WO2020193860A1

WO2020193860A1 - Modelling dynamics of a vehicle

Info

Publication number: WO2020193860A1
Application number: PCT/FI2020/050188
Authority: WO
Inventors: Kimmo ERKKILÄ; Jarmo Leino
Original assignee: Eee Innovations Oy
Priority date: 2019-03-25
Filing date: 2020-03-25
Publication date: 2020-10-01
Also published as: FI20195221A1

Abstract

According to an aspect, there is provided a computer-implemented method for modelling dynamics of a vehicle. The method comprises obtaining 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, based on vehicle identity information, vehicle dynamics information (102); obtaining 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 associated with the roads, and road characteristics data; analyzing behavior of the vehicle based on the status information (100) and the vehicle dynamics information (102); and computing a dynamic model (106) for the vehicle by comparing the behavior of the vehicle to the map data (104).

Description

MODELLING DYNAMICS OL A VEHICLE

TECHNICAL FIELD

The present application relates to the field of computer systems, and more particularly to a computer-implemented method and an apparatus for modelling dynamics of a vehicle.

BACKGROUND

Each vehicle, for example, a car or a truck, has certain characteristics associated with the vehicle, for example, power, weight, wheelbase, track, suspension stiffness etc. Each of characteristics has an effect on how the vehicle behaves while it is used. Further, for example, in different weather conditions and in different road geometries the vehicle behaves differently.

There is a need for a solution that would enable to forecast the behavior of a vehicle in various driving conditions and to analyze the reasons for the unexpected actual behavior caused by several reasons.

SUMMARY

This summary is provided to introduce a selection of concepts in a simplified form that 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.

It is an object of the invention to provide a solution that would enable modelling dynamics 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 modelling dynamics of a vehicle is provided. The method comprises obtaining status information originating from at least one information bus of the vehicle, the status information providing real time status information about the vehicle during the use of the vehicle; obtaining, based on vehicle identity information, vehicle dynamics information providing characteristics associated with the vehicle; 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 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. The dynamic model may enable at least one of an estimation of the performance of the vehicle, observation of changes associated with the vehicle and observation of changes in driving conditions of the vehicle.

According to a second aspect, a computer-implemented method for modelling dynamics of a vehicle is provided. The method comprises 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 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.

In an implementation form of the first or 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 first or 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 first or 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 unique reference which can be used to match the vehicle history and calibration values together.

In a further implementation form of the first or second aspect, the method further comprises estimating at least one of performance of the vehicle and changes of the vehicle based on the dynamic model.

In a further implementation form of the first or second aspect, the method further comprises determining at least one of environment conditions associated with the vehicle and changes in the environment conditions associated with the vehicle based on the dynamic model.

In a further implementation form of the first or second aspect, the method further comprises calculating a supposed behavior of the vehicle in at least one driving condition based on the dynamic model.

In a further implementation form of the first or second 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.

According to a third aspect, an apparatus for modelling dynamics of 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 executed by the at least one processor, cause the apparatus to obtain status information originating from at least one information bus of the vehicle, the status information providing real-time status information about the vehicle during the use of the vehicle; obtain, based on vehicle identity information, vehicle dynamics information providing characteristics associated with the vehicle; 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 associated with the roads, and road characteristics data; analyze behavior of the vehicle based on the status information and the vehicle dynamics information; and compute a dynamic model for the vehicle by comparing the behavior of the vehicle to the map data. The dynamic model may enable at least one of an estimation of the performance of the vehicle, observation of changes associated with the vehicle and observation of changes in driving conditions of the vehicle.

According to a fourth aspect, an apparatus for modelling dynamics of 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 executed by the at least one processor, cause the apparatus to obtain status information from at least one information bus of the vehicle, the status information providing real-time status information about the vehicle; obtain, 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 associated with the roads, and road characteristics data; analyze behavior of the vehicle based on the status information and the vehicle dynamics information; and compute a dynamic model for the vehicle by comparing the behavior of the vehicle to the map data.

In an implementation form of the third or fourth 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 third or fourth 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. 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 third or fourth 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. In a further implementation form of the third or fourth aspect, the at least one memory stores program instructions that, when executed by the at least one processor, cause the apparatus to estimate at least one of performance of the vehicle and changes of the vehicle based on the dynamic model.

