Patent Publication Number: US-11030868-B2

Title: Object detection and management

Description:
BACKGROUND 
     A navigation system of a delivery truck may locate a destination address but may lack an ability to identify a suitable location to place a delivered item. For example, at a destination address, a delivery may be expected at a porch, at a backyard door, a front door, breezeway, etc. In another example, a delivered item at a destination may be exposed to risks such as theft. Moreover, once an object such as a package is delivered, technology is lacking to avoid or reduce a risk of theft. For example, current technical architectures may not provide for efficient mechanisms to confirm object delivery and/or user pickup. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  is a block diagram of an example object detection system including example vehicle and an example mat. 
         FIG. 2  shows the vehicle of  FIG. 1  delivering an object to the mat. 
         FIG. 3  shows the mat of  FIGS. 1-2  and a user picking up an object from the mat. 
         FIG. 4  is a diagram showing a vehicle, mats, and an object delivered to a mat. 
         FIGS. 5A-5B  are a flowchart of an exemplary process for a mat computer sending instructions to a vehicle and a remote computer. 
         FIG. 6  is a flowchart of an exemplary process for a vehicle receiving control commands from the mat. 
     
    
    
     DETAILED DESCRIPTION 
     Introduction 
     Disclosed herein is an object receiving mat that includes a receiving surface, a transceiver, and a computer. The computer is programmed to transmit a beacon, including one or both of a mat identifier and location, upon detecting an approaching delivery vehicle. The processor is further programmed to transmit a confirmation message, upon detecting placement of an object on the receiving surface. 
     The computer may be further programmed to transmit a pickup message upon detecting pickup of the object from the receiving surface. 
     The pickup message may indicate that the pickup of the object was or was not authorized. The computer may be further programmed to determine that the pickup of the object is authorized based on at least one of image data including an authorized user and received wireless data indicating that an authorized wireless sender is within a predetermined distance of the mat. 
     The computer may be further programmed to receive, via the transceiver, a wireless signal including an identifier of a mobile device and determine a presence of the mobile device within a predetermined distance of the mat. The computer may be further programmed to store the identifier of the mobile device upon determining that the object is picked up. 
     The transmitted beacon may further include data including a time interval in which a delivery of the object is expected. 
     The confirmation message may include at least one of a size, shape, weight, identification number, and image of the object. 
     The transmitted instruction may further include route information to access the mat. 
     The computer may be further programmed to identify and store the mat location data based on location coordinates received from a remote computer. 
     The mat may further include a mat light, and the computer may be further programmed to actuate a mat light to illuminate upon placing the object on the mat. 
     The computer may be further programmed to transmit the beacon, including one or both of a second mat identifier and location, upon detecting an approaching delivery vehicle. 
     Further disclosed herein is a method that comprises causing a transceiver of a mat to transmit a beacon, including one or both of a mat identifier and location, upon detecting an approaching delivery vehicle, and upon detecting placement of an object on a receiving surface of the mat, transmitting a confirmation message. 
     The method may further include transmitting a pickup message, upon detecting pickup of the object from the receiving surface. The pickup message may indicate that the pickup of the object was or was not authorized. 
     The method may further include determining that the pickup of the object is authorized based on at least one of image data including an authorized user and received wireless data indicating that an authorized wireless sender is within a predetermined distance of the mat. 
     The method may further include receiving, via the transceiver, a wireless signal including an identifier of a mobile device and determining a presence of the mobile device within a predetermined distance of the mat. The method may further include storing the identifier of the mobile device upon determining that the object is picked up. 
     The transmitted beacon may further include data including a time interval in which a delivery of the object is expected. 
     The confirmation message may further include at least one of a size, shape, weight, identification number, and image of the object. 
     The transmitted instruction may further include route information to access the mat. 
     The method may further include identifying and storing the mat location data based on location coordinates received from a remote computer. 
     Further disclosed is a computing device programmed to execute the any of the above method steps. 
     Yet further disclosed is a computer program product, comprising a computer readable medium storing instructions executable by a computer processor, to execute any of the above method steps. 
