Sensor fusion system for vehicle autonomy in a theme park

• US 20080189003A1
• Filed: 06/25/2007
• Published: 08/07/2008
• Est. Priority Date: 02/07/2007
• Status: Active Grant

• Current Assignee: Disney Enterprises Incorporated (The Walt Disney Company)
• Original Assignee: Disney Enterprises Incorporated (The Walt Disney Company)
• Inventors: Gillula, Jeremy
• Granted Patent: US 7,739,006 B2
• Time in Patent Office: Days
• US Class Current: 701/24
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/0255 using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93
• CPC Class Codes: G05D 1/028 using a RF signal

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.

Claims

1. An autonomous navigation system for use in conjunction with a ride vehicle, said system comprising:

an on-board sensor system for generating on-board sensor data of a surrounding of said ride vehicle, wherein said on-board sensor system is situated in said ride vehicle;

a sensor data receiver module for receiving off-board sensor data of said surrounding from an off-board sensor system, wherein said off-board sensor system is situated apart from said ride vehicle;

a sensor data fusion module for performing a data fusion process on said on-board sensor data and said off-board sensor data to generate fused sensor data;

a navigation module for determining a course of said ride vehicle based on said fused sensor data.

2. The autonomous navigation system of claim 1 wherein said off-board sensor system comprises a plurality of off-board sensors and wherein said on-board sensor system comprises a plurality of on-board sensors.

3. The autonomous navigation system of claim 2 wherein each of said plurality of off-board sensors and each of said plurality of on-board sensors include at least one of a camera, a laser range-finder sensor, and a sound range-finder sensor.

4. The autonomous navigation system of claim 1 wherein said sensor data receiver module, said sensor data fusion module, and said navigation module are situated in said ride vehicle.

5. The autonomous navigation system of claim 4 further comprising a ride vehicle control module for controlling a speed and a direction of said ride vehicle based on control instructions received from said navigation module.

6. The autonomous navigation system of claim 1 wherein said sensor data receiver module, said sensor data fusion module, and said navigation module are situated apart from said ride vehicle, and wherein said on-board sensor system transmits said on-board sensor data to said sensor data receiver module.

7. The autonomous navigation system of claim 6 further comprising a ride vehicle control module for controlling a speed and a direction of said ride vehicle based on control instructions received from said navigation module.

8. An autonomous navigation system for use in conjunction with a ride vehicle, said system comprising:

an off-board sensor system for generating off-board sensor data of a surrounding of said ride vehicle, wherein said off-board sensor system is situated apart from said ride vehicle;

a sensor data receiver module for receiving said off-board sensor data;

an on-board sensor system for generating on-board sensor data of said surrounding, wherein said on-board sensor system is situated in said ride vehicle;

a sensor data fusion module for performing a data fusion process on said off-board sensor data and said on-board sensor data to generate fused sensor data;

a navigation module for determining a course of said ride vehicle based on said fused sensor data.

9. The autonomous navigation system of claim 8 wherein said off-board sensor system comprises a plurality of off-board sensors coupled to an off-board sensor controller and wherein said on-board sensor system comprises a plurality of on-board sensors coupled to an on-board sensor controller.

10. The autonomous navigation system of claim 9 wherein each of said plurality of off-board sensors and each of said plurality of on-board sensors include at least one of a camera, a laser range-finder sensor, and a sound range-finder sensor.

11. The autonomous navigation system of claim 9 wherein said plurality of off-board sensors are situated over said ride vehicle.

12. The autonomous navigation system of claim 8 wherein said sensor data receiver module, said sensor data fusion module, and said navigation module are situated in said ride vehicle.

13. The autonomous navigation system of claim 8 wherein said sensor data receiver module, said sensor data fusion module, and said navigation module are situated apart from said ride vehicle.

14. The autonomous navigation system of claim 8 further comprising a ride vehicle control module for controlling a speed and a direction of said ride vehicle based on instructions received from said navigation module.

15. A method for use by a ride vehicle for enabling autonomous navigation, said method comprising:

receiving off-board sensor data in a sensor data receiver module, wherein said off-board sensor data is generated from an off-board sensor system situated apart from said ride vehicle;

providing on-board sensor data to said sensor data receiver module, wherein said on-board sensor data is generated from an on-board sensor system situated in said ride vehicle;

fusing said off-board sensor data and said on-board sensor data to generate fused sensor data; and

navigating said ride vehicle based on said fused sensor data.

16. The method of claim 15 wherein said off-board sensor system comprises a plurality of off-board sensors and wherein said on-board sensor system comprises a plurality of on-board sensors.

17. The method of claim 16 wherein each of said plurality of off-board sensors and each of said plurality of on-board sensors include at least one of a camera, a laser range-finder sensor, and a sound range-finder sensor.

18. The method of claim 15 wherein said sensor data receiver module is situated in said ride vehicle.

19. The method of claim 15 wherein said navigating further comprises determining a course of said ride vehicle based on said fused sensor data.

20. The method of claim 15 wherein said navigating further comprises controlling a speed and a direction of said ride vehicle.