Abstract:
There is provided an autonomous navigation system for use in conjunction with a ride vehicle. The autonomous navigation system includes an on-board sensor system for generating on-board sensor data of a surrounding of the ride vehicle. According to this embodiment, the autonomous navigation system further includes a receiver module for receiving off-board sensor data of the surrounding of the ride vehicle. For example, the off-board sensor data can be generated from an off-board sensor system, which includes a plurality of off-board sensors. The autonomous navigation system includes a sensor data fusion module for performing a data fusion process on the on-board sensor data and the off-board sensor data to generate fused sensor data. The autonomous navigation system further includes a navigation module for determining a course of the ride vehicle based on the fused sensor data.

Description:
RELATED APPLICATIONS 
       [0001]    The present application is based on and claims priority to U.S. Provisional Application Ser. No. 60/900,275, filed Feb. 7, 2007, which is hereby incorporated by reference in its entirety. 
     
    
     BACKGROUND OF THE INVENTION 
       [0002]    1. Field of the Invention 
         [0003]    The present invention relates generally to vehicle autonomy. More particularly, the present invention relates to autonomous vehicles using sensor fusion technology to provide safer rides. 
         [0004]    2. Background Art 
         [0005]    Amusement and theme park operators continuously strive to provide their patrons with more unique, adventurous and safer rides. Today, ride vehicles that operate through theme parks follow the same path for each ride, and their operation is pre-programmed, which make the ride vehicles less attractive to the patrons. For example, some theme park vehicles run on track rails. In other examples theme park vehicles may be controlled by overhead wires. In all such situations, the paths of the ride vehicles within the park are pre-defined and cannot be altered. Moreover, such pre-defined paths of the ride vehicles can limit the types of environments or areas in which the ride vehicles can be used. For example, ride vehicles operating on tracks will undoubtedly require areas suitable for track installation, where such areas may not be available in the theme park. In other cases, the implementation of a predefined path through various areas in the theme park may not be practical due to heavy pedestrian traffic, for example. 
         [0006]    An attractive alternative to such ride vehicles having pre-defined paths involves ride vehicles that are able to autonomously navigate through the theme park. However, autonomous navigation has not been extended to ride vehicles in theme parks mainly for the reason that sensing and control for the ride vehicles are performed at a single point, which is the ride vehicle itself. In other words, today&#39;s ride vehicles are not able to navigate autonomously in the theme park, due in large part to safety concerns for the riders and other pedestrians. For example, a ride vehicle can be equipped with various sensors that are configured to detect the surrounding environment of the ride vehicle as it travels. As such, safe autonomous navigation of the ride vehicle would essentially be dependent on the proper functionality of the sensors, since the ride vehicle would be completely dependent on the sensors for the detection of obstacles and more importantly, detection of other pedestrians that might be in the ride vehicle&#39;s path. Consequently, a minor failure at the ride vehicle could cause a disastrous event, which can be extremely costly for theme park operators. 
         [0007]    Therefore, there is a strong need in the art for autonomous ride vehicles in theme parks, which can provide unique experiences for the riders from one ride to the next, while providing safety for the riders and other patrons. 
       SUMMARY OF THE INVENTION 
       [0008]    There is provided systems and methods for autonomous navigation in a ride vehicle, substantially as shown in and/or described in connection with at least one of the figures, as set forth more completely in the claims. 
     
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         [0009]    The features and advantages of the present invention will become more readily apparent to those ordinarily skilled in the art after reviewing the following detailed description and accompanying drawings, wherein: 
           [0010]      FIG. 1  illustrates a block diagram of an autonomous navigation system for use in a ride vehicle, in accordance with one embodiment of the present invention; 
           [0011]      FIG. 2  illustrates a block diagram of an autonomous navigation system for use in a ride vehicle, in accordance with one embodiment of the present invention; 
           [0012]      FIG. 3  illustrates an example of a surrounding environment of a ride vehicle, in accordance with one embodiment of the present invention; and 
           [0013]      FIG. 4  illustrates a flow diagram of a method for use by a ride vehicle for enabling autonomous navigation, in accordance with one embodiment of the invention. 
