropriate connections such as Ethernet or others that conform with known ISO, SAE and IEEE standards and specifications, to name but a few. 
     According to one embodiment, the tele-communication system  600  can be an OEM-installed (embedded) or aftermarket device that enables wireless voice and/or data communication over wireless AS network server system and via wireless networking so that the autonomous scooter  100  can communicate with call center, other telematics-enabled autonomous scooter  100 , or some other entity or device. The telematics unit  601  preferably uses radio transmissions to establish a communications channel (a voice channel and/or a data channel) with wireless AS network server system so that voice and/or data transmissions can be sent and received over the channel. By providing both voice and data communication, tele-communication system  600  enables the autonomous scooter  100  to offer a number of different services including those related to navigation, telephony, emergency assistance, diagnostics, infotainment, etc. Data can be sent either via a data connection, such as via packet data transmission over a data channel, or via a voice channel using techniques known in the art. For combined services that involve both voice communication (e.g., with a live advisor or voice response unit at the call center) and data communication (e.g., to provide GPS location data or autonomous scooter  100  diagnostic data to the call center), the system can utilize a single call over a voice channel and switch as needed between voice and data transmission over the voice channel, and this can be done using techniques known to those skilled in the art. 
     According to one embodiment, the tele-communication system  600  utilizes cellular communication according to either GSM or CDMA standards and thus includes a standard cellular chipset for voice communications like hands-free calling, a wireless modem for data transmission, an electronic processing device, one or more digital memory Cloud  607 , and a dual antenna. It should be appreciated that the modem can either be implemented through software  605  that is stored in the telematics unit  601  and is executed by processors, or it can be a separate hardware component located internal or external to telematics unit  601 . The modem can operate using any number of different standards or protocols such as EVDO, CDMA, GPRS, and EDGE. Wireless networking between the autonomous scooter  100  and other networked devices can also be Carried out using telematics unit  601 . For this purpose, tele-communication system  600  can be configured to communicate wirelessly according to one or more wireless protocols, such as any of the IEEE 602.11 protocols, WiMAX, or Bluetooth  606 . When used for packet-switched data communication such as TCP/IP, the telematics unit  601  can be configured with a static IP address or can set up to automatically receive an assigned IP address from another device on the network such as a router or from a network address server. 
     According to one embodiment, the processors of the smartphone  602  can be any type of device capable of processing electronic instructions including microprocessors, microcontrollers, host processors, controllers, autonomous scooter  100  communication processors, and application specific integrated circuits (ASICs). It can be a dedicated processor used only for tele-communication system  600  or can be shared with other autonomous scooter  100  systems. The one or processors executes various types of digitally-stored instructions, such as software  605  or firmware programs stored in memory or Cloud  607 , which enable the telematics unit  601  to provide a wide variety of services. For instance, a number of processors can execute programs or process data to try out at least a part of the method discussed herein. 
     According to one embodiment, the tele-communication system  600  can be used to provide a diverse range of autonomous scooter  100  services that involve wireless communication to and/or from the autonomous scooter  100 . Such services include: turn-by-turn directions and other navigation-related services that are provided in conjunction with the GPS-based autonomous scooter  100  navigation module; 991 notification and other emergency or roadside assistance-related services that are provided in connection with one or more collision sensor interface modules such as a body control module (not shown); diagnostic reporting using one or more diagnostic modules; and infotainment-related services where music, webpages, movies, television programs, videogames and/or other information is downloaded by an infotainment module (not shown) and is stored for current or later playback. The above-listed services are by no means an exhaustive list of all of the capabilities of telematics unit  601 , but are simply an enumeration of some of the services that the telematics unit  601  is capable of offering. Furthermore, it should be understood that at least some of the aforementioned modules could be implemented in the form of software  605  instructions saved internal or external to telematics unit  601 , they could be hardware components located internal or external to telematics unit  601 , or they could be integrated and/or shared with each other or with other systems located throughout the autonomous scooter  100 , to cite but a few possibilities could utilize a method or bus  609  to exchange data and commands with the telematics unit. 
     For instance the GPS  201   a  receives radio signals from a constellation of GPS satellites. From these signals, the GPS  203  can determine autonomous scooter  100  position that is used for providing navigation and other position-related services to the autonomous scooter  100  driver. Navigation information can be presented on the display or can be presented verbally such as is done when supplying turn-by-turn navigation. The navigation services can be provided using a dedicated in-autonomous scooter  100  navigation module (which can be part of GPS), or some or all navigation services can be done via telematics unit  601 , wherein the position information is sent to a remote location for purposes of providing the autonomous scooter  100  with navigation maps, map annotations (points of interest, restaurants, etc.), route calculations, and the like. The position information can be supplied to call center or other remote computer system, such as computer, for other purposes, such as fleet management. Also, new or updated map data can be downloaded to the GPS  203  from the call center via the telematics unit  601 . 
     According to one embodiment, the electrical system elements  200 - 300  also include a number of autonomous scooter  100  rider interfaces that provide rider  101  with a means of providing and/or receiving information, including microphone, audio system connected to the control panel&#39;s virtual display for rider plan  101 (RP). Various operator interfaces can also be utilized, as the rider  101  interface detailed of  FIG. 2 ,  FIG. 3A ,  FIG. 3B  which are only an example of one particular implementation related to the control center  300 . 
