Patent ID: 9650054
Date: 2017-05-16
CPC Classifications: B60W,G01C,G05D

Claim:
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.