Patent Publication Number: US-2023145508-A1

Title: Partially assembled vehicle that autonomously completes its own assembly, and methods for producing same

Description:
TECHNICAL FIELD 
     The present disclosure generally relates to the manufacture of vehicles, and specifically relates to a partially assembled vehicle that autonomously completes its own assembly. 
     Available vehicle manufacturing methodologies generally rely on a fixed assembly line with a conveyer. The fixed assembly line conveyer enforces a fixed sequence of assembly steps; this prevents optimizing assembly station use. Further, when the fixed assembly line conveyer breaks down, it affects all vehicles attached thereto. 
     The following disclosure provides a technological solution to these technical problems, in addition to addressing related issues. Furthermore, other desirable features and characteristics of the system and method will become apparent from the subsequent detailed description and the appended claims, taken in conjunction with the accompanying drawings and the preceding background. 
     SUMMARY 
     A provided embodiment is a partially assembled vehicle that autonomously transports itself through its own assembly process, the partially assembled vehicle including: a chassis and wheels that are rotationally coupled to the chassis, a drive system mounted on the chassis and in operational communication with the wheels, and further including, on-board the chassis, and in operable communication with each other: a navigation system, a central platform controller, and a position determining system; a safety sensor guidance system is vehicle mounted to the chassis, the safety sensor guidance system including a sensor, a transceiver, and an emergency stop (estop) device; and a controller circuit operationally coupled to the central platform controller and the safety sensor guidance system, the controller circuit programmed to: begin a temporary takeover of the central platform controller, responsive to receiving a begin data package, the temporary takeover including the steps of: activating the transceiver to continuously communicate with the external fleet control source; identifying a plurality of assembly stations that the partially assembled vehicle must visit to complete its own assembly; constructing a sequence in which to visit each of the plurality of assembly stations; commanding the drive system to propel, brake and steer the partially assembled vehicle through the sequence of the plurality of assembly stations, responsive to sensor data from the safety sensor guidance system; determining, when the partially assembled vehicle is at each assembly station in the sequence, that an assembly associated with the assembly station was completed upon passing a respective in-station diagnostic test; wherein, commanding the drive system is further a function of determining, for a current assembly station, that the assembly associated with the current assembly station was completed; modifying or interrupting the commanding of the drive system of the partially assembled vehicle through the sequence, responsive to receiving a repair data package from the external fleet control source; preventing operation of the drive system responsive to detecting an activation of the estop device; determining that the partially assembled vehicle has autonomously completed its own assembly upon determining that the partially assembled vehicle has completed the sequence; and ending the temporary takeover upon determining that the partially assembled vehicle has autonomously completed its own assembly; and alert the external fleet control source upon determining that the partially assembled vehicle has autonomously completed its own assembly. 
     In an embodiment, the controller circuit is further programmed to perform the steps of: determining, when the partially assembled vehicle is at an assembly station of the plurality of assembly stations that the partially assembled vehicle visits to complete its own assembly, that the assembly associated with the assembly station is incomplete upon failing the respective in-station diagnostic test; alerting the external fleet control source to an incomplete assembly; and wherein commanding the drive system is further a function of routing instructions responsive to the incomplete assembly. 
     In an embodiment, the begin data package identifies a model and configuration information for the partially assembled vehicle, and wherein the controller circuit is further programmed to generate the sequence as a function of the model and configuration information. 
     In an embodiment, beginning the temporary takeover of the central platform controller includes installing a temporary program into the central platform controller, and wherein the controller circuit is further programmed to remove the temporary program subsequent to alerting the external fleet control source that the partially assembled vehicle has autonomously completed its own assembly. 
     In an embodiment, the temporary program includes instructions that override power distribution in the partially assembled vehicle, and instructions that control functionality of propulsion, braking and steering. 
     In an embodiment, the sequence is one of multiple potential sequences in which to visit each of the plurality of assembly stations, and wherein the controller circuit is further programmed to: receive, from each of the plurality of assembly stations, a status indicator; and construct the sequence as a function of the received status indicators. 
     In an embodiment, the safety sensor guidance system further includes a path projector configured to project a visible beam forward from a center of the partially assembled vehicle. 
     In an embodiment, the sensor in the safety sensor guidance system is a first sensor affixed to a first corner of the chassis, and wherein the safety sensor guidance system further includes a second sensor affixed to a second corner of the chassis. 