       
    
    
     DETAILED DESCRIPTION OF THE INVENTION 
       [0014]    Although the invention is described with respect to specific embodiments, the principles of the invention, as defined by the claims appended herein, can obviously be applied beyond the specifically described embodiments of the invention described herein. Moreover, in the description of the present invention, certain details have been left out in order to not obscure the inventive aspects of the invention. The details left out are within the knowledge of a person of ordinary skill in the art. 
         [0015]    The drawings in the present application and their accompanying detailed description are directed to merely example embodiments of the invention. To maintain brevity, other embodiments of the invention which use the principles of the present invention are not specifically described in the present application and are not specifically illustrated by the present drawings. It should be borne in mind that, unless noted otherwise, like or corresponding elements among the figures may be indicated by like or corresponding reference numerals. 
         [0016]      FIG. 1  illustrates a block diagram of autonomous navigation system  100  for use in a ride vehicle, in accordance with one embodiment of the present invention. As shown in  FIG. 1 , autonomous navigation system  100  includes off-board sensor system  130 , on-board sensor system  104 , sensor data receiver module  112 , sensor data fusion module  116 , navigation module  120 , and ride vehicle control module  124 . In the embodiment of the invention shown in  FIG. 1 , on-board sensor system  104 , sensor data receiver module  112 , sensor data fusion module  116 , navigation module  120 , and ride vehicle control module  124  are situated in ride vehicle  102 . For example, ride vehicle  102  can be a motor vehicle capable of holding one or more passengers as part of an amusement or theme park ride or as part of a tour ride through a theme park. 
         [0017]    As shown in  FIG. 1 , on-board sensor system  104  includes on-board sensor controller  110  and on-board sensors  106   a ,  106   b , and  106   c . As also shown in  FIG. 1 , on-board sensors  106   a ,  106   b , and  106   c  are coupled to on-board sensor controller  110  via data paths  108   a ,  108   b , and  108   c , respectively. For example, data paths  108   a ,  108   b , and  108   c  can each be a wireless communication link established using radio frequency signals or can each be a physical connection, such as a physical communication bus. In other embodiments, on-board sensor system  104  can include additional on-board sensors coupled to on-board sensor controller  110 . Thus, in the embodiment of the invention shown in  FIG. 1 , on-board sensors  106   a  and  106   b  represent the first and second on-board sensors in on-board sensor system  104 , respectively, while on-board sensor  106   c  represents the nth on-board sensor. On-board sensors  106   a ,  106   b , and  106   c  can each be, for example, a camera, a laser range finder sensor, or a sound range finder sensor. 
         [0018]    As also shown in  FIG. 1 , on-board sensor system  104  is included in ride vehicle  102 . The on-board sensors of the invention, such as on-board sensors  106   a ,  106   b , and  106   c , can be situated at various locations on ride vehicle  102  to enable detection of the surrounding environment of ride vehicle  102 . For example, if on-board sensors  106   a ,  106   b , and  106   c  are laser range finding sensors, they can be situated on the external surfaces of ride vehicle  102  and can be oriented in various directions to accurately detect the surrounding environment of ride vehicle  102 . Thus, on-board sensors  106   a ,  106   b , and  106   c  can be used to generate on-board sensor data containing information about the surrounding environment of ride vehicle  102 . For example, the on-board sensor data can contain information, which can be used to accurately map out the surrounding environment of the ride vehicle in real time and more importantly, detect particular objects, which may obstruct the path of ride vehicle  102 . As shown in  FIG. 1 , the on-board sensor data can be communicated from on-board sensors  106   a ,  106   b , and  106   c  to on-board sensor controller  110  via respective data paths  108   a ,  108   b , and  108   c.    
         [0019]    As shown in  FIG. 1 , off-board sensor system  130  includes off-board sensor controller  136  and off-board sensors  132   a ,  132   b , and  132   c . Off-board sensors  132   a ,  132   b , and  132   c  are coupled to off-board sensor controller  136  via respective data paths  134   a ,  134   b , and  134   c . In other embodiments, off-board sensor system  130  can include additional off-board sensors coupled to off-board sensor controller  136 . Thus, in the embodiment of the invention shown in  FIG. 1 , off-board sensors  132   a  and  132   b  represent the first and second off-board sensors in off-board sensor system  130 , respectively, while off-board sensor  132   c  represents the nth off-board sensor. Off-board sensors  132   a ,  132   b , and  132   c  can each be, for example, a camera, a laser range finder sensor, or a sound range finder sensor. 