     As used herein, the term ‘autonomous scooter  100  rider interface’ broadly includes any suitable form of electronic device, including both hardware and software  605  components, which is located on the autonomous scooter  100  and enables an autonomous scooter  100  rider to communicate with or through a component of the autonomous scooter  100 . Microphone provides audio input to the telematics unit  601  to enable the driver or other rider  101  to provide voice commands and AS  100   ry  out hands-free calling via the wireless AS network server system  606 . For this purpose, it can be connected to an on-board automated voice processing unit utilizing human-machine interface (HMI) technology known in the art. The virtual display  603  allows manual rider input into the tele-communication system  600  to initiate wireless telephone calls and provide other data, response, or control input. Separate pushbuttons can be used for initiating emergency calls versus regular service assistance calls to the call center. Audio system provides audio output to a rider  101  and can be a dedicated, stand-alone system or part of the primary autonomous scooter  100  provided by speakers of the control panel  16  on the AB  100 . According to the particular embodiment shown here, audio system is operatively coupled to both bus  614  and entertainment bus  615  and can provide AM, FM and satellite radio, and other multimedia functionality associated with the speakers and the microphone system. This functionality can be provided in conjunction with or independent of the infotainment module described above. Visual display is preferably a graphics display  603 , such as a touch screen on the instrument panel or a heads-up display reflected off of the windshield, and can be used to provide a multitude of input and output functions. 
     According to one embodiment, the wireless tele-communication system  600  is preferably includes networking components required to connect wireless network server system with land network. Each cell tower includes sending and receiving antennas and a base station, with the base stations from different cell towers being connected to the MSC either directly or via intermediary equipment such as a base station operator. Cellular system can implement any suitable communications technology, including for example, analog technologies such as AMPS, or the newer digital technologies such as CDMA (e.g., CDMA8000) or GSM/GPRS. As will be appreciated by those skilled in the art, various cell tower/base station/MSC arrangements are possible and could be used with wireless system. For instance, the base station and cell tower could be co-located at the same site or they could be remotely located from one another, each base station could be responsible for a single cell tower or a single base station could service various cell towers, and various base stations could be coupled to a single MSC, to name but a few of the possible arrangements. 
     Apart from using wireless AS network server system, a different wireless AS network server system in the form of satellite communication can be used to provide uni-directional or bi-directional communication with the autonomous scooter  100 . This can be done using one or more communication satellites and an uplink transmitting station. Uni-directional communication can be, for example, satellite radio services, wherein programming content (news, music, etc.) is received by transmitting station, packaged for upload, and then sent to the satellite, which broadcasts the programming to subscribers. Bi-directional communication can be, for example, satellite telephony services using satellite to relay telephone communications between the autonomous scooter  100  and the control center  300 . If used, this satellite telephony can be utilized either in addition to or in lieu of wireless AS network server system. 
     According to one embodiment, the land network may be a conventional land-based telecommunications network that is connected to one or more landline telephones and connects wireless AS network server system  606  to a call center. For example, land network  16  may include a public switched telephone network (PSTN) such as that used to provide hardwired telephony, packet-switched data communications, and the Internet infrastructure. One or more segments of land network could be implemented through the use of a standard wired network, a fiber or other optical network, a cable network, power lines, other wireless networks such as wireless local area networks (WLANs), or networks providing broadband wireless access (BWA), or any combination thereof. Furthermore, the call center need not be connected via land network  16 , but could include wireless telephony equipment so that it can communicate directly with a wireless network, such as wireless AS network server system. 
     According to one embodiment, the computer can be one of a number of computers accessible via a private or public network such as the Internet. Each such computer can be used for one or more purposes, such as a web server accessible by the autonomous scooter  100  via tele-communication system  600  and wireless AS network server. Other such accessible computer can be, for example: a service center computer where diagnostic information and other autonomous scooter  100  data can be uploaded from the autonomous scooter  100  via the telematics unit  601 ; a client computer used by the autonomous scooter  100  owner or other subscriber for such purposes as accessing or receiving autonomous scooter  100  data or to setting up or configuring subscriber preferences or controlling autonomous scooter  100  functions; or a third party repository to or from which autonomous scooter  100  data or other information is provided, whether by communicating with the autonomous scooter  100  or call center, or both. A computer can also be used for providing Internet connectivity such as DNS services or as a network address server that uses DHCP or other suitable protocol to assign an IP address to the autonomous scooter  100 . 
     According to one embodiment, the call center is designed to provide the autonomous scooter  100  electronics with a number of different system back-end functions and, according to the exemplary embodiment shown here, generally includes one or more switches servers, databases, live advisors, as well as an automated voice response system (VRS), all of which are known in the art. These various call center components are preferably coupled to one another via a wired or wireless local area network switch, which can be a private branch exchange (PBX) switch, routes incoming signals so that voice transmissions are usually sent to either the live adviser by regular mobile phone or to the automated voice response system using VoIP. The live advisor phone can also use VoIP as indicated by the broken line, VoIP and other data communication through the switch is implemented via a modem (not shown) connected between the switch and network. Data transmissions are passed via the modem to server and/or database. Database can store account information such as subscriber authentication information, autonomous scooter  100  identifiers, profile records, behavioral patterns, and other pertinent subscriber information. Data transmissions may also be conducted by wireless systems, such as 602.11 x , GPRS, and the like. Although the illustrated embodiment has been described as it would be used in conjunction with a manned call center using live advisor, it will be appreciated that the call center can instead utilize VRS  88  as an automated advisor or, a combination of VRS  88  and the live advisor can be used. 
     As shown in  FIG. 6  a charted method of controlling a tele-communication system  600  is exampled within the lined area. The method  600  begins at step  610  by storing software  605 . The software  605  can be an application that controls autonomous scooter  100  functions. The software  605  can then be operated using the processing capabilities of the smartphone  602 . 
     At step  620 , the method detects the presence of the smart device  211 ,  602  that includes software  605  capable of remotely controlling the tele-communication system  600  via the wireless communication link between the tele-communication system  600  and the smart device  211 ,  602 . The wireless communication link can be established using any one of the short-range communication protocols discussed above. The method  800  can be described using the Bluetooth  606  protocol. The wireless communication link can be established by pairing the smart device  211 ,  602  with the telematics unit  601 . A query can be sent from the tele-communication system  600  to the smart device  211 ,  602  that asks whether software  605  for controlling the tele-communication system  600  is installed or saved at the smart device  211 ,  602 . If the tele-communication system  600  receives a reply over the wireless communication link confirming the existence of such software  605 , the tele-communication system  600  and the smart device  211 ,  602  can begin to communicate. The method  600  proceeds to step  630 . 
