Abstract:
A system and method are used for controlling a vehicle remotely over a peer-to-peer network. A vehicle is provided with a vehicle control module configured to transmit and receive network communications containing vehicle control data. In one embodiment, the vehicle control module is configured to transmit and receive network switched packets wirelessly. Additionally, the vehicle may be provided with one or more cameras configured to transmit a two dimensional, three dimensional, or 360° panoramic view from the vehicle. The peer-to-peer network comprises a user interface apparatus, and one vehicle to be controlled. The user interface apparatus may be configured to resemble a steering wheel commonly used with computer game systems. Alternatively, the user interface apparatus may be configured with either control joysticks or miniature control wheels.

Description:
RELATED APPLICATIONS  
       [0001]    This application is a Continuation-In-Part of and claims priority to U.S. Provisional Patent Application Serial No. 60/353,642, filed on Jan. 31, 2002 for Racing Visions, L.L.C., and for Provisional Patent Application Serial No. 60/374,440 filed on Apr. 22, 2002 for Racing Visions, L.L.C. 
     
    
     
       BACKGROUND OF THE INVENTION  
         [0002]    1. The Field of the Invention  
           [0003]    The invention relates to remotely controlled vehicles, and more specifically, to apparatus systems and methods of remotely controlling a mobile vehicle over a network.  
           [0004]    2. The Relevant Art  
           [0005]    Remotely controlling scaled vehicles has been a popular hobby for many years. Children and adults are fascinated by the opportunity to control vehicles that normally are not available for use, such as military vehicles or trains. Scale replicas of racecars, boats, submarines, dune buggies, monster trucks, and motorcycles are among the vehicles that are widely available for remote control enthusiasts.  
           [0006]    Modelers and manufacturers of scaled vehicles put forth considerable time and effort to attain a scaled vehicle with a life-like appearance. For many, great pleasure is derived from controlling a realistically scaled vehicle. Many methods have been developed to control scaled vehicles. Control mechanisms exist that utilize a physical connection, such as a cable, between the vehicle and the vehicle control module. This simple control mechanism is relatively inexpensive and easy to implement but requires that the user follow the vehicle. To overcome these limitations, radio control, or “R/C”, mechanisms have been developed.  
           [0007]    Radio controllers facilitate the control of a vehicle through radio transmissions. By breaking the physical link between the vehicle and controller, R/C enthusiasts are able to participate in organized group events such as racing or with friends in what is known as “backyard bashing.” Additionally, R/C controllers have allowed scaled vehicles to travel over and under water, and through the air, which for obvious reasons was not previously possible with a cabled control mechanism.  
           [0008]    Racing scaled versions of NASCAR™, Formula 1™, and Indy™ series racecars has become very popular because, unlike other sports, the public generally does not have the opportunity to race these cars. Although scaled racecars give the hobbyist the feeling of racing, for example, a stock car, remotely racing a scaled racecar may lack realism. In order to make a racecar visually interesting to the point of view of the racer, the racecar is normally operated at speeds that if scaled are unrealistic. Additionally R/C is limited by the amount of channels or frequencies available for use. Currently, operators of racing tracks or airplane parks must track each user&#39;s frequency and when all of the available channels are being used, no new users are allowed to participate.  
           [0009]    A solution to this problem has been to assign a binary address to each vehicle in a system. Command data is then attached to the binary address and transmitted to all vehicles in the system. In an analog R/C environment, commands to multiple vehicles must be placed in a queue and transmitted sequentially; this presents a slight lag between a user control and response by the vehicle. Each vehicle constantly monitors transmitted commands and waits for a command with the assigned binary address. Limitations to this system include the loss of fine control of vehicles due to transmit lag, and ultimately the number of vehicles is limited because the time lag could become too great.  
           [0010]    Accordingly, it is apparent that a need exists for an improved system of controlling multiple vehicles in a racing environment with increased support for fine-tuned control capabilities. A need also exists for simultaneously controlling multiple scaled vehicles in a racing environment and simulating full scale racing in a realistic manner.  
         BRIEF SUMMARY OF THE INVENTION  
         [0011]    The present invention includes a remotely controllable vehicle that may be controlled by a user in a peer-to-peer networking environment. The vehicle comprises a chassis configured to move about in response to vehicle control data from a user, a controller residing within the chassis configured to receive network switched packets containing the vehicle control data from a user in the peer-to-peer network, and an actuator interface module configured to operate an actuator in response to the vehicle control data received by the controller. The controller may be configured to transmit vehicle data feedback to a user.  
