The present disclosure relates to a method performed by a behavioral analyzing system (1) for detection of an emergency vehicle (2) approaching a vehicle (3) from behind. The behavioral analyzing system derives (1001) from a digital map (6) a road configuration (70) of a road (7) along which the vehicle, based on ego-vehicle positions (321) obtained with support from localization sensors (32) on-board the vehicle, is determined to be - and/or have been - positioned. The behavioral analyzing system further determines (1002) unconventional driving criteria in view of the road configuration. Moreover, the behavioral analyzing system determines (1003) based on surrounding vehicle detection data of a first (51) and at least a second surrounding vehicle (52), obtained with support from surrounding detecting sensors (33) on-board the vehicle, derived continuously and/or intermittently along at least a road section (71) of the road, a respective first (61) and at least a second surrounding vehicle trajectory (62) along at least the road section in view of the digital map. The behavioral analyzing system furthermore determines (1004), when the first and the at least second surrounding vehicle trajectory respectively and/or combined fulfill at least a portion of the unconventional driving criteria, that an emergency vehicle is deemed to be approaching the vehicle from behind.The disclosure also relates to a behavioral analyzing system in accordance with the foregoing, a vehicle and/or off-board entity (4) comprising such a behavioral analyzing system, and a respective corresponding computer program product and non-volatile computer readable storage medium.
DETECTION OF A REARWARD APPROACHING EMERGENCY VEHICLE
ERKENNUNG EINES SICH RÜCKWÄRTS NÄHERNDEN EINSATZFAHRZEUGS
DÉTECTION D'UN VÉHICULE DE SECOURS S'APPROCHANT À L'ARRIÈRE
20.10.2021
Patent
Elektronische Ressource
Englisch
DETECTION OF A REARWARD APPROACHING EMERGENCY VEHICLE
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