Systems and methods for detecting and compensating for changing self-driving vehicle performance

A method for improving operation of a self-driving vehicle based on continuous behavioural observations, the method comprising:

• generating a vehicle dynamic model for the self-driving vehicle from a master dynamic model representing an expected master behaviour of one or more representative self-driving vehicles, the vehicle dynamic model being adapted from the master dynamic model based on a set of vehicle data collected from an initial observation period of the self-driving vehicle to represent an expected individual behaviour of the self-driving vehicle;
• and
• causing at least one processor of the self-driving vehicle to, while in operation:
• collect, using at least one sensor coupled to the self-driving vehicle and in communication with the at least one processor, operation data associated with the operation of the self-driving vehicle;
• determine whether the operation data is indicative of an unexpected behaviour in relation to the expected individual behaviour of the self-driving vehicle as defined by the vehicle dynamic model;
• and
• in response to determining the operation data is indicative of the unexpected behaviour:
• evaluate the operation data to determine whether the unexpected behaviour is within an acceptable operation range;
• and
• in response to determining the operation data is within the acceptable operation range, update the vehicle dynamic model to incorporate the operation data corresponding to the unexpected behaviour, otherwise, determine an operational response to the unexpected behaviour at the self-driving vehicle.