     Exemplary System Elements 
       FIGS. 1-2  illustrate an example object detection system  105  including an example vehicle  100  and an example mat  135 . The vehicle  100  may be powered in a variety of ways, e.g., with an electric motor and/or internal combustion engine. The vehicle  100  may include any automobile such as a car, a truck, a sport utility vehicle, a crossover vehicle, a van, a minivan, etc. The vehicle  100  may include a computer  110 , actuator(s)  115 , sensor(s)  120 , and a human machine interface (HMI)  125 . In some possible approaches, as discussed below, the vehicle  100  is an autonomous vehicle  100  configured to operate in an autonomous (e.g., driverless) mode, a partially autonomous mode, and/or a non-autonomous mode. 
     The computer  110  includes a processor and a memory such as are known. The memory includes one or more forms of computer-readable media, and stores instructions executable by the computer  110  for performing various operations, including as disclosed herein. 
     The computer  110  may operate the vehicle  100  in an autonomous mode, a semi-autonomous mode, or a non-autonomous mode. For purposes of this disclosure, an autonomous mode is defined as one in which each of vehicle  100  propulsion, braking, and steering are controlled by the computer  110 ; in a semi-autonomous mode the computer controls one or two of vehicle  100  propulsion, braking, and steering; in a non-autonomous mode, an operator controls the vehicle  100  propulsion, braking, and steering. 
     The computer  110  may include programming to operate one or more of land vehicle  100  brakes, propulsion (e.g., control acceleration in the vehicle  100  by controlling one or more of an internal combustion engine, electric motor, hybrid engine, etc.), steering, climate control, interior and/or exterior lights, etc., as well as to determine whether and when the computer  110 , as opposed to a human operator, is to control such operations. Additionally, the computer  110  may be programmed to determine whether and when a human operator is to control such operations. 
     The computer  110  may include or be communicatively coupled to, e.g., via a vehicle  100  network, e.g., including a communications bus as described further below, more than one processor, e.g., controllers or the like included in the vehicle  100  for monitoring and/or controlling various vehicle controllers, e.g., a powertrain controller, a brake controller, a steering controller, etc. The computer  110  is generally arranged for communications on a vehicle  100  communication network that can include a bus in the vehicle  100  such as a controller area network (CAN) or the like, and/or other wired and/or wireless mechanisms. 
     Via a communication network of the vehicle  100 , the computer  110  may transmit messages to various devices in the vehicle  100  and/or receive messages from the various devices, e.g., an actuator  115 , an HMI  125 , etc. Alternatively or additionally, in cases where the computer  110  actually comprises multiple devices, the vehicle communication network may be used for communications between devices represented as the computer  110  in this disclosure. 
     The actuators  115  of the vehicle  100  are implemented via circuits, chips, or other electronic and/or mechanical components that can actuate various vehicle  100  subsystems in accordance with appropriate control signals, as is known. The actuators  115  may be used to control vehicle systems such as braking, acceleration, and/or steering of the vehicles  100 . 
     The sensors  120  of the vehicle  100  may include a variety of devices known to provide data via the vehicle communications bus. For example, the sensors  120  may include one or more camera, radar, infrared, and/or Light Detection And Ranging (LIDAR) sensors  120  disposed in the vehicle  100  and/or on the vehicle  100  providing data encompassing at least some of the vehicle exterior. The data may be received by the computer  110  through a suitable interface such as in known. A LIDAR sensor  120  disposed, e.g., on a top of the vehicle  100 , may provide object data including relative locations, sizes, and shapes of objects such as other vehicles surrounding the vehicle  100 . The computer  110  may receive the object data and operate the vehicle  100  in an autonomous and/or semi-autonomous mode based at least in part on the received object data. 
     The vehicle  100  may include a Global Positioning System (GPS) sensor  120  configured to determine coordinates of a current location of the vehicle  100 . The computer  110  may be programed, using known navigation techniques, to identify a route from the current location to a selected destination, as well as display a map and present driving directions to the selected destination via, e.g., the HMI  125 . 
