FI129920B - Vehicle positioning - Google Patents

Vehicle positioning Download PDF

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Publication number
FI129920B
FI129920B FI20195222A FI20195222A FI129920B FI 129920 B FI129920 B FI 129920B FI 20195222 A FI20195222 A FI 20195222A FI 20195222 A FI20195222 A FI 20195222A FI 129920 B FI129920 B FI 129920B
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FI
Finland
Prior art keywords
vehicle
information
data
road
dynamic model
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Application number
FI20195222A
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Finnish (fi)
Swedish (sv)
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FI20195222A1 (en
Inventor
Kimmo Erkkilä
Jarmo Leino
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Eee Innovations Oy
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Priority to FI20195222A priority Critical patent/FI129920B/en
Priority to PCT/FI2020/050189 priority patent/WO2020193861A1/en
Publication of FI20195222A1 publication Critical patent/FI20195222A1/en
Application granted granted Critical
Publication of FI129920B publication Critical patent/FI129920B/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/12—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to parameters of the vehicle itself, e.g. tyre models
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C22/00—Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers, using pedometers
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C5/00—Registering or indicating the working of vehicles
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C5/00—Registering or indicating the working of vehicles
    • G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
    • G07C5/0808—Diagnosing performance data
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network

Abstract

According to an aspect, there is provided a computer-implemented method for positioning a vehicle. The method comprises applying (400) a dynamic model (106) associated with the vehicle, the dynamic model (106) having been determined by obtaining (200) status information (100) from at least one information bus of the vehicle, the status information (100) providing real-time status information about the vehicle, obtaining (202), based on vehicle identity information, vehicle dynamics information (102), obtaining (204) map data (104) representing road characteristics of roads of a geographical area, the map data (104) comprising two-dimensional road map data, three-dimensional road map data associated with the roads, and road characteristics data, analyzing (206) behavior of the vehicle based on the status information (100) and the vehicle dynamics information (102), and computing (208) the dynamic model for the vehicle by comparing the behavior of the vehicle to the map data (104); calculating (402), based on the dynamic model (106) of the vehicle, an effective travel distance of a wheel of the vehicle; calculating (404), based on the dynamic model (106) of the vehicle, a momentary track width; calculating (406), based on the effective travel distance of a wheel of the vehicle and the momentary track width, a momentary direction of the vehicle; and calculating (408), based on the effective travel distance of the wheel and the momentary direction of the vehicle, a position of the vehicle.

Description

VEHICLE POSITIONING
TECHNICAL FIELD The present application relates to the field of computer systems, and more particularly to a computer-implemented method and an apparatus for determining a position of a vehicle.
BACKGROUND Vehicle positioning is an important service for various users. The positioning may be based on utilizing satellites that provide positioning signals for a receiver installed in a vehicle. Based on the received positioning signals it is possible to establish a current — location of the vehicle and to display the location for a driver, for example, by using a map application. One of the problems associated with the satellite based positioning service is that the positioning is not very accurate and the accuracy varies depending on the surrounding conditions (for example, tall buildings may reduce the accuracy). Further, satellite based positioning works well only outdoors, therefore making it unusable indoors. US 2018154723 Al discloses a self-driving vehicle with an integrated fully-active suspension system. The fully-active suspension utilizes data from one or more sensors used for autonomous driving (e.g. vision, LIDAR, GPS) in order to anticipate road conditions in advance. EP 2541203 A 1 relates to vehicle navigation systems, and more particularly to road map correction feedback provided by wireless network servers for tightly coupled combinations of global position system (GPS) receivers and dead-reckoning in vehicles. N 25 N Based on the above, there is a need for a positioning solution for a vehicle that would 3 provide enhanced accuracy. z SUMMARY N 30 — This summary is provided to introduce a selection of concepts in a simplified form that io are further described below in the detailed description. This summary is not intended to > identify key features or essential features of the claimed subject matter, nor is it intended to be used to limit the scope of the claimed subject matter. 1
It is an object of the invention to provide a solution that would enable accurate positioning of a vehicle.
This objective is achieved by the features of the independent claims.
Further embodiments and examples of the invention are apparent from the dependent claims, the description and the figures.
According to a first aspect, a computer-implemented method for positioning a vehicle is provided.
The method comprises applying a dynamic model associated with the vehicle, the dynamic model having been determined by obtaining status information from at least one information bus of the vehicle, the status information providing real-time status information about the vehicle, obtaining, based on vehicle identity information, vehicle dynamics information, obtaining map data representing road characteristics of roads of a geographical area, the map data comprising two-dimensional road map data, three- dimensional road map data associated with the roads, and road characteristics data, analyzing behavior of the vehicle based on the status information and the vehicle dynamics information, and computing the dynamic model for the vehicle by comparing the behavior of the vehicle to the map data, the dynamic model providing a presumed behavior of the vehicle in various driving conditions; calculating, based on the dynamic model of the vehicle, an effective travel distance of a wheel of the vehicle; calculating, based on the dynamic model of the vehicle, a momentary track width; calculating, based on the effective travel distance of a wheel of the vehicle and the momentary track width, a momentary direction of the vehicle; and calculating, based on the effective travel distance of the wheel and the momentary direction of the vehicle, a position of the vehicle.