           [0012]    In one embodiment, the controller is configured to transmit visual data to the user. Under a preferred embodiment of the present invention, the controller is configured to transmit a two dimensional, three dimensional, or 360° three dimensional view to the user. Additionally, the controller further comprises a wireless network interface connection.  
           [0013]    In one embodiment, the present invention may comprise a handheld control apparatus from which a vehicle is remotely controlled in a peer-to-peer networking environment. The handheld control apparatus comprises a vehicle control module configured to generate vehicle control data in response to input from a user, and a transmission module configured to communicate with the vehicle control module and transmit network switched packets containing the vehicle control data over a transmission medium to the vehicle. In one embodiment of the present invention, the transmission medium comprises a wireless peer-to-peer network.  
           [0014]    Additionally, the handheld control apparatus may comprise a video screen configured to display a portion or all of a two dimensional, three dimensional, or 360° panorama view selectable by the user. The handheld control apparatus also may comprise a joystick configured to generate vehicle control data. Alternatively, the handheld control apparatus may comprise a miniature wheel configured to generate vehicle control data. In an alternative embodiment, the handheld control apparatus may comprise a steering wheel configured to generate vehicle control data.  
           [0015]    A control apparatus residing in a vehicle controllable remotely over a peer-to-peer network may be provided. The control apparatus may comprise a network interface connection configured to transmit and receive vehicle control data, a central processing unit configured to provide vehicle control data to the network interface connection, and an actuator interface module configured to receive vehicle control data from the central processing unit. Additionally, the control apparatus may further comprise a video interface module configured to communicate visual data to the central processing unit.  
           [0016]    In one embodiment, the control apparatus comprises one or more video cameras configured to provide visual data to the video interface module. The video interface module may be configured to transmit a two dimensional, three dimensional, or 360° three dimensional view. Additionally, the control apparatus may comprise a Simple Network Management Protocol (SNMP) interface module residing within the central processing unit configured to operate an actuator. Alternately, the apparatus may be employed using a web-based protocol, such as Java™.  
           [0017]    In one embodiment of the present invention, a peer-to-peer network for communicating with a vehicle operating under remote control is provided. In a further embodiment, the peer-to-peer network may comprise a handheld control apparatus, a network interface connection residing within the handheld control apparatus, and a central processing unit of a mobile vehicle over the network. The network interface connection may comprise a wireless network connection configured to transmit and receive network switched packets.  
           [0018]    The present invention may also comprise a method of controlling a mobile vehicle over a peer-to-peer network, including but not limited to a LAN, WAN, satellite, and digital cable networks. In one embodiment of the present invention, the method may comprise providing a mobile vehicle configured to transmit and receive vehicle control data over the network, providing a handheld control apparatus configured to transmit and receive vehicle control data over a peer-to-peer network, transmitting vehicle control data, controlling the mobile vehicle in response to the transmitted vehicle control data, and receiving vehicle feedback data from the vehicle.  
           [0019]    Additionally, transmitting vehicle control data may comprise transmitting network switched packets. In one embodiment, the vehicle feedback data may comprise vehicle performance parameters such as speed, revolutions per minute (RPM), engine temperature, visual data, audible data, and the like.  
           [0020]    In a further embodiment of the present invention, a computer usable medium readable by a computer may be provided. The computer usable medium comprises tangibly embodying a program of instructions executable by a computer to perform a method for controlling a mobile vehicle over a peer-to-peer network. The method may comprise transmitting vehicle control data over a digital peer-to-peer network, controlling the vehicle using the control data, and receiving vehicle feedback data from the vehicle.  
           [0021]    These features and advantages of the present invention will become more fully apparent from the following description and appended claims, or may be learned by the practice of the invention as set forth hereinafter.  
       
    
    
     BRIEF DESCRIPTION OF THE DRAWINGS  
       [0022]    In order that the manner in which the advantages and objects of the invention are obtained will be readily understood, a more particular description of the invention briefly described above will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings. Understanding that these drawings depict only typical embodiments of the invention and are not therefore to be considered to be limiting of its scope, the invention will be described and explained with additional specificity and detail through the use of the accompanying drawings in which:  
         [0023]    [0023]FIG. 1 is a perspective view of one embodiment of a peer-to-peer network controlled vehicle of the present invention.  
         [0024]    [0024]FIG. 2 a  is a schematic block diagram illustrating one embodiment of a two dimensional video camera module of the present invention.  
         [0025]    [0025]FIG. 2 b  is a schematic block diagram illustrating one embodiment of a three dimensional video camera module of the present invention.  
         [0026]    [0026]FIG. 2 c  is a schematic block diagram illustrating one embodiment of a 360° three dimensional video camera module of the present invention.  