     In addition, the computer  110  may be configured for communicating through a vehicle-to-infrastructure (V-to-I) interface with other vehicles  100 , mat(s)  135 , and/or a remote computer  155  via a network  160 . The network  160  represents one or more mechanisms by which the computer  110  and the remote computer  155  may communicate with each other, and may be one or more of various wired or wireless communication mechanisms, including any desired combination of wired (e.g., cable and fiber) and/or wireless (e.g., cellular, wireless, satellite, microwave and radio frequency) communication mechanisms and any desired network topology (or topologies when multiple communication mechanisms are utilized). Exemplary communication networks  160  include wireless communication networks (e.g., using one or more of cellular, Bluetooth, IEEE 802.11, etc.), dedicated short range communications (DSRC), local area networks (LAN) and/or wide area networks (WAN), including the Internet, providing data communication services. The network  160  may further include one or more telecommunication protocols, e.g., cellular technologies such as 3G, 4G, Long-Term Evolution (LTE), etc., Bluetooth®, Bluetooth Low Energy®, WiFi, etc. 
     The HMI  125  presents information to and receives information from an occupant of the vehicle  100 . The HMI  125  may be located, e.g., on an instrument panel in a passenger cabin of the vehicle  100 , or one or more other locations accessible by the occupant. The HMI  125  may include dials, digital readouts, screens such as a touch-sensitive display screen, speakers, and so on for providing information to the occupant. The HMI  125  may include buttons, knobs, keypads, microphone, and so on for receiving information from the occupant. As discussed below, the vehicle  100  computer  110  may be programmed to output instructions to a vehicle  100  user including a path to a mat  135  location for delivering an object  220  transported by the vehicle  100 . 
     The mat  135  includes a receiving surface  210  that may have a circular, rectangular, triangular, or any other shape. The mat  135  may be formed of a textile, fiber, plastic, rubber, etc. The mat  135  typically has a rectangular cross-sectional shape, and may have a thickness, e.g., 1-3 centimeters, to accommodate components as described herein. A mat  135  is typically placed before a door or other entrance to a building e.g., as a door mat for people arriving, to wipe their shoes on before entering a home, office, etc. An object, e.g., a delivered package shipped in response to a user&#39;s order, may be placed on the receiving surface  210 . 
     The mat  135  may further include various circuits, chips, or other electronic and/or electrical components that can detect placement of an object  210  on the receiving surface  210  and can communicate with the vehicle  100  and/or the remote computer  155 . The mat  135  electrical and/or electronic components may be disposed inside the mat  135 , e.g., mounted between layers of protective material such as rubber or the like. The mat  135  may further include a transceiver  170  and a computer  165 . The computer  165  may be programmed to transmit a beacon, i.e., a wireless message providing notification that the mat  135  is present, e.g., including a mat  135  identifier and/or a mat  135  location, upon detecting an approaching delivery vehicle  100 . The mat  135  computer  165  may then transmit a confirmation message upon detecting placement of an object  220  on the receiving surface  210 . Thus, advantageously, as discussed below, the transmitted beacon may assist the delivery of the object  220  to the receiving surface  210 . 
     “Beacon” in the context of present disclosure refers to a wireless signal communication based on a wireless protocol implemented by a wireless network  160 , as discussed above. In one example, the mat  135  computer  165  may be programmed to detect an approaching of the vehicle  100 , e.g., a package delivery truck, based on a beacon received from the vehicle  100 . The computer  165  may determine a distance between the vehicle  100  and the mat  135  based on, e.g., location coordinates included in the received beacon, and/or a Free Space Path Loss (FSPL) technique as discussed below. For example, the computer  165  may be programmed to determine that the vehicle  100  is approaching upon determining that a distance from the mat  135  to the vehicle  100  is less than a predetermined distance threshold, e.g., 100 meters. Additionally or alternatively, the computer  165  may be programmed to determine that the vehicle  100  is approaching based on delivery destination location data, e.g., coordinates, transmitted by the vehicle  100  transceiver. For example, the computer  165  may be programmed to determine that the vehicle  100  is approaching upon receiving a beacon from the vehicle  100  including an address associated with the mat  135 , e.g., street and house number, and/or apartment unit number. 