N 25 N In an implementation form of the first aspect, the status information comprises at least 3 one of a motor power, tyre speeds, a steering wheel position, vehicle system information, - traction control information, vehicle stabilization system information and anti-lock E braking system information.
S 30 O In a further implementation form of the first aspect, obtaining, based on vehicle identity > information, vehicle dynamics information comprises obtaining initial vehicle dynamics information associated with a model or type of the vehicle from at least one external data source. 2
In a further implementation form of the first aspect, obtaining, based on vehicle identity information, vehicle dynamics information comprises obtaining supplemental vehicle dynamics information based on real-time vehicle dynamics data obtained from the vehicle.
The vehicle identity information may be the real vehicle identification number (VIN) information of the vehicle, or plain unique reference which can be used to match the vehicle history and calibration values together.
In a further implementation form of the first aspect, the road characteristics data comprises at least one of road quality data, road irregularity data and data about local deviations associated with the road.
In a further implementation form of the first aspect, the method further comprises combining the dynamic model with the road characteristics data to enhance the calculation of the position of the vehicle.
In a further implementation form of the first aspect, the three-dimensional road map data comprises road inclination data, and the method further comprises combining the dynamic model with the road inclination data to enhance the calculation of the position — of the vehicle.
According to a second aspect, an apparatus for positioning a vehicle is provided.
The apparatus comprises at least one processor and at least one memory connected to the at least one processor.
The at least one memory stores program instructions that, when N 25 executed by the at least one processor, cause the apparatus to apply a dynamic model N associated with the vehicle, the dynamic model having been determined by obtaining 3 status information from at least one information bus of the vehicle, the status information - providing real-time status information about the vehicle, obtaining, based on vehicle E identity information, vehicle dynamics information, obtain map data representing road N 30 characteristics of roads of a geographical area, the map data comprising two-dimensional io road map data, three-dimensional road map data associated with the roads, and road > characteristics data, analyzing behavior of the vehicle based on the status information and the vehicle dynamics information, and computing the dynamic model for the vehicle by comparing the behavior of the vehicle to the map data, the dynamic model providing a 3 presumed behavior of the vehicle in various driving conditions; calculate based on the dynamic model of the vehicle, an effective travel distance of a wheel of the vehicle; calculate, based on the dynamic model of the vehicle, a momentary track width; calculate, based on the effective travel distance of a wheel of the vehicle and the momentary track — width, a momentary direction of the vehicle; and calculate, based on the effective travel distance of the wheel and the momentary direction of the vehicle, a position of the vehicle.
In an implementation form of the second aspect, the status information comprises at least one of a motor power, tyre speeds, a steering wheel position, vehicle system information, traction control information, vehicle stabilization system information and anti-lock braking system information.
In a further implementation form of the second aspect, obtaining, based on vehicle identity information, vehicle dynamics information comprises obtaining initial vehicle — dynamics information associated with a model or type of the vehicle from at least one external data source.
In a further implementation form of the second aspect, obtaining, based on vehicle identity information, vehicle dynamics information comprises obtaining supplemental vehicle dynamics information based on real-time vehicle dynamics data obtained from the vehicle.
The vehicle identity information may be the real vehicle identification number (VIN) information of the vehicle, or plain unigue reference which can be used to match the vehicle history and calibration values together.
N 25 In a further implementation form of the second aspect, the road characteristics data N comprises at least one of road guality data, road irregularity data and data about local 3 deviations associated with the road.
E In a further implementation form of the second aspect, the at least one memory stores N 30 program instructions that, when executed by the at least one processor, cause the io apparatus to combine the dynamic model with the road characteristics data to enhance the > calculation of the position of the vehicle. 4
In a further implementation form of the second aspect, the three-dimensional road map data comprises road inclination data, and the at least one memory stores program instructions that, when executed by the at least one processor, cause the apparatus to combine the dynamic model with the road inclination data to enhance the calculation of — the position of the vehicle. According to a third aspect, a computer program is provided. The computer program comprises program code which when executed by at least one processor, performs the method of the first aspect.
According to a fourth aspect, a computer-readable medium is provided. The computer- readable medium comprises a computer program comprising program code which when executed by at least one processor, performs the method of the first aspect.
