Patent Description:
Amusement parks or similar entertainment facilities may move people and goods in a variety of ways within a park environment that is closed to outside vehicle traffic. However, vehicle transportation within a park is complex. Pedestrian paths are often closed to motor vehicles. Park shuttles may operate on set paths within the park, but these may require guests to wait for the next shuttle. Further, guests often have overnight accommodations that are outside of park boundaries, which discourages back- and-forth trips to drop off unneeded items.

<CIT> presents features of autonomous vehicle based transport systems wherein the transport system is configured to process ride requests for multiple passengers. Each ride request is associated with a respective pickup location and a respective destination location. The system calculates a respective passenger transportation route for each actively operating autonomous vehicle, wherein each passenger transportation route is based at least in part on the pickup locations and destination locations associated with the ride requests.

The present invention is directed to a device according to the independent claims. Subsidiary aspects of the invention are provided in the dependent claims.

In accordance with an embodiment, an amusement park transportation system is provided that includes an autonomous vehicle configured to accommodate one or more guests, and a controller configured to communicate with the autonomous vehicle. The controller comprises a memory storing instructions and a processor configured to execute the instructions. The instructions are configured to cause the controller to access a reservation or a return time of a guest for an attraction in an amusement park, determine or access a location of the guest within a predetermined time window preceding the reservation or the return time, and provide instructions to the autonomous vehicle to go to the location. The instructions are configured to cause the controller to provide an alert to a guest device related to the autonomous vehicle, receive an indication from the autonomous vehicle that the guest is on or in the autonomous vehicle, and provide instructions to the autonomous vehicle to travel to the attraction with the guest after receiving the indication.

To determine the location of the guest, the controller may be configured to pull GPS information from a GPS chip of the guest device. The alert provided to the guest device may include a suggested pickup location. If the determined or accessed location of the guest is within a distance threshold of the attraction, then the controller may be configured to not provide the instructions to the autonomous vehicle to go to the location. The autonomous vehicle may be selected from a fleet of autonomous vehicles within the amusement park. The controller may be configured to select the autonomous vehicle as the autonomous vehicle of the fleet of autonomous vehicles that is the closest available autonomous vehicle to the guest. The autonomous vehicle may additionally serve as a ride vehicle of the attraction. The autonomous vehicle may be configured to travel to the attraction along a predetermined or partially predetermined path from a pickup point to a delivery point. The autonomous vehicle may be a deployable or dockable towing element.

In accordance with another embodiment, a method of controlling an autonomous vehicle in an amusement park is provided. The method comprises accessing a reservation or a return time of a guest for an attraction in the amusement park, determining or accessing a location of the guest within a predetermined time window preceding the reservation or the return time, and causing the autonomous vehicle to go to the location. The method comprises receiving an indication from the autonomous vehicle that the guest is on or in the autonomous vehicle, providing instructions to the autonomous vehicle to travel to the attraction with the guest after receiving the indication.

Further, to the extent that certain terms such as parallel, perpendicular, and so forth are used herein, it should be understood that these terms allow for certain deviations from a strict mathematical definition, for example to allow for deviations associated with manufacturing imperfections and associated tolerances.

Provided herein is an autonomous vehicle transportation system whereby guests at numerous locations distributed across a resort or area are permitted access to transportation system boarding points, the boarding points having interactive devices functionally similar to elevator call buttons providing input(s) to a control system that dispatches an autonomous vehicle to the boarding points where the guests are picked up. Individual autonomous vehicles may also be implemented with input devices on board that allow guests to select a destination and be taken there in two/three dimensional elevator model. Requests may be from call buttons or a device in a fixed location or via a personal or distributed mobile device. Accordingly, as provided herein, autonomous vehicles may be used to transport guests within an area such as an amusement park that is generally closed to outside vehicle traffic. In contrast to autonomous or semi- autonomous vehicles that travel on roads open to the general public, transportation within a closed area such as a theme park may operate according to different considerations. In particular, such closed areas are generally limited in size and relatively well mapped, which may permit less complex processing and navigation capabilities resident on the autonomous vehicle. Further, such vehicles may operate according to a mix of predetermined rules-based action, e.g., based on a desired amusement narrative and path, and user-driven actions, which may permit destination selection and/or input to the path travelled by the autonomous vehicle.