     The mat  135  may include illumination light(s)  180 , e.g. light emitting diodes (LEDs), e.g., embedded around a perimeter of the mat  135 . The computer  165  may be programmed to activate the lights  180  upon detecting the placement of the object  220  on the mat  135 . 
     The mat  135  may include one or more sensors  175  to detect and/or identify an object  220  on the receiving surface  210 . For example, the sensors  175  may include a weight sensor  175  such as a strain gauge to determine a weight of an object  220  placed on the mat  135 . Additionally or alternatively, the mat  135  sensors  175  may include capacitive sensors  175  to detect a presence of an object  220  on the receiving surface  210 . As another example, the sensors  175  may include radio frequency identification (RFID) sensors  175  to receive an identification, e.g., RFID code, of the delivered object  220 . The computer  165  may be programmed to identify the object  220  based on the identifier received from the RFID sensor  175 . The computer  165  may be programmed to receive object  220  data including size, shape, weight, identification number, and picture of the object  220 , e.g., from a remote computer  155  via the network  160 . In one example, the computer  165  may receive an RFID of the object  220  via the transceiver  170 , transmit a request for information including the RFID to the remote computer  155 , and receive object  220  data such as picture, shape, etc. from the remote computer  155 . 
     The computer  165  may be programmed to detect the placement of an object  220  on the receiving surface  210  based on data received from the mat  135  sensors  175 . For example, the computer  165  may be programmed to determine that an object  220  is received upon determining that an applied weight on the receiving surface  210  exceeds a minimum weight threshold, e.g., 500 grams. Additionally, e.g., to differentiate from a person temporarily standing on the mat  135 , the computer  110  may be programmed to detect the placement of the object  220  upon determining that the applied weight is unchanged for at least a minimum time threshold, e.g., 1 minute. Additionally or alternatively, the computer  110  may be programmed to detect the placement of the object  220  based on image data received from a camera  230  with a field of view  240  that includes the mat  135  receiving surface  210 . For example, the computer  165  may be programmed to detect, using known image processing techniques, an object  220  on the receiving surface  210  included in image data received from the camera  230 . 
     In one example, shown in  FIG. 3 , the computer  165  may be programmed to transmit a “pickup” message, i.e., a message confirming that an object  220  is no longer on the mat  135  upon detecting pickup of the object  220  from the receiving surface  210 . For example, the computer  165  may be programmed to transmit a pickup message to a remote computer  155 , e.g., home security system computer, cloud server, etc. The pickup message may include various object  220  data such as an RFID code, weight information, etc. Additionally or alternatively, the computer  165  may be programmed to transmit a pickup message including image data based on data received from the camera  230 . The image data may include an image of the object  220 , an image of a user  310  that picked up the object  220 . 
     The computer  165  may be programmed to detect the pickup of the object  220  based on determining a reduction of applied weight on the receiving surface  210 . In one example, the computer  165  may be programmed to store the weight information of the object  220  upon detecting the placement of the object  220 . The computer  165  may be programmed to detect the pickup upon determining that the weight applied to the receiving surface reduces more than a maxim weight reduction threshold, e.g., 100 grams. In one example, multiple objects  220  may be placed on the receiving surface  210  with an accumulative weight of 5 kilograms. Upon picking up one of the objects  220  that has a weight of 300 grams, the computer  165  may be programmed to detect the pickup of at least one object based on determining that a weight reduction of 300 grams exceeds the maximum weight reduction threshold of 100 grams. 