     In an embodiment, the first sensor and the second sensor are each configured to detect intrusion into a predetermined range from the respective sensor. 
     In an embodiment, the predetermined range is less than two feet but in practice would be dictated by accepted standards for safety rated sensing and stopping distance. 
     An embodiment provides a method for a partially assembled vehicle to autonomously transporting itself through the process to complete its own assembly, the method including: constructing the partially assembled vehicle including a chassis and wheels that are rotationally coupled to the chassis, a drive system mounted on the chassis and in operational communication with the wheels, and, on-board the partially assembled vehicle, and in operable communication with each other: a navigation system, a central platform controller, and a position determining system; mounting a safety sensor guidance system to the chassis, the safety sensor guidance system including a sensor, a transceiver, and an emergency stop (estop) device; and at controller circuit operationally coupled to the central platform controller and the safety sensor guidance system, performing the steps of: receiving a begin data package from an external fleet control source; beginning a temporary takeover of the central platform controller, responsive to receiving the begin data package, the temporary takeover including the steps of: activating the transceiver to continuously communicate with the external fleet control source; identifying a plurality of assembly stations that the partially assembled vehicle must visit to complete its own assembly; constructing a sequence in which to visit each of the plurality of assembly stations; commanding the drive system to propel and steer the partially assembled vehicle through the sequence of the plurality of assembly stations, responsive to sensor data from the safety sensor guidance system; determining, when the partially assembled vehicle is at each assembly station in the sequence, that an assembly associated with the assembly station was completed upon passing a respective in-station diagnostic test; wherein, commanding the drive system is further a function of determining, for a current assembly station, that the assembly associated with the current assembly station was completed; modifying or interrupting the commanding of the drive system of the partially assembled vehicle through the sequence, responsive to receiving a repair data package from the external fleet control source; preventing operation of the drive system responsive to detecting an activation of the estop device; and ending the temporary takeover upon determining that the partially assembled vehicle has autonomously completed its own assembly; and alert the external fleet control source upon determining that the partially assembled vehicle has autonomously completed its own assembly. 
     In an embodiment, determining, when the partially assembled vehicle is at each assembly station in the sequence, that the assembly associated with the assembly station is incomplete upon failing the respective in-station diagnostic test; alerting the external fleet control source to an incomplete status; and wherein commanding the drive system is further a function of routing instructions responsive to the incomplete status. 
     In an embodiment, the begin data package identifies a model and configuration information for the partially assembled vehicle, and further including generating the sequence as a function of the model and configuration information. 
     In an embodiment, beginning the temporary takeover of the central platform controller includes installing a temporary program into the central platform controller, and further including removing the temporary program subsequent to alerting the external fleet control source that the partially assembled vehicle has autonomously completed its own assembly. 
     In an embodiment, the temporary program includes instructions that override power distribution in the partially assembled vehicle, and instructions that control functionality of propulsion and steering. 
     In an embodiment, the sequence is one of multiple potential sequences in which to visit each of the plurality of assembly stations, and further including: receiving, from each of the plurality of assembly stations, a status indicator; and constructing the sequence as a function of the received status indicators. 
     In an embodiment, the sensor in the safety sensor guidance system is a first sensor affixed to a first corner of the chassis, and wherein the safety sensor guidance system further includes a second sensor affixed to a second corner of the chassis. 
     An embodiment of a safety sensor guidance system for temporary use on a partially assembled vehicle that autonomously transports itself through the process and completes its own assembly, is provided. The safety sensor guidance system includes: an auxiliary navigation sensor; a sensor configured to detect intrusion into a predetermined range; an estop device; and a communication fabric in operational communication with the auxiliary navigation sensor, the sensor, and the estop device, the communication fabric configured to receive a begin data package from an external source and, responsive thereto, begin a temporary takeover of a central platform controller, including the steps of: commanding the drive system to propel and steer the partially assembled vehicle through a sequence of a plurality of assembly stations; receiving, from the central platform controller, a determination, when the partially assembled vehicle is at each assembly station in the sequence, that an assembly associated with the assembly station was completed upon passing a respective in-station diagnostic test; further commanding the drive system as a function of the determination, for a current assembly station, that the assembly associated with the current assembly station was completed; modifying or interrupting the commanding of the drive system of the partially assembled vehicle through the sequence, responsive to receiving a repair data package from the external source; preventing operation of the drive system responsive to detecting an activation of the estop device; determining that the partially assembled vehicle has autonomously completed its own assembly upon determining that the partially assembled vehicle has completed the sequence; and ending the temporary takeover upon determining that the partially assembled vehicle has autonomously completed its own assembly. 