In another embodiment, according to the disclosed techniques, autonomous vehicles are configured to travel directly to the user location in a passive or active manner. In one example, when a guest has a reservation or return time, the guest location is tracked as they engage in other entertainment opportunities. The autonomous vehicle arrives at the guest location in advance (e.g., within a predetermined time window before the guest's turn to ride the ride comes up), whether or not the guest has requested vehicle transportation. In one embodiment, these autonomous vehicles may be themed ride vehicles that are themed to match the ride for which the guest has the reservation or return time. In this manner, the guest may easily distinguish an assigned autonomous vehicle from other autonomous vehicles. The system may provide alerts or messages to the user reminding them that an autonomous vehicle is en route to their current location or en route to one or more fixed pickup locations designated for autonomous vehicle pickup. Further, themed ride vehicles may be distributed throughout the park and may be programmed, once boarded, to only go to a ride or land area associated with the theme of the vehicle. By way of example, when a guest sees a farm animal-themed vehicle, the guest may board any such vehicle to be transported to a petting zoo area of the amusement park without providing any user input or instructions.

The present techniques provide an autonomous vehicle that may travel along a predetermined or partially predetermined path from pickup point to delivery point and that may interact with sets, scenery, and mechanized equipment according to a guest experience delivery plan or a stored guest profile. The interaction may include dynamic interaction with show systems mounted on similar autonomous transport material handling devices. The autonomous vehicle transportation system may be instructed to encounter show or interactive equipment that may also be autonomously driven.

In other embodiments, the autonomous vehicle transportation system may also be configured to operate as a three- dimensional dumb waiter (delivers merchandise to guest rooms, for example) or a traveling locker that arrives to collect (and later re-deliver) personal belongings to guests e.g., based on a request from a mobile device or call station.

In other embodiments, the autonomous vehicle transportation system may also be configured to operate individual autonomous vehicles as a universal ride vehicle that is capable of transporting guests between rides and also serving as the ride vehicle itself, such that guests need not load or unload from the vehicle between rides. The autonomous vehicle may advantageously support passengers when configured as a ride and/or guest transportation vehicle. In certain embodiments, the autonomous vehicle may be additionally or alternatively be a deployable and/or dockable towing element, the latter being advantageous, for example, when the passenger compartment must be subject to significant track mounted motion base loads that the towing unit need not be subject to.

In other embodiments, the autonomous vehicle transportation system may be configured as a distributed station system that facilitates guest loading and unloading for an amusement ride. Such an embodiment may be implemented with autonomous ride vehicles that are at least partially untethered from the ride environment at the loading/unloading stage, whereby the autonomous ride vehicles may roam the loading area and/or a wider park area to seek guests until each vehicle is at capacity. In another embodiment, the autonomous ride vehicles are stationed at one or more loading areas separated from the ride itself. Once loaded to capacity, each autonomous ride vehicle may enter the ride path, such that each vehicle within the ride is loaded in a more efficient manner in contrast to a first-in/first-out traditional loading system. Further, such an embodiment may be implemented in a variety of spaces and areas, providing flexibility in ride design to permit relatively smaller ride footprints and lower ride infrastructure costs.

In other embodiments the autonomous vehicle transportation system may be configured to automatically configure and remove props for special events and shows. For example, the autonomous vehicle may be recruited for assembling a temporary stage and then striking same for a street show. Each autonomous and independent vehicle allows for dynamic reconfiguration such that failed show equipment or failed ride vehicles can be navigated around, including the movement of show equipment out of the way. Ride vehicle intelligence may reside on the ride vehicle, and not necessarily on a master controller. The autonomous vehicle may be able to make intelligent decisions on its own based on onboard sensors. However, in certain embodiments, ride vehicle instructions may be provided from a central controller.