     At step  630 , the stored software  605  communicatively connects the smart device  211 ,  602  with the tele-communication system  600  via the wireless communication link. Once paired, the tele-communication system  600  and/or the smart device  211 ,  602  can direct the software  605   605  to communicate using the indicative protocol based on the Bluetooth  606  short-range wireless connections and exchange data, such as commands from the smart device  211 ,  602  to the telematics unit  601 . The indicative protocol can wirelessly emulate serial cable line settings and the status of a serial port and can be used for the transfer of serial data. In this case, the tele-communication system  600  can directly connect with the smart device  211 ,  602  using the indicative protocol and the pairing of the tele-communication system  600  and the smart device  211 ,  602  can be Carried out based on the indicative protocol. Over the wireless communication link—using the indicative protocol or otherwise—the tele-communication system  600  can be controlled via commands that are represented by codes. In one example, these codes can be provided by a rider interface table (UIT) that includes a number for each action. The UIT can be stored at the tele-communication system  600  and the smart device  211 ,  602 . That way, the UIT number can be sent over the short-range wireless communication protocol to the tele-communication system  600  or the smart device  211 ,  602  and that number can be interpreted and translated into the appropriate command. The method  600  proceeds to step  640 . 
     At step  640 , autonomous scooter  100  data for generating a telematics service menu offering telematics service commands  606  on the smart device  211 ,  602  display  603  of the smart device  211 ,  602  is transmitted from the tele-communication system  600  to the smart device  211 ,  602  via the wireless communication link and the selection of one of the telematics service commands made by a rider  101  is received. AS  100  data can generally relate to the operation of the autonomous scooter  100 . Examples of autonomous scooter  100  data include turn-by-turn directions, diagnostic trouble codes (DTCs), and messages received from the call center. Telematics service selections that represent commands can be chosen at the smart device  211 ,  602  from one of the telematics service selections displayed on the smart device  211 ,  602  and received in response to autonomous scooter  100  data that is displayed at the smart device  211 ,  602 . The tele-communication system  600  can provide not only autonomous scooter  100  data but also computer-readable information that the smart device  211 ,  602  can use to display a menu of telematics service selections. This computer-readable information can establish any one or more variables, such as the number of telematics service options presented to the rider  101 , static data shown on the smart device  211 ,  602  display  603 , the font of the characters displayed, the color of the smart device  211 ,  602  display  603 , and more. In short, the computer-readable information can control the overall appearance of the information shown on the smart device  211 ,  602  display  603 . 
     According to one embodiment, the telematics service menu used at the smart device  211 ,  602  can also provide master-slave status to the rider of the telematics service menu via the smart device  211 ,  602 . That is, even though the tele-communication system  600  can receive selections from devices mounted on the autonomous scooter  100 , such as virtual prompts, the telematics service menu use at the smart device  211 ,  602  may be encoded to override selections made from inputs other than those displayed on the smart device  211 ,  602 . Thus, the smart device  211 ,  602  menu becomes the master control, while the other inputs are subordinate to the smart device  211 ,  602  menu. The method  640  proceeds to step  650 . 
     At step  650 , the selected telematics service command is transmitted to the tele-communication system  600  via the wireless communication link and one or more autonomous scooter  100  functions are controlled using the tele-communication system  600  based on the transmitted telematics service command. This selected command can control at least one function of the autonomous scooter  100 . Using the menu shown on the smart device  211 ,  602  display  603 , the rider  101  can select an option, such as by manually pressing the smart device  211 ,  602  display  603  where a button representing a selection is shown. In one example, the tele-communication system  600  can determine the rider  101  is experiencing some type of emergency, such as an autonomous scooter  100  accident. This can be determined when the tele-communication system  600  receives a signal from the rider  101  via  911  that, in this example, can detect the occurrence of an autonomous scooter  100  accident. In response, the tele-communication system  600  can generate a telematics service menu to send the smart device  211 ,  602  via the wireless communication link. Each of these selections can be made using the smart device  211 ,  602  and being sent to the tele-communication system  600  over the short-range wireless link is possible. 
     In another example, the rider  101  using the smart device  211 ,  602  can request turn-by-turn directions from one location to another location. The rider or rider  101  can verbally request these directions using the speech recognition function of the telematics unit  601 . In response, the tele-communication system  600  can generate information to create a menu that includes a keypad for selecting address numbers and/or address alphabet characters for the rider  101  to select. This information can be transmitted via the wireless communication link to the smart device  211 ,  602  where the menu can be generated and shown on the smart device  211 ,  602  display  603 . The rider  101  can then select the appropriate numbers and alphabet characters shown on the smart device  211 ,  602  display  603  thereby sending commands representing these selections to the tele-communication system  600  over the short-range wireless link. These commands can be sent to the tele-communication system  600  using the indicative protocol described above. The tele-communication system  600  can transmit the present location of the autonomous scooter  100  and the destination address entered using the smart device  211 ,  602  to the call center, which can return the turn-by-turn directions to the telematics unit  601 . While the turn-by-turn directions can be audibly played in the autonomous scooter  100  using the audio system  36 , the tele-communication system  600  can also send a geographical map to the smart device  211 ,  602  over the wireless communication link to be displayed on the smart device  211 , or smartphone  602  with display  603 . The menu shown on the smart device  211  may be used to select the address can then be replaced with an image of the geographical map. This map can include icons, such as an icon representing the destination on the map and an icon representing the autonomous scooter  100  as it moves along the map. The position of the autonomous scooter  100  icon on the map can be updated using GPS coordinates generated by the GPS  203  located on the autonomous scooter  100 . 