     In an embodiment, further including, one or more visual alerting devices in operable communication with the communication fabric and configured to visually represent a respective status of a system of the partially assembled vehicle. 
     In an embodiment, further including a support structure that is configured to envelope at least a portion of the partially assembled vehicle and to be attached thereto, to which remaining components of the safety sensor guidance system are attached. 
    
    
     
       DESCRIPTION OF THE DRAWINGS 
       The exemplary embodiments will hereinafter be described in conjunction with the following drawing figures, wherein like numerals denote like elements, and wherein: 
         FIG.  1    is a schematic diagram illustrating a partially assembled vehicle that autonomously completes its own assembly, in accordance with various embodiments; 
         FIG.  2    is a simplified top-down illustration showing the partially assembled vehicle and a plurality of assembly stations that the partially assembled vehicle visits to complete its own assembly, in accordance with various embodiments; 
         FIG.  3    is a process flow chart depicting an example method for a partially assembled vehicle to autonomously complete its own assembly, in accordance with various embodiments; and 
         FIG.  4    is a schematic diagram illustrating safety sensor guidance system for temporary use on a partially assembled vehicle that is configured to complete its own assembly, in accordance with various embodiments. 
     
    
    
     DETAILED DESCRIPTION 
     The following detailed description is merely exemplary in nature and is not intended to limit the application and uses. Furthermore, there is no intention to be bound by any expressed or implied theory presented in the preceding technical field, background, summary, or the following detailed description. 
     Embodiments of the present disclosure may be described herein in terms of functional and/or logical block components and various processing steps. It should be appreciated that such block components may be realized by any number of hardware, software, and/or firmware components configured to perform the specified functions. For example, an embodiment of the present disclosure may employ various integrated circuit components, e.g., memory elements, digital signal processing elements, logic elements, look-up tables, or the like, which may carry out a variety of functions under the control of one or more microprocessors or other control devices. 
     As used herein, the term “module” may refer to any hardware, software, firmware, electronic control component, processing logic, and/or processor device, individually or in any combination, that provides the functionality attributed to the module. In various embodiments, a module includes one or more of: an application specific integrated circuit (ASIC), a field-programmable gate-array (FPGA), an electronic circuit, a computer system comprising a processor (shared, dedicated, or group) and memory that executes one or more software or firmware programs, a combinational logic circuit, and/or other suitable components that provide the functionality attributed to the module. 
     For the sake of brevity, conventional techniques related to signal processing, data transmission, signaling, control, machine learning models, radar, lidar, image analysis, and other functional aspects of the systems (and the individual operating components of the systems) may not be described in detail herein. Furthermore, the connecting lines shown in the various figures contained herein are intended to represent example functional relationships and/or physical couplings between the various elements. It should be noted that many alternative or additional functional relationships or physical connections may be present in an embodiment of the present disclosure. 
     As mentioned, available vehicle manufacturing methodologies generally rely on a fixed assembly line with a conveyor. The fixed assembly line conveyer enforces a fixed sequence of assembly steps; this prevents optimizing assembly station use. Further, when the fixed assembly line conveyer breaks down, it affects all vehicles attached thereto. 
     Exemplary embodiments provide a technological solution to this problem, in the form of a partially assembled vehicle  100  that autonomously transports itself though its own assembly process (hereinafter shortened to partially assembled vehicle  100 ), as shown in  FIG.  1   . As used herein, autonomously means without further human input or guidance. As will be described in more detail below, the provided partially assembled vehicle  100  is autonomous (self-guided and self-powered), which permits the vehicle tires (wheels  20 ) to be placed onto the assembly plant floor, rather than on a conveyer system. The provided partially assembled vehicle  100  continually communicates with fleet management, wired or wirelessly, and can temporarily repurpose (during the temporary takeover) various onboard ECM modules with manufacturing specific software protocols to accept commands for odometry, deceleration, acceleration, operator sensing, and safety protocols. The provided partially assembled vehicle  100  utilizes the existing on-board power management infrastructure to route power to the drive systems  106  and to control safety during assembly. The provided partially assembled vehicle  100  can perform in-station testing and diagnostics, utilize the fleet management system for in station correction or to request that the vehicle be rerouted to a repair area. 