According to a fifth aspect, an apparatus for positioning a vehicle is provided. The apparatus comprises means for applying a dynamic model associated with the vehicle, the dynamic model having been determined by obtaining status information from at least one information bus of the vehicle, the status information providing real-time status information about the vehicle, obtaining, based on vehicle identity information, vehicle dynamics information, obtaining map data representing road characteristics of roads of a geographical area, the map data comprising two-dimensional road map data, three- dimensional road map data associated with the roads, and road characteristics data, analyzing behavior of the vehicle based on the status information and the vehicle dynamics information, and computing the dynamic model for the vehicle by comparing N 25 — the behavior of the vehicle to the map data, the dynamic model providing a presumed N behavior of the vehicle in various driving conditions; means for calculating based on the 3 dynamic model of the vehicle, an effective travel distance of a wheel of the vehicle; means - for calculating, based on the dynamic model of the vehicle, a momentary track width; z means for calculating, based on the effective travel distance of a wheel of the vehicle and N 30 the momentary track width, a momentary direction of the vehicle; and means for io calculating, based on the effective travel distance of the wheel and the momentary > direction of the vehicle, a position of the vehicle. 5
According to a sixth aspect, an apparatus for positioning a vehicle is provided. The apparatus comprises at least one processor configured to apply a dynamic model associated with the vehicle, the dynamic model having been determined by obtaining status information from at least one information bus of the vehicle, the status information providing real-time status information about the vehicle, obtaining, based on vehicle identity information, vehicle dynamics information, obtaining map data representing road characteristics of roads of a geographical area, the map data comprising two-dimensional road map data, three-dimensional road map data associated with the roads, and road characteristics data, analyzing behavior of the vehicle based on the status information and — the vehicle dynamics information, and computing the dynamic model for the vehicle by comparing the behavior of the vehicle to the map data, the dynamic model providing a presumed behavior of the vehicle in various driving conditions; calculate based on the dynamic model of the vehicle, an effective travel distance of a wheel of the vehicle; calculate, based on the dynamic model of the vehicle, a momentary track width; calculate, based on the effective travel distance of a wheel of the vehicle and the momentary track width, a momentary direction of the vehicle; and calculate, based on the effective travel distance of the wheel and the momentary direction of the vehicle, a position of the vehicle.
BRIEF DESCRIPTION OF THE DRAWINGS — In the following examples are described in more detail with reference to the attached figures and drawings, in which: FIG. 1 illustrates a block diagram representing information based on which it is possible to determine and model behavior of a vehicle. S >? | N FIG. 2 illustrates a flow diagram of a method for modelling dynamics of a vehicle. 3 - FIG. 3 illustrates calculation of the change of wheel normal load caused by the road E longitudinal inclination in front and rear axles. S 30 O FIG. 4 illustrates a computer-implemented method for positioning a vehicle.
N FIGS. SA and 5B illustrate graphs associated with a turning vehicle. 6
FIG. 6 illustrates a system diagram depicting an exemplary apparatus according to an aspect. In the following identical reference signs refer to identical or at least functionally equivalent features.
DETAILED DESCRIPTION In the following description, reference is made to the accompanying drawings, which form part of the disclosure, and in which are shown, by way of illustration, specific — aspects and examples in which the present invention may be placed. It is understood that other aspects may be utilized and structural or logical changes may be made without departing from the scope of the present invention. The following detailed description, therefore, is not to be taken in a limiting sense, as the scope of the present invention is defined be the appended claims.
For instance, it is understood that a disclosure in connection with a described method may also hold true for a corresponding device or system configured to perform the method and vice versa. For example, if a specific method step is described, a corresponding device may include a unit or other means to perform the described method step, even if such unit is not explicitly described or illustrated in the figures. On the other hand, for example, if a specific apparatus is described based on functional units, a corresponding method may include a step performing the described functionality, even if such step is not explicitly described or illustrated in the figures. Further, it is understood that the features of the various exemplary aspects described herein may be combined with each other, unless N 25 specifically noted otherwise. & 3 FIG. 1 illustrates a block diagram representing information based on which it is possible - to determine and model behavior of a vehicle. Vehicle status information 100 refers to E information that can be obtained from the vehicle itself, for example, via one or more N 30 information buses of the vehicle while the vehicle isin use. The vehicle status information io comprises, for example, at least one of motor power, tyre speeds, a steering wheel > position, vehicle system information, traction control information, vehicle stabilization system information and anti-lock braking system information. 7
Vehicle dynamics information 102 may be obtained based on vehicle identity information, for example, from one or more external data sources. If no vehicle specific dynamics information is not available, it is possible to use vehicle dynamics information that is common for this vehicle type. When the vehicle is used, the vehicle dynamics information may be updated based on analysis of the behavior of the vehicle. Further, vehicle dynamics information determined for a specific vehicle may be used as preliminary knowledge for other similar vehicles. The vehicle identity information may be the real vehicle identification number (VIN) information of the vehicle, or plain unique reference which can be used to match the vehicle history and calibration values together.