         [0020]    Off-board sensor system  130  is situated apart from ride vehicle  102  and is in communication with ride vehicle  102  via datapath  128 . For example, datapath  128  can be a wireless communication link established using radio frequency signals. The off-board sensors of the invention, such as off-board sensors  132   a ,  132   b , and  132   c , can be situated at locations, which enable detection of the surrounding environment of ride vehicle  102 . For example, off-board sensors  132   a ,  132   b , and  132   c  can be cameras situated above areas over which ride vehicle  102  might pass. Accordingly, off-board sensors  132   a ,  132   b , and  132   c  can be used to generate off-board sensor data containing information about the surrounding environment of ride vehicle  102 . For example, the off-board sensor data can contain information, which can be used to accurately map out the surrounding environment of the ride vehicle in real time and more importantly, detect particular objects that may obstruct the path of ride vehicle  102 . As shown in  FIG. 1 , the off-board sensor data can be communicated from off-board sensors  132   a ,  132   b , and  132   c  to off-board sensor controller  136  via respective data paths  134   a ,  134   b , and  134   c.    
         [0021]    Sensor data receiver module  112  in ride vehicle  102  can be configured to receive off-board sensor data from off-board sensor controller  136  in off-board sensor system  130  via data path  128  discussed above. As also shown in  FIG. 1 , sensor data receiver module  112  can also be configured to receive on-board sensor data from on-board sensor controller  110  in on-board sensor system  104  via data path  126 . Data path  126  can be, for example, a physical connection such as a bus. For example, sensor data receiver module  112  can include an RF transceiver and one or more suitable memory devices for storing sensor data. 
         [0022]    Sensor data fusion module  116  shown in  FIG. 1  can be configured to receive the off-board sensor data and the on-board sensor data received in sensor data receiver module  112  via data path  114 . Sensor data fusion module  116  can be further configured to perform a data fusion process on the off-board and on-board sensor data. The data fusion process can utilize various sensor fusion algorithms that are known in the art, such as a Kalman filter, to generate fused sensor data. Thus, the fused sensor data generated by sensor data fusion module  116  can be much more robust than either the off-board sensor data or the on-board sensor data taken alone. 
         [0023]    As shown in  FIG. 1 , navigation module  120  can be configured to receive the fused sensor data from sensor data fusion module  116  to determine a course of ride vehicle  102  based on the fused sensor data. Navigation module  120 , for example, can be configured to use the fused sensor data to generate a real-time map of the surrounding environment of ride vehicle  102  by implementing algorithms and mapping techniques that are known in the art. Moreover, one or more destinations of ride vehicle  102  can be programmed into navigation module  120 , such that navigation module  120  is allowed to determine various courses, i.e., routes, to the one or more destinations. It is important to note that as ride vehicle  102  travels to a destination, navigation module  120  can be configured to constantly receive fused sensor data to detect obstacles that might be found in the surrounding environment of ride vehicle  102  and to adjust the course of ride vehicle  102  when necessary to avoid such obstacles, thereby ensuring the safety of the passengers in ride vehicle  102  as it travels. 
         [0024]    As also shown in  FIG. 1 , ride vehicle control module  124  in ride vehicle  102  is in communication with navigation module  120  via data path  122 . Ride vehicle control module  124  can be configured to receive control instructions from navigation module  120 , which can be used by ride vehicle control module  124  to properly steer ride vehicle  102 . Ride vehicle control module  124  can be further configured to adjust the speed of ride vehicle  102  and to enable ride vehicle  102  to travel in reverse, as required by the control instructions received from navigation module  120 . 
