Method and apparatus for determining vehicle location based on motor feedback

• US 9,650,054 B1
• Filed: 10/30/2015
• Issued: 05/16/2017
• Est. Priority Date: 06/29/2012
• Status: Active Grant

• Current Assignee: Google LLC (Alphabet Inc.)
• Original Assignee: Waymo LLC (Alphabet Inc.)
• Inventors: Lombrozo, Peter Craig, Jensen, Carsten, Barton-Sweeney, Andrew, Smith, Russell, Larner, Daniel Lynn
• Primary Examiner(s): Smith, Jelani
• Application Number:
  US14/928,337
• Time in Patent Office: 564 Days
• 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 method comprising:

receiving, from a speed measurement device of a vehicle having an autonomous driving mode, first speed information identifying a first current speed of the vehicle as measured by the speed measurement device;

receiving, from a displacement measuring device, displacement information identifying an orientation of a first rotor at a first time and an orientation of the first rotor at a second time;

determining, by one or more computing devices having one or more processors, second speed information identifying a second current speed of the vehicle using a change in the orientations of the first rotor between the first time and the second time;

comparing, by the one or more computing devices, the first speed information to the second speed information;

determining, by the one or more computing devices, using the comparison whether to use third speed information measured by the speed measurement device to control the vehicle in an autonomous driving mode; and

controlling, by the one or more computing devices, the vehicle in the autonomous driving mode based on the determination of whether to use third speed information measured by the speed measurement device.

2. The method of claim 1, further comprising, filtering the displacement information to remove noise caused by a misalignment between the displacement measuring device and the first rotor of the vehicle.

3. The method of claim 1, wherein determining the second speed information is further based on whether the vehicle is performing a turn between the first time and the second time.

4. The method of claim 1, wherein the second speed information corresponds to a speed of a wheel of the vehicle.

5. The method of claim 1, further comprising:

receiving information from a clutch device of the vehicle that a clutch of the vehicle is disengaged; and

in response to receiving the information from the clutch device, using information from wheel speed sensors that are incorporated into a breaking system of the vehicle to determine the second speed information.

6. The method of claim 1, wherein comparing the first speed information to the second speed information includes validating correctness of speed measurement device and when the comparison indicates that the speed measurement device is incorrect, controlling the vehicle does not include using the third speed information.

7. The method of claim 1, further comprising using the comparison to determine that the speed measurement device has failed, and when the speed measurement device is determined to have failed, controlling the vehicle does not include using the third speed information.

8. The method of claim 1, wherein the speed measurement device is a speedometer.

9. A system comprising one or more computing devices each having one or more processors, the one or more processors being configured to:

receive, from a speed measurement device of a vehicle having an autonomous driving mode, first speed information identifying a first current speed of the vehicle as measured by the speed measurement device;

receive, from a displacement measuring device, displacement information identifying an orientation of a first rotor at a first time and an orientation of the first rotor at a second time;

determine second speed information identifying a second current speed of the vehicle using a change in the orientations of the first rotor between the first time and the second time;

compare the first speed information to the second speed information;

determine using the comparison whether to use third speed information measured by the speed measurement device to control the vehicle in an autonomous driving mode; and

control the vehicle in the autonomous driving mode based on the determination of whether to use third speed information measured by the speed measurement device.

10. The system of claim 9, wherein the one or more computing devices are further reconfigured to filter the displacement information to remove noise caused by a misalignment between the displacement measuring device and the first rotor of the vehicle.

11. The system of claim 9, wherein the one or more computing devices are further reconfigured to determine the second speed information further based on whether the vehicle is performing a turn between the first time and the second time.

12. The system of claim 9, wherein the second speed information corresponds to a speed of a wheel of the vehicle.

13. The system of claim 9, the one or more computing devices are further reconfigured to:

receive information from a clutch device of the vehicle that a clutch of the vehicle is disengaged; and

in response to receiving the information from the clutch device, use information from wheel speed sensors that are incorporated into a breaking system of the vehicle to determine the second speed information.

14. The system of claim 9, wherein the one or more computing devices are further reconfigured to compare the first speed information to the second speed information by validating correctness of speed measurement device and when the comparison indicates that the speed measurement device is incorrect, to control the vehicle without using the third speed information.

15. The system of claim 9, the one or more computing devices are further reconfigured to use the comparison to determine that the speed measurement device has failed, and when the speed measurement device is determined to have failed, to control the vehicle does without using the third speed information.

16. The system of claim 9, further comprising the speed measuring device wherein the speed measurement device is a speedometer.

17. The system of claim 9, further comprising the displacement measurement device.

18. The system of claim 9, further comprising the vehicle.

19. A non-transitory machine readable recording medium on which instructions are stored, the instructions, when executed by one or more processors, cause the one or more processors to perform a method, the method comprising:

receiving, from a speed measurement device of a vehicle having an autonomous driving mode, first speed information identifying a first current speed of the vehicle as measured by the speed measurement device;

receiving, from a displacement measuring device, displacement information identifying an orientation of a first rotor at a first time and an orientation of the first rotor at a second time;

determining second speed information identifying a second current speed of the vehicle using a change in the orientations of the first rotor between the first time and the second time;

comparing the first speed information to the second speed information;

determining using the comparison whether to use third speed information measured by the speed measurement device to control the vehicle in an autonomous driving mode; and

controlling the vehicle in the autonomous driving mode based on the determination of whether to use third speed information measured by the speed measurement device.

20. The medium of claim 19, wherein the method further comprises filtering the displacement information to remove noise caused by a misalignment between the displacement measuring device and the first rotor of the vehicle.