     Embodiments of the partially assembled vehicle  100  comprise a chassis  101 , and wheels  20 , each of which are rotationally coupled to the chassis  101  near a respective corner of the chassis. The partially assembled vehicle  100  is depicted with four wheels  20 , but the number of wheels  20  may vary in other embodiments. The partially assembled vehicle  100  includes at least a collective functional block, drive systems  106 , which generally includes known vehicle systems for vehicle operation, such as, a propulsion system, a transmission system, a steering system, actuators for the wheels, and a brake system, and generates a variety of signals, including vehicle speed and vehicle acceleration. In various embodiments, the drive systems  106  are operationally coupled to one or more onboard components and systems via a communication bus  130 . The partially assembled vehicle  100  is depicted in the illustrated embodiment as a passenger car, but other vehicle types, including motorcycles, taxi cabs, vehicle fleets, buses, sedans, wagons, trucks, sport utility vehicles, other automobiles, recreational vehicles (RVs), locomotives, logistics transporters, drones, and other vehicles may also be used. When its assembly is completed, the partially assembled vehicle  100  may be an autonomous or a semi-autonomous vehicle. 
     Various embodiments of the partially assembled vehicle  100  may include one or more other components and/or onboard systems that communicate with each other, generally via the communication bus  130 . Non-limiting examples of the onboard components communicating via the communication bus  130  include the drive systems  106 , a central platform controller  108 , a transceiver  112 , a global and/or local position determining system  116 , and a navigation system using cameras, scanners or other forms of sensing the environment surrounding the vehicle.  120 . Various embodiments of the partially assembled vehicle  100  further include a controller circuit  104  and a safety sensor guidance system  110 . The functions and operations of each of these components are described in more detail below. 
     The controller circuit  104  manages communication between the partially assembled vehicle  100  and external sources  150 . External sources  150  includes one or more external fleet controllers and assembly station controllers that are external to the partially assembled vehicle  100 , in the environment surrounding the partially assembled vehicle  100 . 
     The transceiver  112  may be configured to enable communication between onboard components and systems and various external sources  150 , such as cloud server systems. Accordingly, in various embodiments, the transceiver  112  includes the hardware and software to support one or more communication protocols for wireless communication  151  (e.g., Wi-Fi and Bluetooth) between the Controller Circuit  104  and external sources, such as routers, internet, the cloud, satellites, communication towers and ground stations. The transceiver  112  may also be adapted for wired communication, supporting one or more input ports. In various embodiments, the transceiver  112  may be integrated within the central platform controller, integrated within another onboard control module, and dis-integrated, having at least a functioning portion located with a safety sensor guidance system  110 . 
     Position determining system  116  may be a global positioning system as is known in the mobile platform industry and/or local position determining system, designed to operate inside a facility. Position determining system  116  may interact via the transceiver  112  and various external sources to provide information about a location in three-dimensional space of the vehicle at any given time. 
     Navigation system  120  may obtain and process signals from various onboard components to make determinations about current location, trajectory, speed, acceleration, etc., as well as coordinate with the central platform controller  108  and position determining system  116  to plan a future location, trajectory, speed, acceleration, turns, and the like. 
     In various embodiments, the central platform controller  108  is configured to receive and integrate communications from the modules and systems onboard the partially assembled vehicle  100 . Accordingly, the central platform controller  108  may manage operations of the drive systems  106 , the global positioning system (position determining system  116 ), and the navigation system  120 , as well as managing communications from off-board sources (e.g., from external sources  150 , via the transceiver  112 ). 
     In various embodiments, the central platform controller  108  is configured to manage and distribute power onboard the partially assembled vehicle  100 , this may be via a separate power management module and battery, or with a power management module and battery integrated within the central platform controller. 