         [0027]    [0027]FIG. 3 a  is a schematic block diagram illustrating one embodiment of a vehicle control data packet.  
         [0028]    [0028]FIG. 3 b  is a schematic block diagram illustrating one embodiment of a vehicle feedback data packet.  
         [0029]    [0029]FIG. 4 is a schematic block diagram illustrating one embodiment of a vehicle control module of the present invention.  
         [0030]    [0030]FIG. 5 is a schematic block diagram illustrating one embodiment of a remote vehicle control apparatus of the present invention.  
         [0031]    [0031]FIG. 6 is a schematic block diagram illustrating one embodiment of a peer-to-peer network of the present invention for controlling a vehicle remotely.  
         [0032]    [0032]FIG. 7 is a flow chart diagram illustrating one embodiment of a method of the present invention for controlling a vehicle remotely over a peer-to-peer network.  
     
    
     DETAILED DESCRIPTION OF THE INVENTION  
       [0033]    Many of the functional units described in this specification have been labeled as modules, in order to more particularly emphasize their implementation independence. For example, a module may be implemented as a hardware circuit comprising custom VLSI circuits or gate arrays, off-the-shelf semiconductors such as logic chips, transistors, or other discrete components. A module may also be implemented in programmable hardware devices such as field programmable gate arrays, programmable array logic, programmable logic devices or the like.  
         [0034]    Modules may also be implemented in software for execution by various types of processors. An identified module of executable code may, for instance, comprise one or more physical or logical blocks of computer instructions which may, for instance, be organized as an object, procedure, or function. Nevertheless, the executables of an identified module need not be physically located together, but may comprise disparate instructions stored in different locations which, when joined logically together, comprise the module and achieve the stated purpose for the module.  
         [0035]    Indeed, a module of executable code could be a single instruction, or many instructions, and may even be distributed over several different code segments, among different programs, and across several memory devices. Similarly, operational data may be identified and illustrated herein within modules, and may be embodied in any suitable form and organized within any suitable type of data structure. The operational data may be collected as a single data set, or may be distributed over different locations including over different storage devices, and may exist, at least partially, merely as electronic signals on a system or network.  
         [0036]    [0036]FIG. 1 shows a vehicle  100  that is controllable over a network. As depicted, the vehicle  100  comprises a video camera module  102  and a vehicle control module  104 . The vehicle  100  is in one embodiment replicated at one-quarter scale, but may be of other scales also, including one-tenth scale, one-fifth scale, and one-third scale. Additionally, the network controlled vehicle  100  may embody scaled versions of airplanes, monster trucks, motorcycles, boats, buggies, and the like. In one embodiment, the vehicle  100  is a standard quarter scale vehicle  100  with centrifugal clutches and gasoline engines, and all of the data for the controls and sensors are communicated across the local area network. Alternatively, the vehicle  100  may be electric or liquid propane or otherwise powered. Quarter scale racecars are available from New Era Models of Nashua, N.H. as well as from other vendors, such as Danny&#39;s ¼ Scale Cars of Glendale, Ariz.  
         [0037]    The vehicle  100  is operated by remote control and in one embodiment an operator need not be able to see the vehicle  100  to operate it. Rather, a video camera module  102  is provided with one or more cameras  106  connected to the vehicle control module  104  for displaying the points of view of the vehicle  100  to an operator. The operator may control the vehicle  100  from a remote location at which the operator receives vehicle control data and optionally audio and streaming video. In one embodiment, the driver receives the vehicle control data over a local area network. Under a preferred embodiment of the present invention, the video camera module  102  is configured to communicate to the operator using the vehicle control module  104 . Alternatively, the video camera module  102  may be configured to transmit streaming visual data directly to an operator station.  
         [0038]    [0038]FIG. 2 a  depicts a plan view  210  of a single camera  106  that may be mounted to the vehicle  100  as discussed in conjunction with FIG. 1. The depicted camera  106  has a specific field of view  220 , delineated by pair of the angled solid lines, that is determined by the design and manufacture of the camera  106 . In one embodiment, the field of view  220  is fixed and, in an alternate embodiment, the field of view  220  of the camera  106  may be dynamically adjusted using either optical or digital processes. The field of view  220  captured by the illustrated camera  106  generally produces a two dimensional image.  
