Method and apparatus for determining vehicle location based on motor feedback
First Claim
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1. A method comprising:
- receiving from a speedometer of a vehicle having an autonomous driving mode, a first current speed of the vehicle;
receiving, from a displacement measuring device, displacement information identifying a first orientation of a first rotor at a first time and a second orientation of the first rotor at a second time;
determining, by one or more computing devices having one or more processors, a second current speed of the vehicle by determining a displacement value between the first orientation and the second orientation;
determining, by the one or more computing devices, whether to continue using speeds determined by the speedometer to control the vehicle in the autonomous driving mode based on a difference between the first current speed and the second current speed; and
controlling, by the one or more computing devices, the vehicle in the autonomous driving mode based on the determination of whether to continue using speeds determined by the speedometer.
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Abstract
A method and apparatus are provided for determining the location of a vehicle. According to one aspect the method and apparatus the movements of motor rotors in a vehicle are monitored and used to determine speed, travel distance and/or travel path of a vehicle may be determined. Using various navigation techniques, the distance and travel path may then be used to determine the vehicle'"'"'s location. Furthermore, movements of the motor rotors may also be used to report the positions of the steering and drive systems for the purpose of informing the vehicle controller as a method of feedback.
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Citations
20 Claims
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1. A method comprising:
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receiving from a speedometer of a vehicle having an autonomous driving mode, a first current speed of the vehicle; receiving, from a displacement measuring device, displacement information identifying a first orientation of a first rotor at a first time and a second orientation of the first rotor at a second time; determining, by one or more computing devices having one or more processors, a second current speed of the vehicle by determining a displacement value between the first orientation and the second orientation; determining, by the one or more computing devices, whether to continue using speeds determined by the speedometer to control the vehicle in the autonomous driving mode based on a difference between the first current speed and the second current speed; and controlling, by the one or more computing devices, the vehicle in the autonomous driving mode based on the determination of whether to continue using speeds determined by the speedometer. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A system comprising one or more processors configured to:
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receive from a speedometer a vehicle having an autonomous driving mode, a first current speed of the vehicle; receive, from a displacement measuring device, displacement information identifying a first orientation of a first rotor at a first time and a second orientation of the first rotor at a second time; determine a second current speed of the vehicle by determining a displacement value between the first orientation and the second orientation; determine whether to continue using speeds determined by the speedometer to control the vehicle in the autonomous driving mode based on a difference between the first current speed and the second current speed; and control the vehicle in the autonomous driving mode based on the determination of whether to continue using speeds determined by the speedometer. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18, 19, 20)
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Specification