In a further implementation form of the third or fourth aspect, the at least one memory stores program instructions that, when executed by the at least one processor, cause the apparatus to determine at least one of environment conditions associated with the vehicle and changes in the environment conditions associated with the vehicle based on the dynamic model.

In a further implementation form of the third or fourth aspect, the at least one memory stores program instructions that, when executed by the at least one processor, cause the apparatus to calculate a supposed behavior of the vehicle in at least one driving condition based on the dynamic model.

In a further implementation form of the third or fourth 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.

According to a fifth 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 sixth 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 seventh aspect, an apparatus for modelling dynamics of a vehicle is provided. The apparatus comprises means for obtaining status information originating from at least one information bus of the vehicle, the status information providing real time status information about the vehicle during the use of the vehicle; means for obtaining, based on vehicle identity information, vehicle dynamics information providing characteristics associated with the vehicle; 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 associated with the roads, and road characteristics data; means for analyzing behavior of the vehicle based on the status information and the vehicle dynamics information; and means for computing a dynamic model for the vehicle by comparing the behavior of the vehicle to the map data. The dynamic model may enable at least one of an estimation of the performance of the vehicle, observation of changes associated with the vehicle and observation of changes in driving conditions of the vehicle.

According to an eighth aspect, an apparatus for modelling dynamics of a vehicle is provided. The apparatus comprises means for obtaining status information from at least one information bus of the vehicle, the status information providing real-time status information about the vehicle; means for 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 associated with the roads, and road characteristics data; means for analyzing behavior of the vehicle based on the status information and the vehicle dynamics information; and means for computing a dynamic model for the vehicle by comparing the behavior of the vehicle to the map data.

According to a ninth aspect, an apparatus for modelling dynamics of a vehicle is provided. The apparatus comprises at least one processor configured to obtain status information from at least one information bus of the vehicle, the status information providing real time status information about the vehicle; obtain, 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 associated with the roads, and road characteristics data; analyze behavior of the vehicle based on the status information and the vehicle dynamics information; and compute a dynamic model for the vehicle by comparing the behavior of the vehicle to the map data.

According to a tenth aspect, an apparatus for modelling dynamics of a vehicle is provided. The apparatus comprises at least one processor configured to obtain status information originating from at least one information bus of the vehicle, the status information providing real-time status information about the vehicle during the use of the vehicle; obtain, based on vehicle identity information, vehicle dynamics information providing characteristics associated with the vehicle; 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 associated with the roads, and road characteristics data; analyze behavior of the vehicle based on the status information and the vehicle dynamics information; and compute a dynamic model for the vehicle by comparing the behavior of the vehicle to the map data. The dynamic model may enable at least one of an estimation of the performance of the vehicle, observation of changes associated with the vehicle and observation of changes in driving conditions 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.

FIG. 2 illustrates a flow diagram of a method according to an aspect.

FIGS. 3A and 3B illustrate graphs associated with a turning vehicle.

FIG. 4 illustrates an example calculation of the change of a wheel normal load caused by the road longitudinal inclination in front and rear axles.

FIG. 5 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 specifically noted otherwise.

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 information that can be obtained or can originate from the vehicle itself, for example, via one or more information buses of the vehicle while the vehicle is in use. The vehicle status information may comprise, 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.

Vehicle dynamics information 102 may be obtained based on vehicle identity information, for example, from one or more external data sources. The vehicle dynamics information 102 may provide characteristics associated with the vehicle. The characteristics may comprise initial values, for example, for a mass of the vehicle, powertrain efficiency coefficient or map, a track width, a wheelbase, location of the center of gravity, and the moment of inertia along different axes of the vehicle and the moment of inertia associated with rotating masses. 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 map data 104 it is possible to determine a dynamic model for the vehicle. The dynamic model may then enable an estimation of the performance of the vehicle, observation of changes associated with the vehicle and observation of changes in driving conditions of the vehicle. Further, in an example embodiment, updated map data may be subsequently received and the updated map data may be used in determining or updating the dynamic model of the vehicle.