     In another example, the transmitted pickup message may include information determining whether the pickup of the object  220  was authorized. For example, the computer  165  may be programmed to transmit the pickup message to a remote computer  155 , e.g., a mobile device of a home owner, associated with the mat  135 , including information determining whether the pickup of the object  220  was authorized. In one example, computer  165  may be programmed to determine whether the pickup of the object  220  was authorized based on determining that the image data includes an authorized user  310  and/or based upon received wireless data indicating that an authorized wireless sender device  320  was within an area  330 , e.g., a predetermined distance (e.g., 5 meters) of the mat  135 . The computer  165  may be programmed to determine whether the pickup of the object  220  was authorized based on identifying the authorized user  310  in the received image data using known image processing techniques, e.g., facial recognition. The computer  165  may alternatively or additionally be programmed to determine whether the pickup was authorized based on received wireless signal of a mobile device  320  that is associated with an authorized user  310 . In one example, the computer  165  may be programmed to determine whether the mobile device  320  is within the area  330  based on location coordinates received from the mobile device  320 . 
     In another example, the computer  165  may be programmed to determine a distance d 1  of the mobile device  320  to the mat  135  center  340 , e.g., using techniques such as Free Space Path Loss (FSPL), which is known. The computer  110  may be programmed to determine a strength of a wireless signal of a mobile device  320  based on data received from the transceiver  170 . Based on FSPL, a loss (weakening) of an electromagnetic signal over a straight path between a transmitter, e.g., the mobile device  320 , and a receiver, e.g., the transceiver  170 , may be proportional to the square of the distance (or distance d 1 ) between the transmitter and receiver, and also proportional to the square of a frequency of the radio signal. 
     For example, the computer  110  may be programmed to determine the distance d 1  upon determining the frequency of signals transmitted by the mobile device  320  and the loss of the signal received by the transceiver  170 . The computer  110  may be programmed to determine the frequency of the received signal based on a frequency associated to a used communication protocol and/or using known Digital Signal Processing (DSP) techniques. The computer  165  may be programed to determine a loss of the received signal based on determining the output power of the mobile device  320  and the signal strength of the received signal based on data received from the transceiver  170 . 
     An object  220  placed on the receiving surface  210  may be accessible to an unauthorized user  310 . An unauthorized user  310  my carry a mobile device  320 . In one example, e.g., to provide a possibility of identifying an unauthorized user  310 , the computer  165  may record the identifier, e.g., a Bluetooth™ identifier, of the mobile devices  320  proximate to the mat  135  when a pickup is detected. For example, the computer programmed to receive, via the transceiver  170 , a wireless signal including an identifier of a mobile device  320  and determine a presence of the mobile device  320  within a predetermined distance of the mat  135 . The computer  165  may be further programmed to store the identifier of the mobile device  320  upon determining that the object  220  is picked up. In one example, a remote computer  155  may be programmed to identify an unauthorized user  310  that picked up the object  220  based on the stored identifier of the mobile device(s)  320  and/or stored image data including the unauthorized user  310 . 
     In one example, the transmitted beacon may further include data including a time interval in which a delivery of the object  220  is expected. For example, the computer  165  may determine the time interval based on calendar information of the authorized user  310  indicating when the authorized user  310  is available to pick up the object  220 . For example, the computer  165  may be programmed to receive availability information of the authorized user  310  from the authorized user  310  mobile device  320 , the remote computer  155 , etc. The vehicle  100  computer  110  may be programmed to determine a vehicle  100  route based on the received time interval. The computer  110  may be programmed to plan a route to deliver other shipping items such that a time of delivery of the object  220  to the mat  135  is within the received time interval. Thus, advantageously, an authorized user  310  can pick up the object  220  shortly after delivery. Thus, a likelihood of an access of an unauthorized user  310  to the delivered object  220  may be reduced compared to when the delivered object  220  is left on the mat  135  for an extended time. 