     As is described in more detail below, the partially assembled vehicle  100  autonomously completes its own assembly, which is understood to imply that a variety of additional modules and systems will be integrated or installed onboard the partially assembled vehicle  100 . Accordingly, the central platform controller  108  is configured to adapt to each new assembly component and integrate a variety of additional vehicle components, as added at one or more assembly stations (see,  FIG.  2   ). Non-limiting examples of vehicle components and activities that may be added at various assembly stations include, adding metal to form the body, painting the vehicle, installing HVAC, finalizing drive system components, installing trim, installing a user interface configured to provide any combination of touch, voice/audio, cursor, button press and gesture control; an added mapping system that includes a database for storing up to date and high-resolution maps of streets, environmental features; an added camera system, and the like. 
     Embodiments of the partially assembled vehicle  100  may include a safety sensor guidance system  110  and a controller circuit  104 . The safety sensor guidance system  110  can be mounted to the chassis  101 . In an embodiment, the safety sensor guidance system  110  comprises a sensor  114 , a transceiver  112 , and an emergency stop (estop) device  118 . In various embodiments, the sensor  114  is configured to detect intrusion into a predetermined range  130 , measured outward from the respective sensor. In various embodiments, the predetermined range is less than two feet but in practice would be dictated by accepted standards for safety rated sensing and stopping distance. In some embodiments, the safety sensor guidance system  110  further includes a path projector  122  configured to project a visible beam forward from the partially assembled vehicle  100 . In some embodiments of the safety sensor guidance system  110 , multiple sensors  114  are affixed at one or more different corners of the chassis. For example, the sensor  114  in the safety sensor guidance system  110  may be a first sensor affixed to a first corner of the chassis, and wherein the safety sensor guidance system  110  further includes a second sensor affixed ( 124 ) to a second corner of the chassis, a third sensor affixed ( 126 ) to a third corner of the chassis, and a fourth sensor affixed ( 128 ) to a fourth corner of the chassis. Each sensor  114  may be configured to sense in a three-dimensional volume  132 , such that the volumes  132  overlap to create a buffer zone around the chassis. 
     With reference to  FIG.  4   , some embodiments of the safety sensor guidance system  110  include transceiver  112  functionality and a communication fabric  402  (wired or wireless) specifically configured to manage communication between the central platform controller  108  and various external sources  150  (via  151 ). 
     In embodiments with a communication fabric  402 , it may be configured to receive the begin data package from the external source  150  and, responsive thereto, begin the temporary takeover of a central platform controller  108 . Additionally, in embodiments with a communication fabric  402 , it may be configured to receive data and instructions at each assembly station and communicate status back to the various external sources  150 . 
     Some embodiments of the safety sensor guidance system  110  further include an auxiliary navigation sensor  406  configured narrowly, for navigational maneuvers throughout a manufacturing floor. In some embodiments, the elements of the safety sensor guidance system  110  are each affixed to a rigid support structure  408  that can be easily attached to the chassis. While the partially assembled vehicle  100  of  FIG.  4    shows a safety sensor guidance system  110  that is only on a front part of the vehicle, in other embodiments, the components shown in the structure  4  can be mirrored and placed on the rear of the vehicle  100 . 
     In some embodiments, the safety sensor guidance system  110  further includes one or more visual alerting devices  404 . A non-limiting example of the visual alerting device  404  includes a LED system configured to emit different colors of light to communicate status; such as, green for “no issues”, yellow for a caution, and red for a warning including temporal flashing patterns, to prompt operator attention. In some embodiments, more than one visual alerting device  404  is included in the safety sensor guidance system  110 , and each of the more than one visual alerting device  404  is assigned to a different system or operation status, for example, one for a battery charge level, one for showing a mode of operation, etc. 
     Returning focus to the partially assembled vehicle  100 , operations performed by the partially assembled vehicle  100  may be centrally managed. In  FIG.  1   , the central management of tasks/operations is provided by the controller circuit  104 . In other embodiments, the central management of tasks/operations may be generated by a controller module, PLA, custom circuit, or the like. In various embodiments, the controller circuit  104  is communicatively coupled to onboard systems and components, and in particular, the central platform controller  108 , via the communication bus  130 . The controller circuit  104  and/or the central platform controller  108  are each configured to transmit commands, controls, and power for various onboard systems and components via the communication bus  130 . The controller circuit  104  is programmed to, during operation (assembly) of the partially assembled vehicle  100 , override the power management and management performed by the central platform controller  108 . 