         [0039]    [0039]FIG. 2 b  illustrates a plan view  230  of a pair of cameras  106  that may be co-mounted to the vehicle  100 . As in the previous figure, each depicted camera  106  has a specific field of view  220 . Similarly, the field of view  220  of each camera  106  in the pair may be fixed or dynamically adjustable. According to the mounting configuration, including the relational orientation of the pair of cameras  106 , the fields of view  220  may wholly or partially overlap. The video camera module  102  may then process the combination of captured fields of view  220  and create a three dimensional image.  
         [0040]    Referring now to FIG. 2 c,  shown therein is one embodiment of the video camera module  102 . The video camera module  102  comprises a plurality of video cameras  106 . The cameras  14  may be mounted in a ring so as to provide a combined panoramic view created from the plurality of corresponding fields of view  220 . One advantage of the present invention is the ability to form a two dimensional, three dimensional, or 360° three dimensional image. The video camera module  102  is preferably configured to weave the overlapping fields of view  220  of each camera  106 . As discussed in conjunction with FIG. 2 b,  a three dimensional view is possible by processing two overlapping fields of view  220 . Each camera  106  may be oriented to allow overlap of the fields of view  220  of the two cameras  106  that are closest.  
         [0041]    [0041]FIG. 3 a  illustrates one embodiment of vehicle control data  300 . Under a preferred embodiment of the present invention, the vehicle control data  300  may comprise one or more network switchable packets. Preferably, the vehicle control data  300  contains an internet protocol (IP) address  302 , an acceleration setting  304 , a brake setting  306 , a maximum speed setting  308 , and a steering setting  310  of course not all of this data need be present, and other data may also be transmitted in the packet(s). The IP address  302  enables correct routing of the vehicle control data  300  between a user and the vehicle  100 . IP addressing and the details thereof are well known to those skilled in the art.  
         [0042]    In one embodiment a single packet of vehicle control data  300  may contain various setting data including, for example the acceleration setting  304 , the brake setting  306 , the maximum speed setting  308 , and the steering setting  310 . Alternatively, each vehicle control data  300  packet may contain only one setting to be updated. The manner in which the vehicle control data  300  is utilized will be discussed in greater detail below.  
         [0043]    Referring now to FIG. 3 b,  shown therein is one embodiment of vehicle feedback data  312 . The vehicle feedback data  312  is configured in a manner substantially equivalent to the vehicle control data  300 . In one embodiment, the vehicle feedback data  312  contains at least an IP address  314 . Alternatively, the vehicle feedback data  312  comprises one or more of a motor temperature  316 , a speed  318  at which the vehicle  100  is traveling, an acceleration  320  of the vehicle  100 , and a steering position  322 . In alternative embodiments, the settings  316 ,  318 ,  320 ,  322  may comprise data such as a list of envirormental variables or performance parameters of the vehicle  100  as selected by a user.  
         [0044]    [0044]FIG. 4 shows one embodiment of the vehicle control module  104 . The vehicle control module  104  preferably comprises a network interface module  402 , a central processing unit (CPU)  404 , a servo interface module  406 , a sensor interface module  408 , and the video camera module  102 . In one embodiment, the network interface module  402  is provided with a wireless transmitter and receiver  405 . The transmitter and receiver  405  may be custom designed or may be a standard, off-the-shelf component such as those found on laptops or electronic handheld devices. Indeed, a simplified computer similar to a Palm™ or Pocket PC™ may be provided with wireless networking capability, as is well known in the art and placed in the vehicle  100  for use as the vehicle control module  104 .  
         [0045]    In one embodiment of the present invention, the CPU  404  is configured to communicate with the servo interface module  406 , the sensor interface module  408 , and the video camera module  102  through a data channel  410 . The various controls and sensors may be made to interface through any type of data channel  410  or communication ports, including PCMCIA ports. The CPU  404  may also be configured to select from a plurality of performance levels upon input from an administrator received over the network. Thus, an operator may use the same vehicle  100  and may progress from lower to higher performance levels. The affected vehicle  100  performance may include steering sensitivity, acceleration, and top speed. This feature is especially efficacious in driver education and training applications. The CPU  404  may also provide a software failsafe with limitations to what an operator is allowed to do in controlling the vehicle  100 .  
         [0046]    In one embodiment, the CPU  404  comprises a Simple Network Management Protocol (SNMP) server module  412 . SNMP provides an extensible solution with low computing overhead to managing multiple devices over a network. SNMP is well known to those skilled in the art. In an alternate embodiment not depicted, the CPU  404  may comprise a web-based protocol server module configured to implement a web-based protocol, such as Java™, for network data communications.  