     Finding a delivery location of an object  220  at a destination address may be challenging. For example, map data provided to the vehicle  100  computer  110  may lack information regarding roads and paths inside an apartment complex or location of multiple entrances of a building. In one example shown in  FIG. 4 , the transmitted beacon may include predetermined route information to access the mat  135 . For example, the predetermined route information may include navigation instructions to navigate a delivery of the object  220  within an area  420  around the mat  135  to access the mat  135 . In one example, the area  420  is a private property around a destination address associated with a building  440  that is not covered by map data provided to the vehicle  100  computer  110 . The predetermined route may include location coordinates of roads  410   a , e.g., a driveway, and or walkable paths  410   b  within the area  420 . In one example, the predetermined route may include a nearest location  430  to the destination address (the building  440 ) that is covered by map data provided to the vehicle  100  computer  110 . The predetermined route may further include a route  410   a  that can be driven by the vehicle  100  and/or a walkable route  410   b  to the mat  135 . For example, based on the received predetermined route information, the vehicle  100  computer  110  may be programmed to navigate the vehicle  100  via the route  410   a  to a location  450 , e.g., a nearest location to the destination accessible by the vehicle  100 , and then provide navigation instructions to a vehicle  100  user, e.g., a person, a robot, etc., to carry the object  220  to the mat  135  via the route  410   b.    
     As discussed above, the mat  135  computer  165  may transmit a beacon via the transceiver  170  to the vehicle  100 . In one example shown in  FIG. 4 , a vehicle  100  may not receive the transmitted beacon from a first mat  135  transceiver  170 , e.g., because a distance d 2  to the vehicle  100  center  460  is greater than an access range of the first mat  135  transceiver  170  and/or the building  440  weaken the transmitted beacon from the first mat  135 . In one example, a second mat  445  computer  165  with a distance d 3  to the vehicle  100  center  460  (that is within the range of the second mat  445  transceiver  170 ) may be able to communicate with the vehicle  100 . The second mat  445  computer  165  may be programmed to transmit a beacon, including one or both of a second mat  445  identifier and location, upon detecting an approaching delivery vehicle  100 . For example, the building  440  may have two entries  415  (e.g., front and back entrances) and the first mat  135  and the second mat  445  are placed next to the entries  415 . Based on an input from authorized user  310 , the object  220  is expected to be delivered to the mat  135  that may lack an ability to communicate with the vehicle  100  directly. The second mat  445  computer  165  may then transmit a beacon to the vehicle  100  on behalf of the first mat  135 . “On behalf of” in this context means that the transmitted beacon includes the first mat  135  identifier and/or location coordinates. In another example, the second mat  445  computer  165  forwards messages between the vehicle  100  and the first mat  135 . 
     As discussed above, a mat  135  computer  165  may transmit location coordinates of the mat  135 . The mat  135  computer  165  may be programmed to identify and store the mat location data based on received location coordinates from the remote computer  155 . In one example, the mat  135  computer  165  may be programmed to receive location coordinates associated with the mat  135  from, e.g., a remote computer  155 . In another example, the mat may include a GPS sensor  175 . 
     The mat  135  computer  165  may be programmed to receive and store information such as authorized user  310  biometrical data, e.g., image, mobile device  320  identifier, address associated with the mat  135 , etc. 
     Processing 
       FIGS. 5A-5B  are a flowchart of an exemplary process  500  for a mat  135  computer  165  sending instructions to a vehicle  100  and/or a remote computer  155 . The mat  135  computer  165  may be programmed to execute blocks of the process  500 . 
     With reference to  FIG. 5A , the process  500  begins in a block  510 , in which the mat  135  computer  165  receives data from a vehicle  100 , e.g., via the network  160 . For example, the computer  165  may be programmed to receive a beacon from the vehicle  100  computer  110  via the mat  135  transceiver  170 . The received beacon may include a list of objects  220  out for delivery in the vehicle  100 . The list may include objects  220  data such as destination addresses, tracking number, etc. Additionally, the computer  165  may be programmed to receive information from, e.g., the remote computer  155 , including a list of expected objects  220 , e.g., tracking number of an expected object  220 , etc. 
     Next, in a decision block  515 , the computer  165  determines whether the vehicle  100  has an object  220  onboard out for delivery to the mat  135 . For example, the computer  165  may be programmed to determine, based on the transmitted beacon from the vehicle  100  and the received information from the remote computer  155 , whether the vehicle  100  transports an object  220  for the mat  135 . If the computer  165  determines that the vehicle  100  has an object  220  for the mat  135  onboard, then the process  500  proceeds to a block  520 ; otherwise the process  500  returns to the block  510 . 