     In various embodiments, as shown in  FIG.  1   , the controller circuit  104  is realized as an enhanced computer system, comprising computer readable storage device or media, memory  54 , for storage of instructions, algorithms, and/or programs  56 , and operating parameters  58 , such as, preprogrammed model and configuration requirements. The controller circuit  104  also includes a processor  50  to execute the program  56 , and an input/output interface (I/O)  52 . The computer readable storage device or media, memory  54 , may include volatile and nonvolatile storage in read-only memory (ROM), random-access memory (RAM), and keep-alive memory (KAM), for example. KAM is a persistent or non-volatile memory that may be used to store various operating variables while the processor  50  is powered down. The memory  54  may be implemented using any of several known memory devices such as PROMs (programmable read-only memory), EPROMs (electrically PROM), EEPROMs (electrically erasable PROM), flash memory, or any other electric, magnetic, optical, or combination memory devices capable of storing data, some of which represent executable instructions, used by the processor  50  in controlling the vehicle  100 . In various embodiments, processor  50  is configured to implement the system  102 . The memory  54  may also be utilized by the processor  50  to cache data, to temporarily store results of comparisons and analyses, and the like. Information in the memory  54  may be organized and/or imported from an external source during an initialization or installment operation in a method; it may also be programmed via a user I/O interface. 
     The input/output interface (I/O)  52  may be operationally coupled to the processor  50  via a bus and enables intra-circuit  104  communication as well as extra-circuit  104  communication. The input/output interface (I/O)  52  may include one or more wired and/or wireless network interfaces and can be implemented using any suitable method and apparatus. In various embodiments, the input/output interface (I/O)  52  includes the hardware and software to support one or more communication protocols for wireless communication between the processor  50  and external sources, such as satellites, the cloud, communication towers and ground stations. In various embodiments, the input/output interface (I/O)  52  supports communication with technicians, and/or one or more storage interfaces for direct connection to storage apparatuses. 
     During operation of the partially assembled vehicle  100 , the processor  50  loads and executes one or more algorithms, instructions, and rules embodied as program  56 , and, as such, controls the general operation of the system  102 . During operation of the system  102 , the processor  50  may receive data from the communication bus  130  or external sources  150 . In various embodiments of the system  102 , the Controller Circuit  104  may: perform operations attributed to the system  102  in accordance with an algorithm; perform operations in accordance with state machine logic; and perform operations in accordance with logic in a programmable logic array. 
     While the exemplary embodiment of the partially assembled vehicle  100  is described in the context of the Controller Circuit  104  implemented as a fully functioning enhanced computer system, those skilled in the art will recognize that the mechanisms of the present disclosure are capable of being distributed as a program product including program  56  and predefined parameters. Such a program product may comprise an arrangement of instructions organized as multiple interdependent program code modules, each configured to achieve a separate process and/or perform a separate algorithmic operation, arranged to manage data flow through the system  102 . The program code modules may each comprise an ordered listing of executable instructions for implementing logical functions for the processes performed by the system  102 . The instructions in the program code modules, when executed by a processor (e.g., processor  50 ), cause the processor to receive and process signals, and perform logic, calculations, methods and/or algorithms as described herein for automatically and in real-time performing vehicle-target localization and generating associated commands. 
     Once developed, the program code modules constituting a program product may be stored and distributed individually, or together, using one or more types of non-transitory computer-readable signal bearing media may be used to store and distribute the instructions, such as a non-transitory computer readable medium. Such a program product may take a variety of forms, and the present disclosure applies equally regardless of the type of computer-readable signal bearing media used to carry out the distribution. Examples of signal bearing media include recordable media such as floppy disks, hard drives, memory cards and optical disks, and transmission media such as digital and analog communication links. It will be appreciated that cloud-based storage and/or other techniques may also be utilized as memory and as program product time-based viewing of clearance requests in certain embodiments. 
       FIG.  2    is a simplified top-down illustration  200  showing the partially assembled vehicle  100  and a plurality of assembly stations that the partially assembled vehicle  100  visits to complete its own assembly. In the example, the plurality is indicated with seven assembly stations (1-7). The sequence is a sequence of assembly stations, putting them in a temporal order. The sequence is indicated the line  208  connecting the assembly stations, and the indicated sequence is: 1, 2, 3, 7, 6, 5, 4. 