In an example embodiment, the dynamic model may be calculated and/or updated by a vehicle-mounted apparatus. In another example embodiment, the dynamic model may be calculated and/or updated by a network-based service that may receive information from one or more vehicles. Further, the illustrated solution enables a fusion of the vehicle status information 100 obtained from the vehicle and the map data. This means that the map data can be enriched based on the vehicle status information 100.

FIG. 2 illustrates a computer-implemented method for modelling dynamics of 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 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 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 parameters. These calibration parameters may represent how the vehicle behaves in various driving situations.

The dynamic model of the vehicle may involve a set of various parameters or calibration parameters, for example, one or more of the following: 1) a mass of the vehicle, 2) powertrain efficiency coefficient or map, 3) a track width, 4) a wheelbase, 5) location of 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 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

mr = powertrain coefficient

t = time

A = frontal area

C_w = airdrag coefficient

v = speed

s = distance

V₂ = speed at point 2

v₁ = speed at point 1 g = gravity

h₂ = altitude at point 2

h₁ = altitude at point 1

m_R = rolling resistance

m_A PACw

The mass of the vehicle may be estimated as follows:

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. Information about the moment of inertia along different axes of the vehicle and the moment of inertia associated with rotating masses 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.

Effective rolling circumferences of the wheels are calculated for each wheel by comparing the travelled distance to each other and to map data in chosen periods. For each wheel a computational dependency tied to the normal force of the wheel is generated. A momentary normal force of the wheel takes into account a dynamic mass shift of the vehicle, also taking into account road characteristics, for example, road inclinations to different directions. The effect of speed 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.

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

A starting value for wheel speed change per speed can be represented as follows:

The mass detection may be performed using the previously presented equations for the mass of the vehicle.

The following parameters may be obtained from a library to be used as starting values:

TW = track width

h = mass center height

WB = wheelbase

mass center location in x/y directions

turning inertia over x/y/z axles

TF = tyre and suspension flex in x direction (side flex)

TFC = type and suspension flex in z direction (compression flex)

The following equations can be formed, when reviewed together with FIGS. 3 A and 3B:

In the above equations, the following parameters were used:

g = road longitudinal inclination

Rc = turning circle

a = road side inclination

S_CC-F = Y distance from axle to mass center

F_LAT = lateral force

F_LONG = longitudinal force

s = driving distance

b = tuming/direction change

s_a = position change distance between A and B

q = direction

- X_POS = position on X axis

- Y_POS = position on Y axis

TW_dyn = dynamic track width

F_NRLSTAT = tyre normal force without speed (rear left)

F_NRRSTAT = tyre normal force without speed (rear right)

F_NRLDYN = tyre normal force with dynamic weight transfer (rear left) F_NRRDYN = tyre normal force with dynamic weight transfer (rear right)

- V_Ldyn = left wheel speed after dynamic corrections V_Rdyn = right wheel speed after dynamic corrections

FIG. 4 illustrates calculation of the change of wheel normal load caused by the road longitudinal inclination in front and rear axles. Based on FIG. 4, the following equations can be formed:

In an embodiment, also lateral inclination and longitudal and lateral accelerations ay be calculated similarly.

FIG. 5 illustrates a system diagram depicting an exemplary apparatus 500 including a variety of optional hardware and software components, shown generally at 512. Any components 512 in the apparatus can communicate with any other component, although not all connections are shown, for ease of illustration. The apparatus 500 can be any of a variety of computing devices (for example, a computer, a cloud based server etc.) and can allow two-way communications with one or more communications networks, such as the Internet.

The illustrated apparatus 500 can include one or more controllers or processors 502 (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 508 can control the allocation and usage of the components 512 and support for one or more application programs 510. The application programs can include common computing applications (e.g., server software), or any other computing application.

The illustrated apparatus 500 can include a memory 504. The memory 504 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 504 can be used for storing data and/or code for running the operating system 508 and the applications 510. 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 500 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 512 are not required or all-inclusive, as any components can deleted and other components can be added.

The apparatus 500 may be configured to implement the various features, examples and embodiments illustrated in FIGS. 1-4 partially or completely. The functionality described 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 502 may be configured by the program code which when executed performs the examples and embodiments of the operations and functionality described. Alternatively, or in addition, 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 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 500 may constitute means for obtaining status information from at least one information bus of the vehicle, the status information providing real-time status information about the vehicle; means for obtaining, based on vehicle identity information, vehicle dynamics information representing vehicle dynamics; means for 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 associated with the roads, and road characteristics data; means for analyzing behavior of the vehicle based on the status information and the vehicle dynamics information; and means for computing a dynamic model for the vehicle by comparing the behavior of the vehicle to the map data.

