Just an observation: if something like this is part of a pattern (as opposed to 1 time occurrence), document it. Then petition for a modification of visitation requiring that you be notified by a certain time window before his parenting time about whether he'll be exercising visitation, and require him to pick up. Of course, this doesn't work if you've moved away and are responsible for all transportation.
The point is, document, try to find a work around.
And yes, many of us are dealing with difficult exes, that's how we ended up here. But having your attitude about visitation doesn't help your situation one iota. ACCEPT that the NCP has the right, not the requirement, to exercise visitation. ACCEPT reality as it is, not what you would like it to be, and work within that framework.