         [0025]      FIG. 2  illustrates a block diagram of autonomous navigation system  200  for use in a ride vehicle in accordance with one embodiment of the present invention. As shown in  FIG. 2 , autonomous navigation system  200  includes off-board sensor system  230 , on-board sensor system  204 , sensor data receiver module  212 , sensor data fusion module  216 , navigation module  220 , and ride vehicle control module  224 . In the embodiment of the invention shown in  FIG. 2 , on-board sensor system  204  and ride vehicle control module are situated in ride vehicle  202 . As shown in  FIG. 2 , off-board sensor system includes off-board sensors  232   a ,  232   b , and  232   c  coupled to off-board sensor controller  236  via respective data paths  234   a ,  234   b , and  234   c . As also shown in  FIG. 2 , on-board sensor system  204  includes on-board sensors  206   a ,  206   b , and  206   c  coupled to on-board sensor controller  210  via respective data paths  208   a ,  208   b , and  208   c . In particular, ride vehicle  202 , off-board sensors  232   a ,  232   b , and  232   c , off-board sensor controller  236 , sensor data receiver module  212 , sensor data fusion module  216 , navigation module  220 , ride vehicle control module  224 , on-board sensors  206   a ,  206   b , and  206   c , and on-board sensor controller  210  in  FIG. 2  correspond to ride vehicle  102 , off-board sensors  132   a ,  132   b , and  132   c , off-board sensor controller  136 , sensor data receiver module  112 , sensor data fusion module  116 , navigation module  120 , ride vehicle control module  124 , on-board sensors  106   a ,  106   b , and  106   c , and on-board sensor controller  110  in  FIG. 1 , respectively. 
         [0026]    In the embodiment of the invention shown in  FIG. 2 , off-board sensor system  230 , sensor data receiver module  212 , sensor data fusion module  216 , and navigation module  220  are situated apart from ride vehicle  202 . As shown in  FIG. 2 , on-board sensor system  204  is in communication with sensor data receiver module  212  via data path  226 . For example, datapath  226  can be a wireless communication link established using radio frequency signals. As also shown in  FIG. 2 , sensor data receiver module  212  is in communication with off-board sensor system  230  via data path  228 . For example, datapath  228  can be a physical connection, such as a bus. As further shown in  FIG. 2 , sensor data receiver module  212  is in communication with sensor data fusion module  216  via data path  214 , which is in further communication with navigation module  220  via data path  218 . Navigation module  220  is in communication with ride vehicle control module  224  via data path  222 . For example, data path  222  can be a wireless communication link established using radio frequency signals. 
         [0027]    In system  200 , on-board sensor system  204  can be configured to transmit on-board sensor data from on-board sensor controller  210  to sensor data receiver module  212  via data path  226 . Sensor data receiver module  212  can also be configured to receive off-board sensor data from off-board sensor controller  236  in off-board sensor system  230  via data path  228 . Sensor data fusion module  216  shown in  FIG. 2  can be configured to receive the off-board sensor data and the on-board sensor data via data path  214  and can be further configured to perform a data fusion process on the off-board and on-board sensor data to generate fused sensor data as discussed above. Navigation module  220  can be configured to receive the fused sensor data from sensor data fusion module  216  via data path  218  and can be configured to determine a course of ride vehicle  202  based on the fused sensor data as described above. 
         [0028]    Navigation module  220  can be configured to transmit control instructions to ride vehicle control module  224  via data path  222 , which can be used by ride vehicle control module  224  to properly steer ride vehicle  202 . Ride vehicle control module  224  can be further configured to adjust the speed of ride vehicle  202  and to enable ride vehicle  202  to travel in reverse, as required by the control instructions received from navigation module  220 . 
         [0029]      FIG. 3  illustrates surrounding  300 , which represents an example surrounding environment of ride vehicle  302 . As shown in  FIG. 3 , surrounding  300  can include static objects, such as lake  338  and the various trees shown in  FIG. 3 , and dynamic objects, such as pedestrians  350  and  352 . In particular, ride vehicle  302  in  FIG. 3  corresponds to ride vehicle  102  in  FIG. 1 . As discussed above, ride vehicle  302  can include on-board sensor system  104 , sensor data receiver module  112 , sensor data fusion module  116 , navigation module  120 , and ride vehicle control module  124  shown in  FIG. 1 . As shown in  FIG. 3 , cameras  332   a ,  332   b , and  332   c  can be situated at various locations in surrounding  300  to properly detect surrounding  300 , i.e., the abovementioned static and dynamic objects included in surrounding  300 . Cameras  332   a ,  332   b , and  332   c  in  FIG. 3  correspond to off-board sensors  132   a ,  132   b , and  132   c  shown in  FIG. 1 . 
