Abstract: A system for autonomously inspecting intrusions into a reach envelope of a vehicle traveling along a ride path of a park ride. The system includes a test vehicle that travels along the ride path at test speeds. The system includes a reach envelope inspection assembly including a housing supported by the test vehicle. The reach envelope inspection assembly includes a distance measurement assembly in the housing operable to measure distances between the distance measurement assembly and surfaces of the physical environment. The inspection assembly includes a processor executing code to provide an examination program that compares the plurality of distances to one or more predefined reach envelopes to determine whether an intrusion into any of the one or more predefined reach envelopes exists along the ride path. The test vehicle is a ride vehicle for the park ride or an unmanned aerial vehicle (UAV) operated to follow the ride path.