     Other communications between the tele-communication system  600  and the smartphone has a mobile APP  650 . For instance, the mobile APP  650  provides GPS mapping where information is received through GPS satellite signals, or generate GPS coordinates, to send GPS coordinates and use those received GPS coordinates in the execution and/or presentation of the turn-by-turn directions to drive the autonomous scooter  100 . In another example, the call center can send messages relating to autonomous scooter  100  operation. These messages can be sent from the smartphone via the mobile APP  650 . Accordingly, the mobile APP is designed with autonomous navigation software  605  for monitoring, communicating or managing operations of the autonomous scooter  100  via rider interface  101 ( 1 ). The method  650  then ends. 
     Other communications in which the telematics unit  601  of an autonomous scooter  100  may involve transmitting a command that controls at least one function of the autonomous scooter  100  based on the received telematics service selection from the smartphone or provide other relevant commands related to autonomous control center plans. 
     Other communications in which the telematics unit  601  may involve the control center involving controlling a current position of the autonomous scooter  100  based on receiving information corresponding to at least one rider-selected starting location and a rider-selected destination location. 
     Other communications may involve the control center  300  involving determining GPS routes for an available autonomous scooter  100  to pick-up a rider based on the scheduling information and to drop-off rider at a location determined by GPS. 
     Other communications may involve the control center involving one of: renting an autonomous scooters  100  to transport riders or renting an autonomous scooter  100  for picking up a delivery payload; identify available autonomous scooters  100  to transport passengers, determine routes for the available autonomous scooters  100  to travel, the routes including delivery stops and being determined based on the scheduling information; receiving information corresponding to at least one virtual operator-selected starting location and a destination location. 
     Other communications may involve the control center virtually controlling one of: execute autonomous driving mode operation carried out during a driving state of an autonomous scooter  100 ; execute a manual driving mode operation carried out during a driving state of the autonomous scooter  100 ; switching the driving state from autonomous driving mode to manual driving mode when the value indicative of the degree to which the operation is carried out is equal to or greater than the threshold value for switching to manual driving mode; calculate the threshold value for switching to manual driving mode according to the status of the surrounding environment recognized by the environment recognizer, wherein the environment recognizer is configured to recognize an obstacle around the autonomous scooter  100  as information relating to the status of the surrounding environment the status being a threat or an obstacle; calculate the threshold value for switching to manual driving mode which becomes lower when a distance between the obstacle and the autonomous scooter  100  becomes smaller. 
     Other communications may involve the control center which may a processor for one of the following actions: determine GPS routes for an available autonomous scooter  100  to pick-up a rider based on the scheduling information then, to drop-off rider at a location determined by GPS routes; or determine the GPS routes by determining at least one route that includes the specific pickup location and the specific drop-off location corresponding to the premium travel request; or generate a GPS route for the autonomous scooter  100  or to predict a route based on prior routes taken by the autonomous scooter  100 . 
     Other communications in which the control center plan for renting an autonomous scooter  100  may involve one of: receive scheduling information corresponding to at least one travel request and including a rider-selected starting location and a rider-selected destination location; provide memory configured to store map information including road information and preselected pick-up stops; receive information corresponding to at least one virtual operator-selected starting location and a destination location, and a processor coupled to the network access device configured to store information virtually; receive public transportation schedules, or the memory is further configured to store the public transportation schedules, to transmit the identified regions to corresponding autonomous scooters  100 ,  100   a / 100 B that are available nearest to the pick-up stop; receive traffic data corresponding to AS  100  traffic or human traffic at various locations; identify the routes for the available autonomous scooters  100  to travel based on the public transportation schedules. 
     Other communications in which the control center plan may involve one of: receive scheduling information corresponding to a location requesting to pick-up delivery order; confirm a rider-selected starting location established to pick-up order then, delivery the order to a rider-selected destination location; or for delivering the payload to a rider-selected destination location or to a recipient. 
     The control center uses a kind of an autonomous scooter  100  leasing system based on Internet of Things it is characterized in that include Cloud Server  607  and with described Cloud Server At least one termination and at least one control terminal that communication is connected. 
     Described AS  100  termination, is arranged on the rentable autonomous scooter  100  information being uploaded to cloud network server  607 . 
     For example, the autonomous scooter  100  uses Described information includes AS  100  id, current location and current state information, or describes current state information includes idle condition And use state. 
     Described control terminal, described solicited message is simultaneously uploaded to described cloud service by the solicited message for receiving user&#39;s input device through a tele-communication as exampled in  FIG. 6 . 
     For example, the autonomous scooter  100  uses solicited message includes target location and the user id that described AS  100  rental is located. 
     Described Cloud Server, for receiving described information of AS  100  and described solicited message, according to described information of AS  100  and request letter Breath determination AS  100  rental information, and accordingly the AS  100  rental information can be sent to control terminal by described. 
     Described control terminal, be additionally operable to display described can AS  100  rental information, the lease of receiving user&#39;s input instructs and will be described Lease instruction is sent to described Cloud Server, and described lease instruction includes the AS  100  id and described user id of a target AS  100 . 
     For example, the autonomous scooter  100  uses a Cloud Server, is additionally operable to receive described lease instruction, generates solution based on described target AS  100  id and described user id Lock key, and described Personal Unlocking Key is sent to the corresponding AS  100  termination of AS  100  id of target, set up leasehold relationship. 
     For example, the autonomous scooter  100  uses a leasing system based on Internet of Things is characterized in that described AS  100  termination also For receiving described Personal Unlocking Key, and described target AS  100  is unlocked according to described Personal Unlocking Key. 
     For example, the autonomous scooter  100  uses the AS  100  termination method which is additionally operable to set up near-field communication with described control terminal, is additionally operable to receive described user id, is additionally operable to send described user id, and judges whether described user id is mated with described Personal Unlocking Key, If coupling, unlock target AS  100 . 
     For example, the control center rental method based on Internet of Things it is characterized in that described control terminal also For scanning and obtaining the target AS  100 , obtain the Bluetooth address of described AS  100  termination according to described AS  100  id, set up the Bluetooth connection of the AS  100  termination of described control terminal and described target AS  100 , to realize near-field communication. 