         [0030]    As ride vehicle  302  navigates along path  340 , for example, sensor data receiver module  112  (not shown in  FIG. 3 ) in ride vehicle  302  can continuously receive off-board sensor data of surrounding  300  from cameras  332   a ,  332   b , and  332   c  via wireless communication link  328  established with off-board sensor controller  336 . In addition, sensor data receiver module  112  in ride vehicle  302  can also continuously receive on-board sensor data of surrounding  300  from on-board sensor system  104  as discussed above. As such, the autonomous navigation system of the present invention can immediately detect any changes in surrounding  300  to appropriately adjust the course of ride vehicle  302 . 
         [0031]    For example, as the autonomous navigation system of the present invention navigates ride vehicle  302  along path  340 , any changes in location of pedestrians  350  and  352  can be immediately detected by the on-board and off-board sensor systems. Thus, if pedestrians move into the path of ride vehicle  302 , the navigation system of the present invention can adjust the course of ride vehicle  302  by navigating ride vehicle  302  along course  342  or  344 , thereby safely navigating ride vehicle around pedestrians  350  and  352 . Moreover, if an alternative course is not available or possible, the navigation system of the present invention can immediately stop ride vehicle  302  to prevent a collision. 
         [0032]      FIG. 4  illustrates a flow diagram of a method for use by a ride vehicle for enabling autonomous navigation in accordance with one embodiment of the invention. With reference to the embodiment of the invention shown in  FIG. 1  and as shown in  FIG. 4 , at step  402  of flowchart  400 , off-board sensor data is obtained from off-board sensors  134   a ,  134   b , and  134   c  and transmitted to sensor data receiver module  112 . At step  404 , on-board sensor data is obtained from on-board sensors  106   a ,  106   b , and  106   c  and provided to sensor data receiver module  112 . At step  406 , the off-board and on-board sensor data are received by ride vehicle  102  in sensor data receiver module  112 . 
         [0033]    Thereafter, at step  408 , the off-board and on-board sensor data are provided to sensor data fusion module  116  in ride vehicle  102 . At step  410 , a sensor fusion process is performed on the off-board and on-board sensor data by sensor data fusion module  116  to generate fused sensor data. At step  412  of flowchart  400 , a course of ride vehicle  102  is determined by navigation module  120  based on the fused sensor data and ride vehicle control instructions are generated. At step  414 , the ride vehicle control instructions are provided to ride vehicle control module  124 . Thereafter, at step  416 , ride vehicle  102  is navigated along the course determined by navigation module  120 . 
         [0034]    Therefore, the invention enables autonomous navigation of a ride vehicle by implementing multiple independent sensor systems, i.e., on-board sensor system  104  and off-board sensor system  130 , to detect a surrounding environment of the ride vehicle. Accordingly, the present invention advantageously utilizes highly robust fused sensor data to autonomously navigate the ride vehicle safely through a theme park. More importantly, since the present invention uses sensor data from multiple independent sensor systems, no single point of failure exists in detecting the surrounding environment of the ride vehicle, thereby substantially increasing the safety of passengers in the ride vehicle as well as the safety of pedestrians in the theme park. Thus, by enabling autonomous navigation of a ride vehicle through a theme park, the present invention can provide passengers of the ride vehicle with a different and unique experience with each ride. Moreover, since the present invention allows a ride vehicle to navigate safely through a theme park without requiring any tracks or rails, the present invention increases flexibility of ride vehicle operation environments in theme parks. 
         [0035]    From the above description of the invention it is manifest that various techniques can be used for implementing the concepts of the present invention without departing from its scope. Moreover, while the invention has been described with specific reference to certain embodiments, a person of ordinary skill in the art would recognize that changes can be made in form and detail without departing from the spirit and the scope of the invention. For example, it is contemplated that the circuitry disclosed herein can be implemented in software, or vice versa. The described embodiments are to be considered in all respects as illustrative and not restrictive. It should also be understood that the invention is not limited to the particular embodiments described herein, but is capable of many rearrangements, modifications, and substitutions without departing from the scope of the invention.