     In a block  520 , the computer  165  transmits a beacon to the vehicle  100 . In one example, the computer  165  may be programmed to transmit a beacon including mat  135  identifier and/or location coordinates. The computer  165  may be programmed to send a time interval in which the object  220  delivery is expected, e.g., based on availability of an authorized user  320  at the destination to pick up the object  220  from the mat  135 . The computer  165  may be programmed to send predetermined route information to the vehicle  100 , e.g., including navigation instructions to navigate a delivery of the object  220  within an area  420  around the destination address. In another example, although not shown in  FIG. 5A , the computer  165  may be programmed to broadcast a beacon periodically, e.g., every 5 seconds, to all vehicles  100  that may receive it. The broadcasted beacon may include the mat  135  identifier and/or location coordinates, and an identifier of an expected object  220 . 
     Next, in a decision block  530 , the computer  165  determines whether the object  220  is placed on the mat  135  receiving surface  210 . For example, the computer  165  may be programmed to detect the placement based on data received from the mat  135  sensors  175  (e.g., weight data), the camera  230  (e.g., image data), the transceiver  170  (e.g., RFID code), etc. If the computer  165  detects the object  220  placement, then the process  500  proceeds to a block  540 ; otherwise the process  500  returns to the block  510 . 
     In the block  540 , the computer  165  transmits a delivery confirmation message, e.g., to the remote computer  155 , an authorized user  310  mobile phone  320 , etc. The confirmation message may include size, shape, weight, picture, etc. of the delivered object  220 . Additionally, the computer  165  may be programmed to actuate the mat  135  light  180  to illuminate, e.g., for a predetermines time. 
     Next, in a decision block  550 , the computer  165  determines whether the object  220  is picked up from the mat  135 . For example, the computer  165  may be programmed to detect the pickup of the object  220  based on data received from the mat  135  sensors  175 , the camera  230 , etc. If the computer  165  determines that the object  220  is picked up, then the process  500  proceeds to a block  560  (see  FIG. 5B ); otherwise the process  500  returns to the decision block  550 . 
     With reference to  FIG. 5B , in the block  560 , the computer  165  sends a pick-up message, e.g., to the remote computer  155 , the authorized user  310  mobile device  320 , etc. 
     Next, in a decision block  570 , the computer  165  determines whether the pickup was authorized. For example, the computer  165  may be programmed to determine whether the pickup was authorized based on determining whether an authorized user  310  picked up the object  220 , e.g., using facial recognition techniques, voice recognition, etc. If the computer  165  determines that an unauthorized user  310  picked up the object  220 , the process  500  proceeds to a block  580 ; otherwise the process  500  ends, or alternatively returns to the block  510 , although not shown in  FIGS. 5A-5B . 
     In the block  580 , the computer  165  receives and stores identifiers of mobile devices  320  within a predetermined distance of the mat  135 . Additionally, the computer  165  may be programmed to receive and store image data from the camera  230 , e.g., including an image of the unauthorized user  310 . 
     Next, in a block  590 , the computer  165  sends data including detection of unauthorized pickup of the object  220 . The computer  165  may be programmed to send image data of the unauthorized user  310  that picked up the object  220 , and/or stored mobile devices  320  identifiers to a remote computer  155  and/or an authorized user  310  mobile device  320 . 
     Following the block  590 , the process  500  ends. 
       FIG. 6  is a flowchart of an exemplary process  600  for a vehicle  100  receiving control commands from the mat  135 . The vehicle  100  computer  110  may be programed to execute blocks of the process  600 . 
     The process  600  beings in a block  610 , in which the vehicle  100  computer  110  sends objects  220  data. For example, the object  220  data may include a list of objects  220  onboard in the vehicle  100  for delivery. The list may include an identifier such as a tracking number, an associated delivery address, etc., for each of the objects  220 . 
     Next, in a decision block  620 , the computer  165 , determines whether a beacon is received that is associated with an object  220  onboard in the vehicle  100 . In one example, the computer  110  may be programmed to determine whether a beacon is received for an onboard object  220  based on a list of onboard objects  220  and the received beacon from the mat  135 . If the computer  110  determines that the beacon associated with an object  220  onboard of the vehicle  100  is received, then the process  600  proceeds to a block  630 ; otherwise the process  600  returns to the block  610 . 