Map data 104 may represent road characteristics of roads of a geographical area, and the map data 104 may comprise two-dimensional road map data, three-dimensional road map data associated with the roads, and/or road characteristics data. The three-dimensional road map data may comprise information, for example, about road height data and road inclination data. The road characteristics data may comprise at least one of road quality data, road irregularity data and data about local deviations associated with the road. The road characteristics data may comprise, for example, other typical dynamic behaviour changes that can be statistically recognized by various vehicles at the same locations. For example, if a road is rutted, a weight transfer of a vehicle can be considered as “normal” if several different vehicles experience the same weight transfer. Similarly, pits, rail locations or other road imperfections of a road are characteristics that have an effect on how a vehicle should behave based on a current dataset associated with the vehicle. Based on the vehicle status information 100, vehicle dynamics information 102 and the N 25 — map data 104 it is possible to determine a dynamic model for the vehicle. The dynamic N model may then enable an estimation of the performance of the vehicle, observation of 3 changes associated with the vehicle and observation of changes in driving conditions of - the vehicle. x a N 30 FIG 2illustrates a computer-implemented method for modelling dynamics of a vehicle. io The vehicle may be any vehicle travelling on a road, for example, an autonomous vehicle, > a passenger car, a truck, a motorcycle etc. 8
At 200, status information is obtained from at least one information bus of the vehicle, the status information providing status information or real-time status information about the vehicle. At 202, vehicle dynamics information representing vehicle dynamics is obtained based on vehicle identity information. At 204, map data representing road characteristics of roads of a geographical area, the map data comprising two-dimensional road map data, three-dimensional road map data — associated with the roads, and road characteristics data is obtained. At 206, behavior of the vehicle is analyzed based on the status information and the vehicle dynamics information. At 208, a dynamic model for the vehicle is calculated by comparing the behavior of the vehicle to the map data. The dynamic model of the vehicle can be used in various applications in which an accurate vehicle representation is needed. For example, based on the dynamic model, it — is possible to calculate a presumed behavior of the vehicle in various driving conditions. If an actual behavior of the vehicle deviates from the presumed behavior of the vehicle, this is caused either by changes in driving conditions or changes in the vehicle. The dynamic model of the vehicle may define a set of vehicle-specific calibration N 25 — parameters. These calibration parameters may represent how the vehicle behaves in N various driving situations.
S - The dynamics model of the vehicle may involve a set of various parameters or calibration E parameters, for example, one or more of the following: 1) a mass of the vehicle, 2) N 30 powertrain efficiency coefficient or map, 3) a track width, 4) a wheelbase, 5) location of io the center of gravity, 6) the moment of inertia along different axes of the vehicle and the > moment of inertia associated with rotating masses, 7) effective rolling circumferences of the wheels, 8) an effect of the circumferential force of a wheel to the rolling circumferences, and 9) overall flexibility in longitudinal and lateral directions in weight 9 of the transition situations caused, for example, by the wheels, the car chassis structure and the car body. The mass of the vehicle may be obtained from an external data source, it can be manually input or a mass estimation may be used based on the vehicle type. When calculating the dynamic model of the vehicle, the mass of the vehicle can be made more accurate by comparing the effect of the energy produced by a motor of the vehicle to state of motion of the vehicle, taking into account also, for example, at least one of changes in vehicle speed, altitude changes, the amount of work performed by the motor of the vehicle, efficiencies, driving resistances and road quality factors. In the equations below, the following parameters are used: m = mass PE = engine power up = powertrain coefficient t = time A = frontal area Cw = airdrag coefficient — v= speed s = distance v2 = speed at point 2 vi = speed at point 1 g = gravity N 25 hp = altitude at point 2 N hi = altitude at point 1 3 ur = rolling resistance - UA = PACw = a N 30 The mass of the vehicle may be estimated as follows:
N 3 > Ww = Waw + Wan + Wp + Wy Pg * upt = 2m(vy — vi)? + mg(hy — hy) + M9URS + pav?S x" 10
PalppUAV*S * 27 3 m(va — vi)” + mg(h, — hi) + MJURS =m (; (v? — v)? + gh, — hy) + JHrS) m= PElpritav?Sis sW2=v1)?+g (ha —h1)+gurS m = PElprP ACY 2S Sav)? +g(ha—h1)+guRS Powertrain efficiency information may be obtained from one or more external data sources, manually or based on the vehicle type. Later, the information may be made more accurate by multivariate analysis or statistical analysis.
— Track width information may be obtained from one or more external data sources, manually or based on the vehicle type. Later, the information may be made more accurate by multivariate analysis or statistical analysis.
Wheelbase information may be obtained from one or more external data sources, manually or based on the vehicle type. Later, the information may be made more accurate by multivariate analysis or statistical analysis.
