Method and apparatus for determining vehicle location based on motor feedback

• US 9,205,828 B1
• Filed: 06/29/2012
• Issued: 12/08/2015
• Est. Priority Date: 06/29/2012
• Status: Expired due to Fees

• Current Assignee: Waymo LLC (Alphabet Inc.)
• Original Assignee: Google Inc. (Alphabet Inc.)
• Inventors: Lombrozo, Peter Craig, Smith, Russell, Larner, Daniel Lynn, Jensen, Carsten, Barton-Sweeney, Andrew
• Primary Examiner(s): Algahaim, Helal A
• Assistant Examiner(s): Smith, Jelani
• Application Number:
  US13/539,030
• Time in Patent Office: 1,257 Days
• Field of Search: 701/1, 701/2, 701/22, 701/23, 701/25, 701/408, 701/41, 701/468, 701/470, 701/472, 701/50, 701/51, 290/40.C, 180/204, 705/39
• US Class Current: 1/1
• CPC Class Codes: B60W 20/00 Control systems specially adapted for hybrid vehicles hybrid vehicle design, B60K6/00; electric vehicles B60L
• CPC Class Codes: B60W 2050/0059 Signal noise suppression
• CPC Class Codes: B60W 2520/10 Longitudinal speed
• CPC Class Codes: B60W 2520/12 Lateral speed
• CPC Class Codes: B60W 2556/00 Input parameters relating to data
• CPC Class Codes: B60W 30/00 Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
• CPC Class Codes: B60W 30/18 Propelling the vehicle
• CPC Class Codes: B60W 40/103 Side slip angle of vehicle body
• CPC Class Codes: B60W 40/105 Speed
• CPC Class Codes: B60W 50/00 Details of control systems for road vehicle drive control not related to the control of a particular sub-unit , e.g. process diagnostic or vehicle driver interfaces
• CPC Class Codes: G01C 21/165 combined with non-inertial navigation instruments
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G05D 1/0272 comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00

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.

Claims

1. A vehicle comprising:

an acceleration system;

a steering system;

a braking system;

a speedometer;

a power train including an electric motor, the electric motor including a first rotor disposed with a first stator;

a displacement measuring device coupled to the first rotor; and

one or more processors coupled to one or more of the steering system, the acceleration system, and the braking system, the processor being configured to;

when operating the vehicle in an autonomous driving mode, use the speedometer to control the braking system, the steering system, and the acceleration system;

receive, from the displacement measuring device, a signal that indicates an orientation of the first rotor relative to the first stator;

filter the received signal to remove noise;

determine at least one of displacement of the first rotor or a derivative of displacement of the first rotor based on the filtered received signal;

determine velocity of the vehicle based on the displacement of the first rotor or the derivative of displacement;

receive information from the speedometer identifying a speed of the vehicle;

compare the speed of the vehicle to the determined velocity to determine whether the speed of the vehicle matches the determined velocity; and

when the speed of the vehicle does not match the determined velocity, stop using the speedometer to control the braking system, the steering system, and the acceleration system and operating at least one of the braking system, the steering system, and the acceleration system using the determined velocity.

2. The vehicle of claim 1, wherein:

the signal is sampled by the one or more processors at a predetermined sampling rate to produce one or more signal samples;

the displacement or derivative of displacement of the rotor is determined based on the one or more signal samples; and

the displacement or derivative of displacement of the rotor is determined repeatedly at a rate of multiple times per second.

3. The vehicle of claim 1, wherein the displacement measuring device is a resolver.

4. The vehicle of claim 1, wherein:

the displacement measuring device includes a second rotor coupled to the first rotor of the electric motor; and

the displacement measuring device is configured to generate the signal as an adjusted signal using a transfer function that compensates for misalignment between the first rotor and the displacement measuring device.

5. The vehicle of claim 1, wherein:

the vehicle further comprises a clutch; and

the one or more processors are further configured to detect whether the clutch is engaged or disengaged; and

wherein the at least one of the braking system, the steering system, and the acceleration system is operated based on the determined displacement of the rotor or the derivative of the displacement of the rotor only when it is determined that the clutch is engaged.

6. The vehicle of claim 1 wherein the signal further indicates at least one of speed, direction of rotation, displacement, or acceleration of the first rotor.

7. A method for controlling the operation of a vehicle, the vehicle having a motor that is part of a power train of the vehicle, the motor having a first rotor and a first stator, the method comprising:

when operating the vehicle in an autonomous driving mode, using, by one or more processors, the speedometer to control the braking system, the steering system, and the acceleration system;

receiving, by the one or more processors, a first signal indicating a first value for the speed of the vehicle, the first signal being produced by a speedometer of the vehicle;

receiving, by the one or more processors, a second signal indicating an orientation of the first rotor relative to the first stator, the second signal being produced by a second device that is coupled to the first rotor;

determining, by the one or more processors, based on the at least one of the angular displacement of the first rotor and a derivative of the angular displacement of the first rotor, a derivative of the displacement of the vehicle;

comparing, by the one or more processors, the first value with the second value to determine whether the first value matches the second value; and

when the first value does not match the second value, stopping, by one or more processors, the use of the speedometer to control the braking system, the steering system, and the acceleration system and operating, by the one or more processors, at least one of the braking system, the steering system, and the acceleration system based on the received first signal.

8. The method of claim 7, wherein the second device is one of a resolver or a rotary encoder.

9. The method of claim 7, wherein the second value is determined based on a speed ratio of a coupling between the first rotor and a second rotor of the second device.

10. The method of claim 7, wherein:

the second signal is sampled at a predetermined sampling rate; and

the at least one of the angular displacement of the first rotor and the derivative of the angular displacement of the rotor is determined based on at least two samples of the second signal.

11. A system comprising one or more processors, the one or more processors being configured to:

when operating the vehicle in an autonomous driving mode, use speed information received from a speedometer to control the braking and acceleration of a vehicle;

receive, from a measuring device, a signal that indicates a position of a first rotor of a motor of the vehicle;

determine at least one of displacement of the first rotor or a derivative of displacement of the first rotor based on the received signal;

determine velocity of the vehicle based on the displacement of the first rotor or the derivative of displacement;

compare the speed information to the determined velocity to determine whether the speed of the vehicle matches the determined velocity; and

when the speed of the vehicle does not match the determined velocity, stop using the speedometer to control the braking and the acceleration of the vehicle and control at least one of the braking and acceleration of the vehicle using the determined velocity.

12. The system of claim 11, further comprising the speedometer.

13. The system of claim 11, further comprising the vehicle.

14. The system of claim 11, further comprising the measurement device.

15. The system of claim 14, wherein the measuring device includes a second rotor coupled to the first rotor, and the measuring device is configured to generate the signal as an adjusted signal using a transfer function that compensates for misalignment between the first rotor and the measuring device.

16. The system of claim 11, wherein the one or more processors are further configured to:

sample the signal at a predetermined sampling rate to produce one or more signal samples, and

wherein the displacement or derivative of displacement of the rotor is determined based on one or more signal samples.

17. The system of claim 11, wherein the measuring device includes a resolver.

18. The system of claim 11, wherein the vehicle further comprises a clutch, and the one or more processors are further configured to detect whether the clutch is engaged or disengaged, and the controlling of the at least one of the braking and acceleration of the vehicle is further based on whether the clutch is engaged.

19. The system of claim 11, wherein the signal further indicates at least one of speed, direction of rotation, displacement, or acceleration of the first rotor.

20. The system of claim 11, wherein the speed of the vehicle does not match the determined velocity when the speed of the vehicle and the determined velocity are within a predetermined distance of one another.