     For example, the control center rental method based on Internet of Things according is characterized in that described cloud Server is additionally operable to inquire about and is in relaxed state and all AS  100  in the preset range of described target location for the described current location The information of the autonomous scooter  100  is described can be rental information. 
     For example, a kind of autonomous scooter  100  rent method based on Internet of Things is characterized in that include: at least one autonomous scooter  100  determination generates information of autonomous scooters  100  and described is uploaded to Cloud Serve, or include autonomous scooter  100  identification, a current location and current state information, based on a current state information includes idle condition and use state. 
     For example, described solicited message is simultaneously uploaded to described Cloud Server by the solicited message of arbitrary the control center receiving user&#39;s input, or described Solicited message includes target location and the user id that described an autonomous scooter  100  rental is located. 
     For example, described in described cloud server and described solicited message, determine according to described information of an autonomous scooter  100  and solicited messages of rental information, and AS  100  rental information can be sent to control center by described. 
     For example, described the control center show described can AS  100  rental information, the lease instruction of receiving user&#39;s input is simultaneously by described lease instruction It is sent to described Cloud Server, described lease instruction includes the AS  100  id and described user id of target autonomous scooter  100 . 
     For example, lease instruction described in described cloud server, generates Personal Unlocking Key based on described target AS  100  id and described user id, And described Personal Unlocking Key is sent to the corresponding AS  100  termination id of target autonomous scooter  100 , set up leasehold relationship, or receives Personal Unlocking Key, and unlocks described target autonomous scooter  100  according to described Personal Unlocking Key, and/or connects Receive described Personal Unlocking Key and target AS  100  unlocked according to described Personal Unlocking Key. 
     For example, described control terminal set up near-field communication and sends described user id, or receives described user id, and judges whether described user id is mated with described Personal Unlocking Key, if coupling, Then unlocks the target autonomous scooter  100 . 
     For example, the autonomous scooter  100  rent method based on Internet of Things described AS  100  termination with Described control terminal sets up near-field communication, comprising: described control terminal scans and obtains the AS  100  id of target AS  100 , according to described AS  100  id obtains the Bluetooth address of described AS  100  termination, sets up the indigo plant of described control terminal and the AS  100  termination of described target AS  100  Bluetooth connects, to realize near-field communication. 
     For example, the autonomous scooter  100  rent method based on Internet of Things being determined according to described information of AS  100  and solicited message can AS  100  rental information, comprising: inquiry is in relaxed state and described current The information of AS  100  determination of all AS  100  terminations in the preset range of described target location for the position is described can provide AS  100  rental information. The autonomous scooter system offers an autonomous scooter for personal use and for commercial rental service used to for riders to travel to the ideal destinations hands free since the scooter drives itself. The control center associated with a rental service plan and a battery charging service plan provided by a battery charging station, as detailed herein. 
     In greater detail  FIG. 7  illustrates an autonomous scooter  100  battery charging system  700  that implements the communication and security features as described herein. Wherein the internal battery system  13  to provide a dock mechanism  15  regulated battery power  14 (BP) from a battery pack with lithium batteries, or may include a secondary battery pack which is interchangeable. Wherein the electrical system  12  and wiring  12 (W) connect the battery system  13  to internal electrical components of the autonomous scooter  100  to external auxiliary components such as a control panel  16 . 
     Alternatively, another example of the internal dock mechanism  15  can use a capacitor which may involve batteries charged by autonomous scooter  100  battery charging system  700  whereby a first battery  14   b  or a secondary battery to be automatically charged, wherein the dock mechanism  5  connects at the dock  708  mechanism of the docking station  701  as exampled herein. 
     As shown, a docking station  701  is in communication with a control center  300  over the network. Respectively the docking station  701  is shown in this figure, it has been contemplated that multiple docking stations may be simultaneously connected with the control center  300 , and includes multiple docks  702   a - 702  c, or more. In some embodiments, the autonomous&#39;s docking station  701  may be implemented as each of the docks  702  . . . . Each of allows an autonomous scooter  100  to dock therein (e.g., to be received and locked at a dock of the autonomous scooter  100 &#39;s docking station  701 ). For example, a shared autonomous scooters  100  . . . are shown to have docked at the dock  703  of the autonomous scooter  100  docking station  701 . In some embodiments, a fleet of autonomous scooters  100 + may be implemented to come in contact with a locking mechanism  704  of the dock, which may secure (e.g., lock) the shared autonomous scooter  100  to the dock. The locking mechanism of the dock  703  may also obtain an identifier (e.g., a serial number) from a service plan generated by control center  300 , of the shared autonomous scooters  100  . . . after successfully securing the shared autonomous scooters  100  . . . to the dock  703  such that the autonomous scooter  100  docking station  701  may generate a log entry for docking the shared autonomous scooters  100  . . . , which may include a time of docking the shared autonomous scooters  100  . . . and an identifier  705  of the shared autonomous scooters  100 . 
     In some embodiments, the autonomous scooter  100  docking station  701  may include a communication module  706  for communicating with the control center  300  through a tele-communication network  707 . For example, the communication module  706  may include a wireless transmitter for communicating with the control center  300  via the tele-communication network  707 . In some embodiments, the autonomous scooter  100 &#39;s  100  docking station  701  may establish and maintain a communication session (e.g., a TCP/IP communication session) with the control center  300 . Through the communication session, the autonomous scooter  100  docking station  701  may transmit updated information (also referred to as docking station data) associated with the docking station  701 , such as an operating status of the docking station  701 , identities (and a number) of the shared micro-mobility fleet autonomous scooters  100  docked at the docking station  701  (e.g., such as the log entry for the shared autonomous scooters  100  . . . ), a charge status(es) of a fleet autonomous scooters  100 +(e.g., the shared autonomous scooters  100  . . . ) docked at the multiple docks  703   a - 703   c , or more at the docking station  701 , information indicating physical condition(s) of the fleet autonomous scooters  100 + docked at the docking station  701 , network information associated with the docking station  701 , battery information associated with the docking station  701 , and other information of the docking station  701  may be transmitted by the docking station to the control center  300  (e.g., on a periodic basis). 
