Method and apparatus for determining vehicle location based on motor feedback

摘要

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.

主权项

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.