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I have created a Uber app(Rides API) and using server token i can able to get Price and Time estimates.

How can I schedule a driver using Uber api?

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By scheduling, do you refer to making a request for a ride or schedule one ahead of time? If you want to request a ride, check out the POST /requests endpoint as documented here: developer.uber.com/docs/rides/api/v1-requestsAlexander Graebe

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If you want to make a request for a ride, you need to POST to /requests. Like agraebe said, you can find documentation on that endpoint here.

This page also has a tutorial on requesting a ride, and the lifecycle of a request, walking you through step by step how requests work.