公开(公告)号：US10214223B1

公开(公告)日：2019-02-26

申请号：US15479707

申请日：2017-04-05

Applicant: Waymo LLC

Inventor： Peter Craig Lombrozo ,  Carsten Jensen ,  Andrew Barton-Sweeney ,  Russell Smith ,  Daniel Lynn Larner

IPC: B60W50/00 ,  G05D1/00 ,  B60W30/18

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.