The functionality of the apparatus 500 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 computer readable medium can be any medium, including non-transitory storage media, on which the program is stored such as a Blu-Ray disc, DVD, CD, USB (flash) drive, 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 thereon which cooperate or are capable of cooperating with a programmable computer system such that an embodiment of at least one of the inventive methods is performed. 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 comprising a program code that, when executed by a processor, causes an apparatus to perform any of the methods described herein.

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.

The steps of the methods described herein may be carried out in any suitable order, or 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 described herein. Aspects of any of the examples described above may be combined with aspects of any of the other examples described to form further examples without losing the effect sought.

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.

Claims

1. A computer-implemented method for modelling dynamics of a vehicle, the method comprising:

obtaining status information originating from at least one information bus of the vehicle, the status information providing real-time status information about the vehicle during the use of the vehicle;

obtaining, based on vehicle identity information, vehicle dynamics information providing characteristics associated with the vehicle;

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 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, the dynamic model enabling at least one of an estimation of the performance of the vehicle, observation of changes associated with the vehicle and observation of changes in driving conditions of the vehicle.

2. A method of claim 1, wherein 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.

3. A method of claim 1 or 2, wherein obtaining, based on vehicle identity information, vehicle dynamics information comprises obtaining default initial vehicle dynamics information associated with a model or type of the vehicle from at least one external data source.

4. A method of claim 1 or 3, wherein 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.

5. A method of any of claims 1 - 4, further comprising:

estimating at least one of performance of the vehicle and changes of the vehicle based on the dynamic model.

6. A method of any of claims 1 - 5, further comprising:

determining at least one of environment conditions associated with the vehicle and changes in the environment conditions associated with the vehicle based on the dynamic model.

7. A method of any of claims 1 - 6, further comprising:

calculating a supposed behavior of the vehicle in at least one driving condition based on the dynamic model.

8. A method of any of claims 1 - 7, wherein the road characteristics data comprises at least one of road quality data, road irregularity data and data about local deviations associated with the road.

9. An apparatus for modelling dynamics of a vehicle, the system comprising: at least one processor;

at least one memory connected to the at least one processor;

wherein the at least one memory stores program instructions that, when executed by the at least one processor, cause the apparatus to:

obtain status information originating from at least one information bus of the vehicle, the status information providing real-time status information about the vehicle during the use of the vehicle;

obtain, based on vehicle identity information, vehicle dynamics information providing characteristics associated with the vehicle;

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 associated with the roads, and road characteristics data;

analyze behavior of the vehicle based on the status information and the vehicle dynamics information; and

compute a dynamic model for the vehicle by comparing the behavior of the vehicle to the map data, the dynamic model enabling at least one of an estimation of the performance of the vehicle, observation of changes associated with the vehicle and observation of changes in driving conditions of the vehicle.

10. An apparatus for of claim 9, wherein 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.

11. An apparatus for of claim 9 or 10, wherein 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.

12. An apparatus for of claim 9 or 11, wherein 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.

13. An apparatus for of any of claims 9 -12, the at least one memory stores program instructions that, when executed by the at least one processor, cause the apparatus to:

estimate at least one of performance of the vehicle and changes of the vehicle based on the dynamic model.

14. An apparatus for of any of claims 9 - 13, the at least one memory stores program instructions that, when executed by the at least one processor, cause the apparatus to:

determine at least one of environment conditions associated with the vehicle and changes in the environment conditions associated with the vehicle based on the dynamic model.

15. An apparatus for of any of claims 9 -14, the at least one memory stores program instructions that, when executed by the at least one processor, cause the apparatus to: calculate a supposed behavior of the vehicle in at least one driving condition based on the dynamic model.

16. An apparatus for of any of claims 9 - 15, wherein the road characteristics data comprises at least one of road quality data, road irregularity data and data about local deviations associated with the road.

17. A computer program comprising program code which when executed by at least one processor, performs the method of any of claims 1 - 8.

18. 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 - 8.