     In the block  630 , the computer  110  plans a delivery route for the vehicle  100 . For example, the computer  110  may be programmed to plan the route such that the vehicle  100  the object  220  is delivered with a time interval included in the received beacon. In another example, the computer  110  may be programmed to plan the route based on the received predetermine route included in the received beacon. 
     Next, in a block  640 , the computer  110  navigates the vehicle  100  based on the planned route. For example, the computer  110  actuates the vehicle  100  actuators  115  to follow the planed route. The computer  165  may be programmed to navigate the vehicle  100  to a nearest location  450  to the destination that is accessible by the vehicle  100 . 
     Next, in a block  650 , the computer  110  outputs instructions, e.g., via the HMI  125 , to the vehicle  100  user, e.g., including a route  410   b  information to access the mat  135 . Additionally or alternatively, the computer  110  may be programmed to operate a robot to carry the object  220  from the vehicle  100 , follow the path  410   b , and place the object on the mat  135  receiving surface  210 . 
     Following the block  650  the process  600  ends, or alternatively returns to the block  610 , although not shown in  FIG. 6 . 
     The article “a” modifying a noun should be understood as meaning one or more unless stated otherwise, or context requires otherwise. The phrase “based on” encompasses being partly or entirely based on. 
     Computing devices as discussed herein generally each include instructions executable by one or more computing devices such as those identified above, and for carrying out blocks or steps of processes described above. Computer-executable instructions may be compiled or interpreted from computer programs created using a variety of programming languages and/or technologies, including, without limitation, and either alone or in combination, Java™, C, C++, Visual Basic, Java Script, Perl, HTML, etc. In general, a processor (e.g., a microprocessor) receives instructions, e.g., from a memory, a computer-readable medium, etc., and executes these instructions, thereby performing one or more processes, including one or more of the processes described herein. Such instructions and other data may be stored and transmitted using a variety of computer-readable media. A file in the computing device is generally a collection of data stored on a computer readable medium, such as a storage medium, a random access memory, etc. 
     A computer-readable medium includes any medium that participates in providing data (e.g., instructions), which may be read by a computer. Such a medium may take many forms, including, but not limited to, non-volatile media, volatile media, etc. Non-volatile media include, for example, optical or magnetic disks and other persistent memory. Volatile media include dynamic random access memory (DRAM), which typically constitutes a main memory. Common forms of computer-readable media include, for example, a floppy disk, a flexible disk, hard disk, magnetic tape, any other magnetic medium, a CD-ROM, DVD, any other optical medium, punch cards, paper tape, any other physical medium with patterns of holes, a RAM, a PROM, an EPROM, a FLASH, an EEPROM, any other memory chip or cartridge, or any other medium from which a computer can read. 
     With regard to the media, processes, systems, methods, etc. described herein, it should be understood that, although the steps of such processes, etc. have been described as occurring according to a certain ordered sequence, such processes could be practiced with the described steps performed in an order other than the order described herein. It further should be understood that certain steps could be performed simultaneously, that other steps could be added, or that certain steps described herein could be omitted. In other words, the descriptions of systems and/or processes herein are provided for the purpose of illustrating certain embodiments, and should in no way be construed so as to limit the disclosed subject matter. 
     Accordingly, it is to be understood that the present disclosure, including the above description and the accompanying figures and below claims, is intended to be illustrative and not restrictive. Many embodiments and applications other than the examples provided would be apparent to those of skill in the art upon reading the above description. The scope of the invention should be determined, not with reference to the above description, but should instead be determined with reference to claims appended hereto and/or included in a non-provisional patent application based hereon, along with the full scope of equivalents to which such claims are entitled. It is anticipated and intended that future developments will occur in the arts discussed herein, and that the disclosed systems and methods will be incorporated into such future embodiments. In sum, it should be understood that the disclosed subject matter is capable of modification and variation.