     The construction of the sequence in which to visit each of the plurality of assembly stations may be influenced by one or more factors, such as: a shortest distance between assembly stations, an availability of parts/vehicle components at an assembly station, a queue of other partially assembled vehicles at a given assembly station, an inter-component dependency, and the like. In an embodiment, the sequence is one of multiple potential sequences in which to visit each of the plurality of assembly stations, and wherein the controller circuit  104  is further programmed to: receive, from each of the plurality of assembly stations, a respective status indicator; and construct the sequence as a function of the received status indicators. 
     Once the sequence is constructed, the controller circuit  104  commands the drive systems  106  to propel and steer (e.g., via path  208 ) the partially assembled vehicle  100  through the sequence of the plurality of assembly stations. The commands to propel and steer may be further conditioned by, or responsive to, safety situations detected by sensors in the safety sensor guidance system  110 . For example, when the sensor data from the safety sensor guidance system  110  indicates that an object or person is in the way of the vehicle, the controller circuit  104  will, responsive thereto, command the drive systems  106  to temporarily cease propelling and steering until the safety situation is resolved or be used in combination with the navigation system to safely proceed on a path that allows the vehicle to proceed while maintaining a safe distance. 
     At each assembly station, an assembly associated with the assembly station is performed. For example, an installation of a camera system, or an installation of a user interface device, uploading high-definition map data, etc. This assembly may be triggered by arrival of the partially assembled vehicle  100  at the assembly station. The assembly may be performed by an external device, external system (such as a robot), or a person. Upon detection of completion of the assembly, the controller circuit  104  runs a respective in-station diagnostic (test) to determine whether the assembly was a pass (a success) or a failure. In some embodiments, the step of running the in-station diagnostic may include first receiving instructions from the external fleet control. In other embodiments, the step of running the in-station diagnostic may include receiving the in-station diagnostic test via a temporary communication with a source at the respective assembly station. In still other embodiments, the step of running the in-station diagnostic test may be completely managed by the program  56  loaded in the controller circuit  104 . 
     As may be appreciated, the step of commanding the drive system is informed by the pass/fail status at each assembly station. For example, upon a pass at a current assembly station, the step of commanding the drive system automatically proceeds to propel and steer the partially assembled vehicle  100  to the next assembly station in the sequence. However, responsive to a fail at an assembly station, the controller circuit  104  may modify or interrupt the sequence, such as, to proceed to a repair station  202 . This scenario is illustrated with the dashed-dotted line  206 , from assembly station  7 . In various embodiments, the controller circuit  104  may also modify or interrupt the commanding of the drive system of the partially assembled vehicle  100  through the sequence, responsive to receiving a repair data package from the external fleet control source  150 . For example, the external fleet control source  150  may override the constructed sequence to impose a different sequence, and responsive thereto, the controller circuit  104  may modify or interrupt the commanding of the drive system of the partially assembled vehicle  100  to proceed through the different sequence. In another example, the external fleet control source  150  may override the constructed sequence to take the partially assembled vehicle  100  to a designated repair station. Examples of this scenario may include swapping out old revisions of a vehicle component. 
     As may also be appreciated, in practice, there will likely be many more assembly stations and multiple repair stations. 
     Turning now to  FIG.  3   , and with continued reference to  FIGS.  1 - 2   , various method steps for a partially assembled vehicle to autonomously complete its own assembly are described, shown generally as method  300 . 
     In an application, the functionality attributed to the controller circuit  104  may be realized as one or more sub-modules, and the modules and sub-modules may be distributed among and between various onboard systems and components. In various examples, the program  56  and stored variables and pre-loaded custom operating parameters  58  embody the application process modules of the controller circuit  104 . 
     For illustrative purposes, the following description of method  300  may refer to elements mentioned above in connection with  FIGS.  1 - 2   . In various embodiments, portions of method  300  may be performed by different components of the described partially assembled vehicle  100 . It should be appreciated that method  300  may include any number of additional or alternative operations and tasks, the tasks shown in  FIG.  3    need not be performed in the illustrated order, and method  300  may be incorporated into a more comprehensive procedure or method, such as an energy saving or safety application, having additional functionality not described in detail herein. Moreover, one or more of the tasks shown in  FIG.  3    could be omitted from an embodiment of the method  300  if the intended overall functionality remains intact. 