     In some embodiments, the control center  300  may use the information obtained from the various autonomous scooter  100  docking stations (e.g., the docking station  701 ) to manage and facilitate the micro-mobility autonomous scooter  100  sharing service. For example, based on the information obtained from the docking station  701 , the control center  300  may determine that the shared autonomous scooters  100  . . . is available for hire. Upon receiving a hiring request from a transportation requester for the shared autonomous scooters  100  . . . , the control center  300  may transmit an unlock signal to the autonomous scooters  100  and/or the docking station  701  for unlocking the shared autonomous scooters  100  . . . . Based on the unlock signal received from the control center  300 , the docking station  701  may operate the locking mechanism associated with the dock  703   c  to unlock the shared autonomous scooters  100  . . . . 
     In some embodiments, the control center  300  may monitor signals  708  transmitted by the various sensors, camera signals or smart devices are transmitted from the docking station  701  to the control center  300  according to a predetermined frequency (e.g., a predetermined interval  709 ). For example, the control center  300  may determine an autonomous scooter  100 , such as a micro-mobility autonomous scooter  100 , a ride-sharing car, a public transportation autonomous scooter  100 , etc.) that is within a distance threshold (e.g., a range of a wireless short-range communication technology, such as Bluetooth®, etc.) from the docking station  701 , based on a detected location of the autonomous scooter  100 . In one example, the control center  300  may determine another shared autonomous scooter  100  (e.g., shared autonomous scooter  100  that is within the distance threshold from the docking station  701 . The shared autonomous scooter  100  may be approaching the docking station  701  for docking, or may just be passing by. In some embodiments, the fleet autonomous scooter  100 + may be implemented as the shared autonomous scooter  100 . In another example, the control center  300  may determine an autonomous scooter  100  that is within the distance threshold from the docking station  701  associated with the control center  300  and is or will be passing by the docking station  701  missing a scheduled battery charging service plan. 
     Alternatively, in some embodiments, the docking station  701  may also monitor the acknowledge signals transmitted from the control center  300  in response to the signals  708  and may detect one or more missing acknowledgement signals. As discussed above, each acknowledgement signal may correspond to a particular beat signal. For example, for each camera signal that the docking station  701  transmits to the control center  300 , the docking station  701  may monitor a receipt of a corresponding acknowledgement signal from the control center  300 . When the docking station  701  fails to receive a corresponding acknowledgement signal from the control center  300  (or fails to receive a predetermined number (e.g., 2, 5, 8, etc.) of acknowledgement signals) after a time threshold from sending the beat signal(s) (e.g., 2 seconds, 5 seconds, etc.), the docking station  701  may determine that the connection between the docking station  701  and the control center  300  has been interrupted (e.g., has become unavailable). In response to determining that the connection between the docking station  701  and the control center  300  is interrupted, the docking station  701  may detect any nearby autonomous scooters  100 , such as any shared autonomous scooter  100  that is docked within a distance threshold from the docking station  701 . The docking station  701  may establish a connection (e.g., a short-range wireless connection such as a Bluetooth® connection, an infrared connection, a radio-frequency communication channel, etc.) with the detected autonomous scooter  100 . 
     Since the autonomous scooter  100  (e.g., the shared autonomous scooter  100  or rented autonomous scooter  100 , etc.) may communicate with the control center  300  using a different connection than the docking station  701  (e.g., a different cellular network server, a different wireless communication technology, etc.), the connection between the autonomous scooter  100  and the management server may not be affected by the condition that has affected the connection between the docking station  701  and the control center  300 . Thus, the control center  300  may transmit a signal to the autonomous scooter  100  to establish a connection (e.g., a short-range wireless connection such as a Bluetooth® connection, an infrared connection, a radio-frequency communication channel, etc.) with the docking station  701 . The control center  300  may also instruct the autonomous scooter  100  to obtain docking station data from the docking station  701  and relay the docking station data to the control center  300 . 
     Alternatively, when the docking station  701  fails to receive an expected acknowledgment signal from the control center  300  over a certain time period and determines connection has been lost, the docking station  701  may send a signal instructing a nearby autonomous scooter  100  (the same as the above nearby autonomous scooters  100 ) to connect with the docking station  701 . For example, as discussed above, each micro-mobility autonomous scooter  100  may include smart devices like smart phone, iPad, Tablet, PC, etc. using a wireless communication technology. In some embodiments, at least some of the components of a shared autonomous scooter  100  (e.g., the autonomous scooter  100  controllers, the propulsion system, the battery etc.) may each wireless tele-communication  707  technology. Thus, any one of these components of the autonomous scooter  100  may be used to establish the connection with the docking station  701 . The autonomous scooter  100  may then transmit a request for docking station data to the docking station  701  via the established connection achieved through docking mechanisms  15  and  708 . 
     Accordingly, the docking station  701  may begin transmitting up-to-date or real-time docking station data to instruct the autonomous scooter  100  to relay the docking station data to the control center  300 . In some embodiments, the docking station  701  may embed the docking station data in one or more signals and transmit the docking station data to the control center  300  via the autonomous scooter  100  in one or more signals  708 . In another embodiment, the docking station  701  may instruct the autonomous scooter  100  to obtain docking station data from the docking station  701 , such that the autonomous scooter  100  pulls data from the docking station  701  as opposed to the autonomous scooter  100  docking station sending the data. Regardless of how the autonomous scooter  100  obtains the data, the autonomous scooter  100  may, in turn, relay the docking station data (and/or the senor or camera signals) to the control center  300 . 