         [0047]    The SNMP server module  412  is configured to communicate vehicle control data  300  to the servo interface module  406 . The servo interface module  406  communicates the vehicle control data  300  with the corresponding servo. For example, the network interface card  402  receives vehicle control data  300  that indicates a new position for a throttle servo  414 . The network interface card  402  communicates the vehicle control data  300  to the CPU  404  which passes the data  300  to the SNMP server  412 . The SNMP server  412  receives the vehicle control data  300  and routes the setting that is to be changed to the servo interface module  406 . The servo interface module  406  then communicates a command to the throttle servo  414  to accelerate or decelerate.  
         [0048]    Referring now to FIG. 5, shown therein is one embodiment of a user interface (UI) apparatus  500  for communicating with a vehicle operating under remote control. The UI apparatus  500  comprises a UI controller  502 , a CPU  504 , a UI SNMP module  506 , and a network interface connection  508 . In one embodiment of the present invention, the UI apparatus  500  may comprise a portable control device configured with a steering wheel controller, such as the Thrustmaster™ controller used for video games. In an alternative embodiment, the UI apparatus  500  may be configured in a manner patterned after traditional remote hand-held controllers.  
         [0049]    The UI controller  502  is preferably configured to convert command data  300  from the user into data recognizable by the CPU  504  and the UI SNMP module  506 . In one embodiment of the present invention, the CPU  504  is configured to communicate with the UI controller  502 , the UI SNMP module  506 , and the network interface connection  508 . The input received from the user through the UI controller  502  is configured by the CPU  504  and the UI SNMP module  506  in order to be transmitted by the network interface  508  to the car  100  through a transmission medium (not shown).  
         [0050]    In one embodiment, the transmission medium comprises a standard Ethernet network, which is familiar to one skilled in the art. Under a preferred embodiment of the present invention, the transmission medium may comprise a wireless peer-to-peer network  600 .  
         [0051]    Referring now to FIG. 6, shown therein is one embodiment of a wireless peer-to-peer network  600  of the present invention. The configuration of the peer-to-peer network  600  is given herein by way of example and is not limiting as one skilled in the art can readily modify the configuration while maintaining the intention of the network  600 . Due to the peer-to-peer network  600  configuration, multiple vehicles  100  and UI apparati  500  need not be run on different frequencies. The IEEE 802.11 protocol provides multiple hardware addresses for a plurality of devices, or vehicles  100 . A property of the network  600  is the ability to support multiple devices. Therefore, it is possible under the present invention to overcome limitations in the prior art regarding the number of radio frequencies available for use.  
         [0052]    In one embodiment, both audio/video signals and control signals may transmitted over the wireless transmission medium using the 802.11 protocol or Bluetooth or another appropriate transmission protocol. However, in alternative embodiments, the control signals may be transmitted with one protocol or transmission type and the audio and video signals with another. Alternatively, vehicle control data may be embedded on a monaural channel of a video signal (i.e., in between the upper and lower channels). This signal then may be transmitted as the control signals of the vehicle  100 . Control signals may also be transmitted from the vehicle  100  in addition to the audio and visual data transmitted by the video camera module  102 . Such signals may be used to generate a display to be shown on the video display  510 , including in one embodiment a heads up display, for the user. Thus, gauges or other displays may show speed, fuel, oil pressure, temperature, etc.  
         [0053]    Referring now to FIG. 7, shown therein is a method  700  of controlling a vehicle over a network  600 . The method  700  starts  702 as the vehicle  100  is provided  704 . Under one embodiment of the present invention, the vehicle  100  is a gas powered vehicle  100 . Alternatively, the vehicle  100  may be powered by electricity or liquid propane fuel or otherwise powered. The peer-to-peer network  600  is then provided  706 . In one embodiment the peer-to-peer network  600  is provided  706  with the vehicle  100  and the UI apparatus  500 .  
         [0054]    Vehicle control data  300  is then generated by a user and transmitted  708  over the peer-to-peer network  600 . The vehicle control data  300  may be transmitted  708  wirelessly and also possibly through standard network data channels. The vehicle  100  receives the vehicle control data  300  and the vehicle  100  is controlled  710  in response to the vehicle control data  300 . Upon request, or at scheduled intervals the vehicle  100  transmits feedback data  312 , and the UI apparatus  500  receives  712  the feedback data over the peer-to-peer network  600 . The feedback data or portions of it may then e displayed for a user. The method  700  continues until the user terminates  714 .  
         [0055]    The present invention may be embodied in other specific forms without departing from its spirit or essential characteristics. The described embodiments are to be considered in all respects only as illustrative and not restrictive. The scope of the invention is, therefore, indicated by the appended claims rather than by the foregoing description. All changes which come within the meaning and range of equivalency of the claims are to be embraced within their scope.