Information about the location of the center of gravity may be obtained from one or more external data sources, manually or based on the vehicle type. Later, the information may be made more accurate by multivariate analysis or statistical analysis.
N Information about the moment of inertia along different axes of the vehicle and the O moment of inertia associated with rotating masses may be obtained from one or more s external data sources, manually or based on the vehicle type. Later, the information may = 25 be made more accurate by multivariate analysis or statistical analysis.
Tr a Effective rolling circumferences of the wheels may be calculated for each wheel by N comparing the travelled distance to each other and to map data in chosen periods. For 2 each wheel a computational dependency tied to the normal force of the wheel is generated. s 30 A momentary normal force of the wheel takes into account a dynamic mass shift of the 11 vehicle, also taking into account road characteristics, for example, road inclinations to different directions. The effect of speed may also be taken into account. The effect of the circumferential force of a wheel to the rolling circumferences of the wheels is estimated by comparing speed of rotation differences with each other with different tractive forces. The estimation may also take into account road quality characteristics and friction. Flexibility of the wheels and the chassis in longitudinal and lateral directions in weight transition situations may be determined for each and for each wheel type by using initial values or by searching the values from a library for a similar vehicle and wheel type. The effects of the weight transition in longitudinal and lateral directions are estimated separately because a wheel of the vehicle and chassis structures act differently with forces having different directions. Coefficients representing the dynamics indicate both the — change caused by the weight shift to the effective travelling device of each wheel and changes caused by the flexibility to the effective travelling distance of the wheel. The location of the effective contact point affects, for example, to the track width and wheelbase. When computing dynamic coefficients, the map data is utilized, for example, by comparing a turning degree of the vehicle according to the dynamic model in a curve to an expected turning degree based on the map data. FIG. 3 illustrates calculation of the change of wheel normal load caused by the road longitudinal inclination in front and rear axles. Based on FIG. 3, the following equations can be formed: N 25
O N Fr x WB = mg « (CF + Sc) 3 F, = Mg*(CF+Sc) — R" WB - Sc=hxtan(y) a a mg*(CR — Sc) Fr =
N WB N Mg*(CF+h=tan(y)) 0 30 a="2—"
O WB O * — hx & Fr — MJ (CR — h=tan(y))
WB Fyr = cos(y) * Fg 12
Fyr = cos(y) * Fr Cr = Scc-r Cr = Scc-r In an embodiment, also lateral inclination and longitudal and lateral accelerations ay be calculated similarly. FIG. 4 illustrates a computer-implemented method for positioning a vehicle. The vehicle may be any vehicle travelling on a road, for example, an autonomous vehicle, a passenger — car, a truck, a motorcycle etc. At 400, a dynamic model associated with a vehicle discussed above is applied. As already discussed, the dynamic model has been determined by obtaining status information from at least one information bus of the vehicle, the status information providing real-time — status information about the vehicle, obtaining, based on vehicle identity information, vehicle dynamics information, obtaining map data representing road characteristics of roads of a geographical area, the map data comprising two-dimensional road map data, three-dimensional road map data associated with the roads, and road characteristics data, analyzing behavior of the vehicle based on the status information and the vehicle — dynamics information, and computing a dynamic model for the vehicle by comparing the behavior of the vehicle to the map data. At 402, an effective travel distance of a wheel of the vehicle is calculated based on the dynamic model of the vehicle. N 25 N At 404, a momentary track width is calculated based on the dynamic model of the vehicle. & - At 406, a momentary direction of the vehicle is calculated based on the effective travel
I T distance of a wheel of the vehicle and the momentary track width. N 30 O At 408, a position of the vehicle is calculated based on the effective travel distance of the S wheel and the momentary direction of the vehicle. 13
When using the dynamical model of the vehicle, it is possible to calculate an effective travel distance of the wheel of the vehicle in various changing driving conditions. If the dynamical model is not used, wheel transformations and changes in measurements used in the position determination are not taken into account, resulting in an inaccurate position determination. The three-dimensional map data may comprise also road inclination. When the dynamic model and the road inclination data are combined, the position determination can be made more accurate. For example, an effect of the road inclination to a projection of the track — width can be taken into account. In the following, exemplary equations are presented for the rear axle. Equations for the front axle may be formed similarly. A starting value for a wheel speed difference between left and right sides by a wheel travel is ow = SAN Vicor = VL Vp + SA% Vrcor = Vr — Ug + SÅN A starting value for wheel speed change per speed can be represented as follows: Vreor2 = Vicor — Vicor + Speedcor% Vrcor2 = VRcor — VRcor * Speedcor% N 25 — The mass detection may be performed using the previously presented equations for the