     By relaying the docking station data via an intermediate autonomous scooter  100  to the control center  300 , the control center  300  may continue to receive updated docking station data from the docking station  701  while the direct connection with the docking station  701  is temporarily unavailable. While the autonomous scooter  100  docking data is being transmitted to the control center  300  via the autonomous scooter  100 , the docking station  701  may continue to attempt to transmit the signals  708  to the control center  300  through the direct connection. One or both of the docking station  701  and the control center  300  may continue to monitor the connectivity between the control center  300  and the docking station  701  based on whether they can receive the acknowledgement signals or the signals, respectively. In some embodiments, the control center  300  may continue to instruct the autonomous scooter  100  to obtain docking station data from the docking station  701  and/or the autonomous scooter  100  docking station may continue to transmit updated docking station data to the control center  300  via the autonomous scooter  100  (e.g., periodically) until a detection of the following condition: either (1) the connection between the docking station  701  and the control center  300  has been restored (e.g., the control center  300  begins receiving the beat signals from the docking station  701  again, or the docking station  701  begins receiving corresponding acknowledgement signals from the control center  300 ) or (2) the wireless short-range connection between the autonomous scooter  100  and the docking station  701  becomes unavailable (e.g., the autonomous scooter  100  has moved outside of the operational range of a wireless transmitter, etc.). 
     When the control center  300  and/or the docking station  701  determines that the wireless short-range connection between the autonomous scooter  100  and the docking station  701  becomes unavailable, the control center  300  and/or the docking station  701  may detect another autonomous scooter  100  (e.g., a second autonomous scooter  100 ) that is within the distance threshold from the docking station  701  and instruct the second autonomous scooter  100  to obtain and relay docking station data from the docking station  701  to the control center  300 . The docking station  701  may continue to transmit updated docking station data to the control center  300  via an intermediate autonomous scooter  100  using the techniques described herein until the direct connection between the docking station  701  and the control center  300  is restored. When it is determined that the direct connection between the docking station  701  and the control center  300  is restored, the docking station  701  may revert back to transmitting the docking station data to the control center  300  directly using the communication session between the docking station  701  and the control center  300 . 
     Through relaying docking station data via one or more autonomous scooters  100 , the control center  300  may access docking station data from the various autonomous scooter  100  docking stations (e.g., the docking station  701 ) even when the connection with one or more autonomous scooter  100  docking station becomes unavailable. Thus, the control center  300  may determine the statuses of the autonomous scooters  100  in real-time without interruptions. For example, the control center  300  may determine whether an autonomous scooter  100  has been returned to the docking station  701  (e.g., the shared autonomous scooters  100 + that is approaching the docking station  701 ) and may be able to charge an amount to a user account based on an accurate time of returning the autonomous scooter  100  to the docking station  701 . The control center  300  may also transmit instructions to unlock the autonomous scooter  100 &#39;s dock mechanism  15  at the docking station  701  based on a request to rent the one or more autonomous scooters  100 . 
     When the control center  300  receives the provisioning signal, the control center  300  may determine a key (e.g., a primary key such as key  710 ) for the autonomous scooter  100 . In some embodiments, the key  710  determined for each shared autonomous scooter  100  may be different such that they are unique from each other. For example, the key  710  may be determined based at least in part on the identifier of the shared micro-mobility fleet autonomous scooter  100 , such as a hashed key that is generated by hashing the identifier of the autonomous scooter  100  using a particular hashing function. In some embodiments, the key  710  is a 128-bit encryption key generated based at least in part on the identifier of the autonomous scooter  100 . The control center  300  may transmit the key  710  to the autonomous scooter  100 , as a response to the provisioning signal. Once the key  710  is received, the autonomous scooter  100  autonomous control system  200  of the shared autonomous scooter  100  may store the key  710  in its OTP memory. In subsequent operations of the autonomous scooter  100 , the autonomous scooter  100  autonomous control system  200  is configured to power and/or unlock other components (e.g., the electrical system, the battery  14 , other components, etc.) of the autonomous scooter  100  only upon receiving the key  710  from the management server. Thus, to unlock the autonomous scooter  100  (e.g., when the control center  300  has received a hiring (reservation) request from a user for hiring the autonomous scooter  100 , etc.), the control center  300  may transmit an unlock signal that includes a key (e.g., the key  710 ) to the autonomous scooter  100 . Upon receiving the unlock signal, the autonomous scooter  100  autonomous control system  200  of the autonomous scooter  100  may determine whether the key included in the unlock signal matches the key stored in its OTP memory. If the two keys match, the autonomous scooter  100  autonomous control system  200  may power and/or unlock the other components of the autonomous scooter  100 . 
     In some embodiments, in addition to the autonomous scooter  100  autonomous control system  200 , at least some of the other components of an autonomous scooter  100  (e.g., motor controller, the battery, etc.) may also include their own OTP memories for storing their respective keys. For example, after receiving the key from the control center  300 , the autonomous scooter  100  autonomous control system  200  may transmit a key to at least some of the components of the autonomous scooter  100 . The key that is transmitted to the other components may be the same key (e.g., the primary key) that was received from the control center  300 . 
     By using the key-based unlocking process, in order to unlock (e.g., activate) the autonomous scooter  100  (e.g., to operate the autonomous scooter  100 ), the autonomous scooter  100  autonomous control system  200  of the shared autonomous scooter  100  must first receive the correct key from the control center  300 , and the other components of the autonomous scooter  100  must receive their corresponding keys from the autonomous scooter  100  autonomous control system  200 . Thus, a malicious user may not be able to take over the autonomous scooter  100  by simply removing the autonomous scooter  100  autonomous control system  200  from the autonomous scooter  100 —without the autonomous scooter  100  autonomous control system  200  providing the corresponding key(s) to the other components, the other components would not operate. Furthermore, since multiple components require the key to operate, removing and/or replacing one or two components with generic versions of the components (e.g., without the key-based security measures) would not render the autonomous scooter  100  operable without authorization from the control center  300 . For example, even if the malicious user replaces the motor controller with another motor controller that does not require a key to operate, the battery will not provide power to the propulsion system unless it receives the key from the autonomous scooter  100  autonomous control system  200 . 
