Hi,
I solved the issue by following the steps.
Step 1: Create a file named "Rider_History__b.object" and paste the code below.

============================================================
<?xml version="1.0" encoding="UTF-8"?>
<CustomObject xmlns="http://soap.sforce.com/2006/04/metadata">
    <deploymentStatus>Deployed</deploymentStatus>

    <fields>
        <fullName>Start_Location_Lat__c</fullName>
        <label>Start Location Latitude</label>        
        <required>false</required>
        <type>Number</type>       
        <precision>7</precision>
        <scale>4</scale>
    </fields>
    
    <fields>
        <fullName>Start_Location_Long__c</fullName>
        <label>Start Location Longitude</label>        
        <required>false</required>
        <type>Number</type>    
        <precision>7</precision>
        <scale>4</scale>
    </fields>
    
    <fields>
        <fullName>Start_Time__c</fullName>
        <label>Start Time</label>
        <required>true</required>
        <type>DateTime</type>
        <unique>false</unique>
    </fields>
    
    <fields>
        <fullName>End_Time__c</fullName>
        <label>End Time</label>
        <required>false</required>
        <type>DateTime</type>
        <unique>false</unique>
    </fields>
    
    <fields>
        <fullName>Service_Type__c</fullName>
        <label>Service Type</label>
        <length>16</length>
        <required>false</required>
        <type>Text</type>
        <unique>false</unique>
    </fields>
    
    <fields>
        <fullName>Rider_Account__c</fullName>
        <label>Rider Account</label>
        <length>16</length>
        <required>true</required>
        <type>Text</type>        
    </fields>
    
    <fields>
        <fullName>Rider_Rating__c</fullName>
        <label>Rider Rating</label>        
        <required>false</required>
        <type>Number</type>
        <unique>false</unique>
        <precision>2</precision>
        <scale>1</scale>
    </fields>    
    
    <indexes>
        <fullName>Rider_History_Index</fullName>
        <label>Rider History Index</label>
        <fields>
            <name>Rider_Account__c</name>
            <sortDirection>DESC</sortDirection>
        </fields>
        <fields>
            <name>Start_Time__c</name>
            <sortDirection>DESC</sortDirection>
        </fields>        
    </indexes>
    
    
    <label>Rider History</label>
    <pluralLabel>Rider Histories</pluralLabel>
</CustomObject>
=================================================

Step 2: Create a file named "Rider_History.permissionset" and paste the below code.

=================================================
<?xml version="1.0" encoding="UTF-8"?>
<PermissionSet xmlns="http://soap.sforce.com/2006/04/metadata">
     
     
    <fieldPermissions>
        <editable>true</editable>
        <field>Rider_History__b.Start_Location_Lat__c</field>
        <readable>true</readable>
    </fieldPermissions>
     
    <fieldPermissions>
        <editable>true</editable>
        <field>Rider_History__b.Start_Location_Long__c</field>
        <readable>true</readable>
    </fieldPermissions>

    <fieldPermissions>
        <editable>true</editable>
        <field>Rider_History__b.End_Time__c</field>
        <readable>true</readable>
    </fieldPermissions>
     
    <fieldPermissions>
        <editable>true</editable>
        <field>Rider_History__b.Service_Type__c</field>
        <readable>true</readable>
    </fieldPermissions>

     <fieldPermissions>
        <editable>true</editable>
        <field>Rider_History__b.Rider_Rating__c</field>
        <readable>true</readable>
    </fieldPermissions>

<label>Rider History Permission Set</label>
</PermissionSet>
=========================================

Step 3:Create a file named "package.xml" and paste the below code.

============================================

<?xml version="1.0" encoding="UTF-8"?>
<Package xmlns="http://soap.sforce.com/2006/04/metadata">
    <types>
        <members>*</members>
        <name>CustomObject</name>
    </types>
    <types>
        <members>*</members>
        <name>PermissionSet</name>
    </types>
    <version>41.0</version>
</Package>

=======================================

Step 4:Create a folder named "objects" and move the "Rider_History__b.object" file into it.

Step 5:Create a folder named "permissionsets" and move the "Rider_History.permissionset" file into it.

Step 6:Create a folder named "Rider History" and move the "objects folder, permissionsets folder and package.xml" file into it.

Step 7:Now open your "Rider History" folder, Select all i.e., your two folders and .xml file and compress there itself with a name "sample.zip".

NOTE : You must have to compress your files and folders in the "Rider History" folder only but not outside of the folder.

Step 8:Open the Workbench tool in a window and login.

Step 9: Under "Migration" tab, select "deploy". Now choose your "sample.zip" file and check the "Single Package" checkbox.


As it is worked for me, I hope it will works as it. Please let me know if you are facing issues.

Thanks and Regards
Nagarjuna Parala