To that end, the features of an autonomous transportation system as provided herein may be used in conjunction with the disclosed embodiments. <FIG> is a schematic view of an amusement park <NUM> in which a guest <NUM> is capable of interacting with an autonomous vehicle transportation system <NUM>, e.g., via interacting with a guest device <NUM>, e.g., a mobile device or an active wearable device (bracelet, watch, etc.). The amusement park <NUM> includes a number of destinations or attractions <NUM> (shown as 22a-i). If the guest <NUM> is interested in transportation to a particular attraction <NUM>, the guest <NUM> may request transportation e.g., via a request entered on the guest device interface. In certain embodiments, the guest device <NUM> may include an application or specialty software package for interaction with a controller <NUM>. The application is stored on the guest device <NUM> and is configured to receive information from the controller <NUM> to provide to the guest <NUM>. In addition, the application is configured to provide user inputs and other information (e.g., GPS data) to controller <NUM> as appropriate.

The controller <NUM> is in communication with one or more autonomous vehicles <NUM> (e.g., as part of an autonomous vehicle fleet) that are distributed throughout the amusement park <NUM> and that are capable of traveling along paths <NUM> within the amusement park <NUM>. Based on user input or a user schedule and a guest location, the controller <NUM> may instruct an individual vehicle <NUM> to go to the user location and pick up the user. The autonomous vehicle transportation system <NUM> may also include vehicle call stations <NUM>, e.g., with call buttons <NUM> or other user input devices.

<FIG> is a block diagram of certain components of the autonomous vehicle transportation system <NUM>. It should be understood that the illustrated components may have additional software or hardware elements. Further, the functionality of various disclosed hardware or software elements may be duplicated and/or exchanged in the illustrated components.

The system <NUM> may be configured to operate at least in part via instructions from the controller <NUM>, which may include a memory <NUM> for storing instructions executable by a processor <NUM> to perform the methods and control actions described herein. The processor <NUM> may include one or more processing devices, and the memory <NUM> may include one or more tangible, non-transitory, machine-readable media. By way of example, such machine-readable media can include RAM, ROM, EPROM, EEPROM, CD-ROM, or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to carry or store desired program code in the form of machine-executable instructions or data structures and which can be accessed by the processor <NUM> or by a special purpose or programmed computer or other machine with a processor. In addition, the controller <NUM> may be configured to include communication circuitry <NUM>, e.g., a transceiver or other communications devices to communicate over wired and wireless communication paths with one or more other components of the system <NUM>.

In one embodiment, communication between the controller <NUM> and the guest device <NUM> occurs at least in part via a wireless network. While these components are discussed in the context of the system <NUM>, it should be understood that the guest device <NUM> may also include similar features, such as a processor <NUM>, display <NUM>, user input <NUM>, memory <NUM>, and wireless communication circuitry <NUM>. In one embodiment, the guest device <NUM> interacts with the system via operation of application stored on the guest mobile device <NUM> and in communication with the system <NUM> that may include a navigation or guidance feature that allows a user to select an attraction <NUM> and summon or request autonomous vehicle transport. Further, the guest device <NUM> may be configured to provide user location information (e.g., GPS information accessed from a GPS chip of the guest device <NUM> or user location determined by cellular base station communication). The user location information <NUM> may include tracked location information as the user moves throughout the amusement park. In certain embodiments, the autonomous vehicle transportation system <NUM> is configured to request periodic location updates (e.g., every <NUM> seconds). In some embodiments, the guest device <NUM> may automatically provide the user location information. In one embodiment, the guest location information may be determined based on multiple location data sources. For example, GPS information may provide a rough estimate of guest location, while finer location information may be estimated from one or more of LIDAR or facial recognition via image sensors within the park <NUM>.