     In some embodiments, the autonomous scooter  100  autonomous control system  200  may be configured to authenticate the other components (e.g., verifying that the other components are associated with the dynamic transportation matching system, not shown) based on the key(s) (e.g., the secondary key) that was assigned (e.g., distributed) to the other components. 
     For example, the autonomous scooter  100  autonomous control system  200  may authenticate the components of the shared autonomous scooter  100  before unlocking the autonomous scooter  100 . Thus, upon receiving the unlock request (and the key) from the control center  300 , the autonomous scooter  100  autonomous control system  200  may attempt to authenticate the other components of the autonomous scooter  100  before unlocking the autonomous scooter  100 . In some embodiments, the autonomous scooter  100  autonomous control system  200  may request the other components to provide the key that is stored in their respective OTP memories. The autonomous scooter  100  autonomous control system  200  may then determine whether the keys retrieved from the other components match the keys (e.g., the secondary key) that were assigned (distributed) to the other components during the provisioning of the autonomous scooter  100 . If all of the keys from the other components match the assigned key, the autonomous scooter  100  autonomous control system  200  may authenticate the components, and may unlock the autonomous scooter  100 . If any one of the keys from the components does not match (or no key is received from any one of the components), the autonomous scooter  100  autonomous control system  200  may determine that the corresponding component is not authenticated and may have been tampered with, or if the autonomous control system  200  fails to authenticate any one of the components of the autonomous scooter  100 , controller may not unlock the autonomous scooter  100  (e.g., prevent the autonomous scooter  100  from being unlocked or from operating). The autonomous scooter  100  autonomous control system  200  may also transmit a signal to the control center  300  indicating that the autonomous scooter  100  has been tampered with. 
     When tampering with the micro-mobility autonomous scooter  100  a malicious user may also tamper with (e.g., remove, replace, etc.) the autonomous scooter  100  autonomous control system  200  of the autonomous scooter  100  such that the autonomous scooter  100  cannot transmit any tampering report to the control center  300  via the autonomous scooter  100  controller. While the autonomous scooter  100  autonomous control system  200  may be the only component in the autonomous scooter  100  that may communicate with the control center  300  (e.g., via a cellular network, etc.), many other components of the autonomous scooter  100  (e.g., the motor controller, the battery, etc.) may be equipped with a wireless short-range communication module (e.g., a Bluetooth® transmitter, etc.). Thus, in some embodiments, each of the components of the autonomous scooter  100  may detect tampering of any other component (e.g., removing, replacing, etc.) of the autonomous scooter  100 . When a component detects that another component the battery of the autonomous scooter  100  autonomous control system  200 , etc.) of the autonomous scooter  100  has been tampered with, the component may establish a connection (e.g., a wireless short-range connection) with an autonomous scooter  100  docking station (e.g., the docking station  701 ) or with another autonomous scooter  100  (e.g., the autonomous scooter  100 ). The component may then transmit a tampering report signal that may include the identifier of the autonomous scooter  100  to the autonomous scooter  100  docking station or the other autonomous scooter  100 , and instruct the autonomous scooter  100  docking station or the other autonomous scooter  100  to relay the tampering report to the control center  300 . 
     In another aspect of the disclosure, a mechanism for detecting tampering of the docking station  701  is provided. In some embodiments, each of the docking stations  701  may be configured to generate a verification code and transmit the verification code to the control center  300 . The verification code, in some instances, may be generated as a hashed value based on data obtained from the control center  300 . It is beneficial that the data on which the hashed value is based changes from time to time, such that hashed values generated based on outdated data can be expired and are no longer valid. The docking station  701  may include the verification code and data associated with the software  605  update data (e.g., a current system version, a current kernel version, etc.) in the beat signal. In some embodiments, the docking stations need not transmit the verification code in every beat signal, but only at a predetermined frequency (e.g., every day, every week, etc.) or in response to an event (e.g., a rebooting such as a power up event of the docking station  701 ). In some embodiments, the docking station  701  does not store a generated verification code in memory, but is configured to generate the verification code each time it is required to send the verification code to the control center  300  (e.g., when the docking station  701  is powered up, at a predetermined time, etc.). 
     Upon receiving the verification code from a docking station  701 , the control center  300  may verify the verification code (e.g., determining whether the verification code corresponds to a hashed value of the most recent software  605  update data). The control center  300  may authenticate the docking station (e.g., has not been tampered with) if the verification code received from the docking station  701  is verified via software  605   711  in accordance with non-transitory instructions, program code, and/or data, can be stored on one or more non-transitory machine-readable mediums. It is also contemplated that software  605  identified herein can be implemented using one or more general purpose or specific purpose computers and/or computer systems, networked and/or otherwise. Where applicable, the ordering of various steps described herein can be changed, combined into composite steps, and/or separated into sub-steps to provide features described herein. 
     As used in this specification and claims, the terms “ 100 A,” “ 100 B,” “ 100 A/ 100 B,” “AS  100 ,” “controller,” “electronic motor,” “actuator,” “automatic,” “electronic components,” “autonomous components,” “signals,” “tele-communication,” “smart device,” “for example,” “for instance,” “such as,” “like,” “comprising,” “having,” “including,” and other language forms, when used in conjunction with a listing of one or more components or other items, are each to be construed as open-ended, meaning that the listing is not to be considered as excluding other, additional components or items. Other terms are to be construed using their broadest reasonable meaning unless they are used in a context that requires a different interpretation. 
     It is to be understood that the foregoing is a description of one or more preferred exemplary embodiments of the invention. The invention is not limited to the particular embodiments disclosed herein, but rather is defined solely by the claims below. Furthermore, the statements contained in the foregoing description relate to particular embodiments and are not to be construed as limitations on the scope of the invention or on the definition of terms used in the claims, except where a term or phrase is expressly defined above. Various other embodiments and various changes and modifications to the disclosed embodiments will become apparent to those skilled in the art. All such other embodiments, changes, and modifications are intended to come within the scope of the appended claims.