N > mass of the vehicle. <Q The following parameters may be obtained from a library to be used as starting values: S - TW = track width N 30 - h=masscenter height 2 - WB = wheelbase N - mass center location in x/y directions - turning inertia over x/y/z axles 14
- TF = tyre and suspension flex in x direction (side flex) - TFC = type and suspension flex in z directon (compression flex) The following equations can be formed, when reviewed together with FIGS. 5A and 5B: TWayn = TW + ATWayn AT Wayn = Firat * TF — Frrtat * TF TWa . F W mg(— DM hsin 0) + cos(y) + Scc-p+htan(y) NRLSTAT = TT TWaynseos (0) — © V)x——— = TWa . F N mgl- pin (x) ) . Scc-p+htan(y) NRLSTAT = TWayn+cos (0) WB F — TPLAT*COS(%)*h*Scc-F + Frong*h NRLDYN = qo ws ws o — +FLAT*Cos(&x)*h*Scc-p | FLonc*h FNRLDYN = TN äynWB TB Vrayn = VLCOR2DYN € (Fyre * Tre * Vicor2) Vrdyn = VRCOR2DYN € (Fare * Tec * Vrcor2) v Re =" « TWayn * COS () VRdyn ”VLdyn — VLdyn+VPRdyn Vayn - 2 Mayn” Fi ar = Rc — Avayn Frone = a Mm S= Vayn* t
S b =z Sa = J2R? — 2R?cos (B)
N
N 0 = O Xp s Xpos = 2 sin(0) * sqcos(y) T Ypos = X COs(0) * s, cos(y)
I = N In the above eguations, the following parameters were used: N . . e. N 25 - y = road longitudinal inclination O . . S - Rc=turning circle - «=road side inclination - — Scc = distance from axle to mass center 15
- Frat = lateral force - Fronc = longitudinal force - s=driving distance - B=turning/direction change - — Sa = position change distance between A and B - 0= direction - Xeos= position on X axis - — Yeos = position on Y axis - TWayn = dynamic track width - Fnrustar = tyre normal force without speed (rear left) - FarrstaT = tyre normal force without speed (rear right) - FrrrDyn = tyre normal force with dynamic weight transfer (rear left) - FrrrbDyn = tyre normal force with dynamic weight transfer (rear right) - — Vidyn = left wheel speed after dynamic corrections - — VRdyn = right wheel speed after dynamic corrections The illustrated solution for determining the position accurately may be used in vehicle navigation and especially in real-time navigation and in real-time three-dimensional navigation.
The illustrated solution can also be utilized in locations where a satellite position based signal, for example, a GPS signal, is weak on non-existent.
These locations may include, for example, closed parking lots, blind spots due to buildings, tunnels and guarries.
Further, the illustrated solution may provide a location service in applications in which a single location signal is not sufficient, for example, in autonomous vehicles, metros and trains.
S >? N N FIG. 6 illustrates a system diagram depicting an exemplary apparatus 600 including a 3 variety of optional hardware and software components, shown generally at 612. Any - components 612 in the apparatus can communicate with any other component, although E not all connections are shown, for ease of illustration.
The apparatus 600 can be any of a N 30 variety of computing devices (for example, a computer, a cloud based server etc.) and can io allow two-way communications with one or more communications networks, such as the > Internet. 16
The illustrated apparatus 600 can include one or more controllers or processors 602 (e.g, signal processor, microprocessor, ASIC, or other control and processing logic circuitry) for performing such tasks as signal coding, data processing, input/output processing, power control, and/or other functions.
An operating system 608 can control the allocation and usage of the components 612 and support for one or more application programs 610. The application programs can include common computing applications (e.g., server software), or any other computing application.
The illustrated apparatus 600 can include a memory 604. The memory 604 can include non-removable memory and/or removable memory.
The non-removable memory can include RAM, ROM, flash memory, a hard disk, or other well-known memory storage technologies.
The removable memory can include flash memory or other well-known memory storage technologies.
The memory 604 can be used for storing data and/or code for running the operating system 608 and the applications 610. Example data can include — web pages, text, images, sound files, video data, or other data sets to be sent to and/or received from one or more network servers or other devices via one or more wired or wireless networks.
The apparatus 600 can further include at least one physical connector, which can be a USB port, IEEE 1394 (FireWire) port, and/or RS-232 port etc.
The illustrated components 612 are not required or all-inclusive, as any components can deleted and other components can be added.
N 25 — The apparatus 600 may be configured to implement the various features, examples and N embodiments illustrated in FIGS. 1-4 partially or completely.
The functionality described 3 herein can be performed, at least in part, by one or more computer program product - components such as software components.
According to an example, the processor 602 E may be configured by the program code which when executed performs the examples and N 30 embodiments of the operations and functionality described.
Alternatively, or in addition, io the functionality described herein can be performed, at least in part, by one or more > hardware logic components.