As discussed, the autonomous vehicle transportation system <NUM> may include one or more autonomous vehicles <NUM> that includes a motor <NUM> and a power source <NUM>, e.g., a battery, a solar panel, an electrical generator, a gas engine, or any combination thereof. The operations of the motor <NUM> may be controlled by a vehicle controller <NUM> including a memory <NUM> and a processor <NUM> and configured to operate any on-board logic to control vehicle paths or progress. For example, the vehicle may respond to local environmental input via one or more on-board sensors <NUM>. The vehicle controller <NUM> may control the motor <NUM> to adjust its output power to accelerate or decelerate the vehicle <NUM>. The vehicle controller <NUM> may also control a brake to decelerate or stop the vehicle <NUM>. Further, the vehicle controller <NUM> may operate under instructions from the rider via a user input interface or user input <NUM> or from the controller <NUM>, via communications circuitry <NUM>. In certain embodiments, the autonomous vehicle <NUM> may be an autonomous mobile robot that is configured with a customized or interchangeable top module. Accordingly, the top module may be exchanged depending on the implementation of the autonomous vehicle <NUM>. For example, when the autonomous vehicle <NUM> is provided as a personal locker or roaming dumb waiter, the top module may include one or more lockers keyed to a guest identification signal. The autonomous vehicle <NUM> may store image and/or navigation files of the amusement park <NUM> in the memory <NUM> such that navigation may be executed using the processor <NUM> of the vehicle controller <NUM> to execute on-board logic. The sensors <NUM> may include one or more cameras, laser scanners, and/or ultrasonic scanners that provide inputs to the vehicle controller <NUM> to execute turns or navigation instructions to avoid obstacles. Further, the sensors <NUM> may include one or more readers configured to receive biometric input (e.g., a fingerprint, facial image) or a wireless signal from the guest device <NUM> to confirm the presence of a guest <NUM> and/or to provide guest verification data. In certain embodiments, the autonomous vehicle <NUM> may receive a guest identification code or guest identification information that may in turn be passed to the controller <NUM> to verify that the guest on-board the autonomous vehicle <NUM> is the correct guest. Upon verification, the controller <NUM> may send an authorization/verification signal that permits the autonomous vehicle <NUM> to continue on a route.

In addition, the autonomous vehicle transportation system <NUM> may include one or more call stations <NUM> that may facilitate user input via a call button or other user input device <NUM> that, in turn, is communicated to the controller <NUM> via communications circuitry <NUM> to call a vehicle <NUM> to the fixed location of the call station <NUM>.

<FIG> is a flow diagram illustrating an embodiment of a method <NUM> of an autonomous vehicle guest transportation technique. In the illustrated embodiment, the method <NUM> accesses a guest reservation or return time for a particular attraction <NUM> (see <FIG>) at block <NUM>. The reservation or return time may be stored in the controller (e.g., controller <NUM>, see <FIG>), which in turn is in communication with various components of the autonomous vehicle transportation system <NUM> (see <FIG>). When the reservation or return time is within a particular time window (e.g., <NUM> minutes from the return time, <NUM> minutes from the return time), the guest location is determined or accessed at block <NUM>. In one embodiment, if the guest is using a guest device <NUM> (see <FIG>) to interact with the system <NUM>, GPS information is pulled from a GPS chip of the guest device <NUM>. However, in certain embodiments, the GPS information provides a rough estimate of guest location, and other techniques are used in addition to GPS to more accurately pinpoint the guest location, such as wireless beacon triangulation with the guest device <NUM>, facial recognition date from the park, light detection and ranging (LIDAR), etc. Upon guest location determination, an autonomous vehicle is dispatched to the guest location at block <NUM>. Because guests may be on the move, an indication may be send from the controller <NUM> to the guest device <NUM> to alert the guest that transportation is en route and to suggest a pickup location. In one embodiment, the autonomous vehicle is dispatched automatically in a passive manner based on an existing reservation or return time for an attraction and based on guest location, such that the guest need not arrange for transportation. However, if the guest is determined to be within a distance threshold of the attraction <NUM> determined to be relatively close to the attraction (e.g., within <NUM> metres (<NUM> feet) or less), the controller <NUM> may not dispatch the autonomous vehicle. Further, the guest may receive the alert and decline the offer of transportation. The controller <NUM> may be in communication with a fleet of autonomous vehicle within the park and may dispatch the closest available vehicle. In another embodiment, the controller <NUM> selects an autonomous vehicle to travel to the guest for transport that is thematically matched to the attraction <NUM> in question such that the guest is able to easily spot the autonomous vehicle.