     At  302 , the method begins with constructing the partially assembled vehicle, as described above. The partially assembled vehicle comprises a chassis and wheels that are rotationally coupled to the chassis, a drive system mounted on the chassis and in operational communication with the wheels, and, on-board the partially assembled vehicle, and in operable communication with each other: a drive system, a navigation system, a central platform controller, and a position determining system. 
     At  304 , a safety sensor guidance system is mounted to the chassis, the safety sensor guidance system comprising a sensor, a transceiver, and an emergency stop (estop) device; and 
     At  306 , the automation begins. This includes, responsive to receiving a begin data package from an external fleet control source; beginning a temporary takeover of the central platform controller  108 . The beginning of the temporary takeover can represent a “manufacturing mode” and may include installing or executing a temporary program in the central platform controller  108 . The temporary takeover may include imposing, via the central platform controller  108 , a temporary power management regime for onboard systems and components and activating the transceiver  112  to continuously communicate with the external fleet control source. The temporary takeover may include decoding the begin data package to therewith (at  308 ) identify a plurality of assembly stations that the partially assembled vehicle visits to complete its own assembly. At  308 , the method also constructs a sequence in which to visit each of the plurality of assembly stations. 
     At  310 , the method includes commanding the drive system to propel and steer the partially assembled vehicle through the sequence of the plurality of assembly stations. At  310 , the commanding may also be responsive to sensor input from the safety sensor guidance system  110 . In some embodiments, the navigation of the partially assembled vehicle through the sequence is monitored by the navigation system  120 . In other embodiments, the navigation of the partially assembled vehicle through the sequence is monitored by the auxiliary navigation sensor  406 . 
     At  312 , the method proceeds to utilizing in-station diagnostics to determine, when the partially assembled vehicle is at each assembly station in the sequence, whether an assembly associated with the assembly station passed or failed. As used herein, the pass at the assembly station is also considered a successful or completed assembly. 
     Each time an assembly station is completed, the partially assembled vehicle  100  proceeds, via commanding of the drive system, to a next assembly step in the sequence. Accordingly, the step  310  is influenced by the outcome determined at  312 . Any sensors  114  are understood to be sensing the surrounding area continuously as the vehicle proceeds. 
     Completion of assembly at  314  is determined when the controller circuit  104  and/or communication fabric  402  determines that the partially assembled vehicle has autonomously completed its own assembly. Responsive to  314 , the method may end the temporary takeover at  316 . At  316 , the controller circuit  104  may be further programmed to remove the temporary program installed at the beginning of the temporary takeover (at  306 ), which effectively ends manufacturing mode and puts the vehicle into a customer mode, subsequent to alerting the external fleet control source that the partially assembled vehicle has autonomously completed its own assembly. At  318 , the controller circuit  104  may alert the external fleet control of the completion of the assembly at  318 . As one may appreciate, after completion of the assembly of the partially assembled vehicle  100 , components of the safety sensor guidance system  110  may be removed. 
     Optional functionality supported by the method  300  include modifying or interrupting the commanding of the drive system of the partially assembled vehicle through the sequence, responsive to receiving a repair data package from the external fleet control source, as described above. Additionally, in various embodiments, the estop device  118  can be pulled/activated by a person in proximity of the partially assembled vehicle  100 , and response to responsive to detecting an activation of the estop device, the controller circuit  104  may prevent operation of the drive system (in particular, movement of the wheels  20 ), until the cause for the activated estop device has been addressed. Further, the provided partially assembled vehicle  100  can identify its charging needs and travel to a charge station on its own or responsive to commands from fleet control. 
     Thus, the provided partially assembled vehicle  100  and method for a partially assembled vehicle to autonomously complete its own assembly has been described. The provided partially assembled vehicle  100  is autonomous (self-guided and self-powered), which permits the vehicle tires (wheels  20 ) to be placed onto the assembly plant floor, rather than on a conveyer belt. 
     While at least one exemplary embodiment has been presented in the foregoing detailed description, it should be appreciated that a vast number of variations exist. It should also be appreciated that the exemplary embodiment or exemplary embodiments are only examples, and are not intended to limit the scope, applicability, or configuration of the disclosure in any way. Rather, the foregoing detailed description will provide those skilled in the art with a convenient road map for implementing the exemplary embodiment or exemplary embodiments. Various changes can be made in the function and arrangement of elements without departing from the scope of the disclosure as set forth in the appended claims and the legal equivalents thereof.