For example, and without limitation, illustrative types of hardware logic components that can be used include Field-programmable Gate Arrays (FPGAs), Program-specific Integrated Circuits (ASICs), Program-specific Standard 17
Products (ASSPs), System-on-a-chip systems (SOCs), Complex Programmable Logic
Devices (CPLDs), Graphics Processing Units (GPUs). Further, one or more of the disclosed elements or components of the apparatus 600 may constitute means for applying a dynamic model associated with the vehicle, the dynamic model having been determined by obtaining status information from at least one information bus of the vehicle, the status information providing real-time status information about the vehicle, obtaining, based on vehicle identity information, vehicle dynamics information, obtain map data representing road characteristics of roads of a geographical area, the map data comprising two-dimensional road map data, three- dimensional road map data associated with the roads, and road characteristics data, analyzing behavior of the vehicle based on the status information and the vehicle dynamics information, and computing a dynamic model for the vehicle by comparing the behavior of the vehicle to the map data; means for calculating based on the dynamic model of the vehicle, an effective travel distance of a wheel of the vehicle; means for calculating, based on the dynamic model of the vehicle, a momentary track width; means for calculating, based on the effective travel distance of a wheel of the vehicle and the momentary track width, a momentary direction of the vehicle; and means for calculating, based on the effective travel distance of the wheel and the momentary direction of the
— vehicle, a position of the vehicle.
The functionality of the apparatus 600 may be implemented by program instructions stored on a computer readable medium.
The program instructions, when executed, cause the computer, processor or the like, to perform the disclosed steps or functionality.
The N 25 — computer readable medium can be any medium, including non-transitory storage media, N on which the program is stored such as a Blu-Ray disc, DVD, CD, USB (flash) drive, 3 hard disc, server storage available via a network, a ROM, a PROM, an EPROM, an - EEPROM or a Flash memory having electronically readable control signals stored E thereon which cooperate or are capable of cooperating with a programmable computer N 30 system such that an embodiment of at least one of the inventive methods is performed. io An embodiment of the invention comprises or is a computer program comprising program > code for performing any of the methods described herein, when executed on a computer.
Another example of the invention comprises or is a computer readable medium 18 comprising a program code that, when executed by a processor, causes an apparatus to perform any of the methods described herein. In one embodiment, the apparatus 600 comprises a vehicle navigator apparatus. The vehicle navigator device may receive the status information from at least one information bus of the vehicle. Then, the vehicle navigator device may comprise the dynamical model of the vehicle, and the dynamical model may calculate the actual direction and speed of the vehicle based on the vehicle dynamics information and the map data. By applying the illustrated solution, the vehicle navigator apparatus always stays on a correct driving lane.
Further, the illustrated solution may also remove the problem of determining of a correct direction, for example, when driving in cities.
Although the subject matter has been described in language specific to structural features and/or acts, it is to be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are disclosed as examples of implementing the claims and other equivalent features and acts are intended to be within the scope of the claims.
— It will be understood that the benefits and advantages described above may relate to one example or may relate to several examples. The examples are not limited to those that solve any or all of the stated problems or those that have any or all of the stated benefits and advantages. It will further be understood that reference to 'an' item may refer to one or more of those items.
N 25 N The steps of the methods described herein may be carried out in any suitable order, or 3 simultaneously where appropriate. Additionally, individual blocks may be deleted from - any of the methods without departing from the spirit and scope of the subject matter E described herein. Aspects of any of the examples described above may be combined with N 30 aspects of any of the other examples described to form further examples without losing io the effect sought.
N 19
The term 'comprising' is used herein to mean including the method, blocks or elements identified, but that such blocks or elements do not comprise an exclusive list and a method or apparatus may contain additional blocks or elements.
Although the invention and its advantages have been described in detail with reference to specific features and embodiments thereof, it is evident that various changes, modifications, substitutions, combinations and alterations can be made thereto without departing from the spirit and scope of the invention as defined by the appended claims. The specification and drawings are, accordingly, to be regarded simply as an illustration of the invention as defined by the appended claims, and are contemplated to cover any and all modifications, variations, combinations or equivalents that fall within the scope of the present invention.