After the guest has boarded the autonomous vehicle (block <NUM>), the system <NUM> receives an indication that the guest is in or on the autonomous vehicle. The indication may be via an on-board sensor of the autonomous vehicle (pressure/weight sensor, camera, optical sensor) or via a communication between a guest device <NUM> of the guest and wireless communication circuitry of the autonomous vehicle, e.g., via an NFC communication that sends guest identification information to the controller <NUM> to perform a guest verification. Once the guest is confirmed to be boarded, the system <NUM> instructs the autonomous vehicle to travel to the attraction <NUM> at block <NUM>. In certain embodiments, the system <NUM> may update the existing reservation or return time based on the autonomous vehicle's progress towards the attraction <NUM>. If the autonomous vehicle is delayed, the existing reservation or return time is updated to reflect a later estimated arrival of the guest.

<FIG> is a flow diagram illustrating an embodiment of a method <NUM> of an autonomous vehicle attraction loading technique, e.g., for an amusement park ride. A fleet of autonomous vehicles is distributed throughout an area (block <NUM>), such as throughout an amusement park or throughout a dispatch area of an attraction. The autonomous vehicles collect guests that are seeking to enter the attraction from the area and, once an individual autonomous vehicle provides an indication to the system <NUM> (e.g.,to the controller <NUM>, see <FIG>) indicating being filled or at capacity (<NUM>) with guests, the individual autonomous vehicle is instructed to either return to the dispatch area of the ride (block <NUM>) and eventually enter the attraction or ride as a ride vehicle (block <NUM>). In this manner, one or more autonomous ride vehicles may roam an area of the amusement park seeking guests for an attraction. For example, if an attraction is underserved, the autonomous ride vehicles may serve to recruit guests to the attraction.

In another embodiment, one or more autonomous vehicles may operate within a dispatch area of an attraction to facilitate more efficient guest loading. For example, one or more autonomous vehicles may be implemented as autonomous ride vehicles that operate according to on-board logic to travel between a guest loading area and an attraction. <FIG> is a schematic diagram of an amusement park attraction <NUM> operating with an autonomous vehicle attraction loading technique. Guests <NUM> enter the attraction <NUM> via a dispatch area <NUM> from which guests <NUM> are loaded/unloaded into autonomous vehicles <NUM>. The dispatch area <NUM> may correspond to a ride queuing area with pre-show elements and in which guests <NUM> are permitted to move freely. In contrast to typical ride loading scheme in which guests enter ride vehicles in a first-in/first-out basis at a point of entry to the ride, in the depicted embodiment, the autonomous vehicles <NUM> are untethered from or spaced apart from a ride entry location <NUM>.