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Claims (16)

1. A —computer-implemented method for positioning a vehicle, characterized in that the method comprises: applying (400) a dynamic model (106) associated with the vehicle, the dynamic model (106) having been determined by obtaining (200) status information (100) from at least one information bus of the vehicle, the status information (100) providing real-time status information about the vehicle, obtaining (202) based on vehicle identity information, vehicle dynamics information (106), obtaining (206) map data (104) representing road characteristics of roads of a geographical area, the map data (104) comprising two-dimensional road map data, three-dimensional road map data associated with the roads, and road characteristics data, analyzing (206) behavior of the vehicle based on the status information (100) and the vehicle dynamics information (106), and computing (208) the dynamic model (106) for the vehicle by comparing the behavior of — the vehicle to the map data, the dynamic model (106) providing a presumed behavior of the vehicle in various driving conditions; calculating (402), based on the dynamic model (106) of the vehicle, an effective travel distance of a wheel of the vehicle; calculating (404), based on the dynamic model of the vehicle, a momentary track — width; calculating (406), based on the effective travel distance of a wheel of the vehicle and the momentary track width, a momentary direction of the vehicle; and calculating (408), based on the effective travel distance of the wheel and the momentary direction of the vehicle, a position of the vehicle. S >? | N
2. A method of claim 1, wherein the status information (100) comprises at 3 least one of a motor power, tyre speeds, a steering wheel position, vehicle system - information, traction control information, vehicle stabilization system information and E anti-lock braking system information. S 30 O
3. A method of claim 1 or 2, wherein obtaining, based on vehicle identity > information, vehicle dynamics information (102) comprises obtaining initial vehicle dynamics information associated with a model or type of the vehicle from at least one external data source. 21
4. A method of claim 1 or 3, wherein obtaining, based on vehicle identity information, vehicle dynamics information (102) comprises obtaining supplemental vehicle dynamics information based on real-time vehicle dynamics data obtained from the vehicle.
5. A method of any of claims 1 - 4, wherein the road characteristics data comprises at least one of road guality data, road irregularity data and data about local deviations associated with the road.
6. A method of any of claim 5, wherein the method further comprises combining the dynamic model (106) with the road characteristics data to enhance the calculation of the position of the vehicle.
7. A method of any of claims 1 - 6, wherein the three-dimensional road map data comprises road inclination data, and the method further comprises combining the dynamic model (106) with the road inclination data to enhance the calculation of the position of the vehicle.
8. An apparatus (600) for positioning a vehicle, the apparatus (600) comprising: at least one processor (602); at least one memory (604) connected to the at least one processor (602); characterized in that the at least one memory (604) stores program N 25 instructions that, when executed by the at least one processor (602), cause the apparatus N (600) to: 3 apply (400) a dynamic model (106) associated with the vehicle, the dynamic - model (106) having been determined by obtaining (200) status information (100) from at E least one information bus of the vehicle, the status information (100) providing real-time N 30 status information about the vehicle, obtaining (202), based on vehicle identity io information, vehicle dynamics information (102), obtaining (204) map data representing > road characteristics of roads of a geographical area, the map data (104) comprising two- dimensional road map data, three-dimensional road map data associated with the roads, and road characteristics data, analyzing (206) behavior of the vehicle based on the status 22 information (100) and the vehicle dynamics information (102), and computing (208) the dynamic model for the vehicle by comparing the behavior of the vehicle to the map data, the dynamic model (106) providing a presumed behavior of the vehicle in various driving conditions; calculate (402) based on the dynamic model (106) of the vehicle, an effective travel distance of a wheel of the vehicle; calculate (404), based on the dynamic model (106) of the vehicle, a momentary track width; calculate (406), based on the effective travel distance of a wheel of the vehicle and the momentary track width, a momentary direction of the vehicle; and calculate (408), based on the effective travel distance of the wheel and the momentary direction of the vehicle, a position of the vehicle.
9. An apparatus (600) for of claim 8, wherein the status information (100) comprises at least one of a motor power, tyre speeds, a steering wheel position, vehicle system information, traction control information, vehicle stabilization system information and anti-lock braking system information.
10. — An apparatus (600) of claim 8 or 9, wherein obtaining, based on vehicle identity information, vehicle dynamics information (102) comprises obtaining initial vehicle dynamics information associated with a model or type of the vehicle from at least one external data source.
11. — An apparatus (600) of claim 8 or 10, wherein obtaining, based on vehicle N 25 identity information, vehicle dynamics information (102) comprises obtaining N supplemental vehicle dynamics information based on real-time vehicle dynamics data 3 obtained from the vehicle. E 12. An apparatus (600) of any of claims 8 - 11, wherein the road characteristics N 30 data comprises at least one of road quality data, road irregularity data and data about local io deviations associated with the road.
N 23
13. An apparatus (600) of any of claim 12, wherein the at least one memory stores program instructions that, when executed by the at least one processor, cause the apparatus to: combine the dynamic model (1069 with the road characteristics data to enhance — the calculation of the position of the vehicle.
14. An apparatus (600) of any of claims 8 - 13, wherein the three-dimensional road map data comprises road inclination data, and the at least one memory (604) stores program instructions that, when executed by the at least one processor (602), cause the apparatus (600) to combine the dynamic model (106) with the road inclination data to enhance the calculation of the position of the vehicle.
15. A computer program comprising program code which when executed by at least one processor, performs the method of any of claims 1 — 7.
16. A computer-readable medium comprising a computer program comprising program code which when executed by at least one processor, performs the method of any of claims 1 — 7.
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