For example, the autonomous vehicles <NUM> may either be roaming or distributed throughout the dispatch area <NUM> or generally located at a vehicle parking area <NUM> in the dispatch area <NUM>. The guests <NUM> are free to board an individual autonomous vehicle <NUM> within the dispatch area <NUM> without necessarily waiting in a queue. In this manner, a greater number of guests <NUM> are able to board the autonomous vehicles <NUM> simultaneously and from both sides, which may be more challenging in a traditional loading scheme. Further, such an arrangement may increase guests comfort and enjoyment, permitting guests <NUM> to enjoy pre-attraction elements in a manner of their choosing. In one embodiment, the guests <NUM> traverse the dispatch area <NUM> at their own pace, and walk to the parking area <NUM> when ready to board an autonomous vehicle <NUM>. In another embodiment, guests <NUM> traverse the dispatch area <NUM> and board a nearest autonomous vehicle <NUM> at their leisure. The autonomous vehicles <NUM> may operate according to on- board logic that encourages vehicle distribution within the dispatch area. For example, an individual autonomous vehicle <NUM> may traverse the dispatch area <NUM> and may only be permitted to park and wait for guest boarding at a location that is spaced apart a minimum distance (e.g., at least <NUM> metres (<NUM> feet)) from other autonomous vehicles <NUM>. In this manner, autonomous vehicles <NUM> are programmed to be distributed throughout the dispatch area, which prevents guest congestion during boarding.

The vehicles <NUM>, once loaded at capacity, are programmed to travel autonomously along an adaptive path (i.e., using on-board control logic to avoid dynamic obstacles such as guests <NUM> or other vehicles <NUM>) to the ride entry location <NUM> to enter the attraction <NUM>. For example, as depicted, an autonomous vehicle 26b loaded at capacity travels directly from the dispatch area <NUM> into the attraction <NUM>, serving as both transportation to the attraction <NUM> as well as the ride vehicle itself. Further, the on-board control logic and/or a central controller (e.g., controller <NUM> , see <FIG>) may adjust a vehicle capacity threshold depending on a ride status. If the attraction <NUM> is relatively empty with few waiting guests <NUM>, the autonomous vehicles <NUM> may be dispatched to ride entry <NUM> when only half full, e.g., at less than <NUM>% capacity. In another embodiment, the autonomous vehicles <NUM> may be programmed to generally enter the ride path <NUM> via the ride entry <NUM> at a relatively steady rate to achieve a particular throughput of vehicles and/or guests <NUM>. Accordingly, a rules-based determination of a next-vehicle-to-send may be performed in which distance to the ride entry and loading percentage (guests <NUM> already on board as a percentage of available seats on an individual autonomous vehicle
<NUM>) are weighted to determine which vehicle is dispatched next to the ride entry <NUM>. In another embodiment, to encourage guest loading into autonomous vehicles that are not loaded to capacity, the autonomous vehicles <NUM> may display an indication of available seats.

Within the ride environment <NUM> of the attraction <NUM>, one or more ride elements <NUM> may be distributed along a ride path <NUM>. The autonomous vehicles <NUM> may be generally be programmed to travel along the ride path <NUM>. However, the on-board control logic may permit deviations from the ride path <NUM> as generally discussed in <FIG>. The autonomous vehicles <NUM> may be programmed to interface with certain features of the ride path <NUM>, e.g., special effects locations <NUM>. In one example, a special effects location <NUM> may lock onto a vehicle feature <NUM> of an individual autonomous vehicle 26d to facilitate motion effects at a predetermined location in the ride environment <NUM>. In this manner, the trackless autonomous vehicle <NUM> may be configured to create certain motion effects. Once the ride path <NUM> is complete, an individual autonomous vehicle <NUM>, e.g., autonomous vehicle 26e, exits the ride environment of the attraction <NUM> and re-enters the dispatch area <NUM> to being loading new guests <NUM>.

As noted, the autonomous vehicles <NUM> may permit dynamic and adaptive transportation within an amusement park and within the attractions to avoid obstacles, permit more efficient maintenance, and to vary a ride experience. For example, the disclosed autonomous vehicles <NUM> may permit ride paths to flow in and out of more controlled ride environments as desired. In this manner, a ride experience may extend to one or more locations within the amusement park before returning to a more-controlled traditional ride environment. Further, even within a ride environment, a ride path may be adjusted based on changing ride conditions.

<FIG> is a flow diagram of an attraction autonomous vehicle adaptive path method <NUM> implemented within an attraction. In the depicted embodiment related to guest transport, the method <NUM> initiates when the guest is present in an individual autonomous vehicle (block <NUM>), e.g., as determined by sensors or other guest tracking features, which in turn triggers the autonomous vehicle to proceed on a predetermined ride path within the attraction (block <NUM>). However, it should be understood that the autonomous vehicles <NUM> as provided herein may travel on adaptive paths regardless of whether guests are on board. Within the attraction, an existing change in status, such as a vehicle malfunction, attraction element malfunction, congestion at a particular location, may trigger a determination of a deviation from expected ride conditions. Upon receiving the indication (block <NUM>), one or more autonomous vehicles <NUM> within the attraction are caused to avoid the areas associated with the deviation by adjusting navigation onto pa new path (block <NUM>). The new path may rejoin with the predetermined ride path (block <NUM>) once the deviation has been successfully avoided.

The autonomous vehicles disclosed herein are capable of dynamically adjusting to changing ride conditions or edge cases, such as vehicle breakdowns. For example, a vehicle malfunction for a track-based ride or trackless rides that operate with conventional vehicles may interrupt the entire ride when the broken vehicle clogs the track or space. Autonomous vehicles implemented as ride vehicles as provided herein are capable of moving around obstacles such that ride breakdowns will affect fewer total vehicles. Because the control logic is on the autonomous vehicle, the autonomous vehicle responds to obstacles in real time. For example, the autonomous vehicle deviates from a path to move around another stalled vehicle. In another example, a misbehaving guest that has wandered into the ride path does not cause the entire ride to shut down, because the autonomous vehicle can move around the guest.

In one example, the vehicles generally follow a predetermined path, but are capable of operating around edge cases (broken vehicles, obstacles)As provided herein, the autonomous vehicles <NUM> may be implemented as smart vehicles within the attraction <NUM> and the ride environment <NUM>. <FIG> is a schematic diagram of an amusement park attraction operating with an autonomous vehicle adaptive path technique. In the depicted example, a guest 12a in an autonomous vehicle 26a has inadvertently dropped an object <NUM> outside of the autonomous vehicle 26a into the ride environment, which in certain rides would cause a ride delay by stopping the entire ride as an operator clears the ride environment of the obstacle created by the object <NUM>. However, in the depicted embodiment, the autonomous vehicles <NUM> behind the obstacles <NUM>, e.g., the autonomous vehicle 26b, dynamically adjust away from the predetermined path, indicated by arrow <NUM>, to pursue an alternate path, depicted by arrows 162a,162b.

While only certain features have been illustrated and described herein, many modifications and changes will occur to those skilled in the art.

Claim 1:
An amusement park transportation system (<NUM>), comprising:
an autonomous vehicle (<NUM>), wherein the autonomous vehicle (<NUM>) is configured to accommodate one or more guests (<NUM>); and
a controller (<NUM>) configured to communicate with the autonomous vehicle (<NUM>), wherein the controller (<NUM>) comprises a memory (<NUM>) storing instructions and a processor (<NUM>) configured to execute the instructions, the instructions configured to cause the controller (<NUM>) to:
access a reservation or a return time of a guest (<NUM>) for an attraction (<NUM>) in an amusement park (<NUM>);
determine or access a location of the guest (<NUM>) within a predetermined time window preceding the reservation or the return time;
provide instructions to the autonomous vehicle (<NUM>) to go to the location;
provide an alert to a guest device (<NUM>) related to the autonomous vehicle (<NUM>);
receive an indication from the autonomous vehicle (<NUM>) that the guest (<NUM>) is on or in the autonomous vehicle (<NUM>); and
provide instructions to the autonomous vehicle (<NUM>) to travel to the attraction (<NUM>) with the guest (<NUM>) after receiving the indication.