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.


    Access

    Download


    Export, share and cite



    Title :

    DETECTION OF A REARWARD APPROACHING EMERGENCY VEHICLE


    Additional title:

    ERKENNUNG EINES SICH RÜCKWÄRTS NÄHERNDEN EINSATZFAHRZEUGS
    DÉTECTION D'UN VÉHICULE DE SECOURS S'APPROCHANT À L'ARRIÈRE


    Contributors:

    Publication date :

    2021-10-20


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



    DETECTION OF A REARWARD APPROACHING EMERGENCY VEHICLE

    SVENSSON DANIEL / BJÄRMARK JOAKIM / LUNDGREN MALIN | European Patent Office | 2021

    Free access

    Detection of a rearward approaching emergency vehicle

    SVENSSON DANIEL / BJÄRMARK JOAKIM / LUNDGREN MALIN | European Patent Office | 2024

    Free access

    DETECTION OF REARWARD APPROACHING EMERGENCY VEHICLES

    SVENSSON DANIEL / BJARMARK JOAKIM / LUNDGREN MALIN | European Patent Office | 2021

    Free access

    Vehicle rearward monitoring system and vehicle rearward monitoring method

    TSUDA RYUTA | European Patent Office | 2025

    Free access

    VEHICLE REARWARD MONITORING SYSTEM AND VEHICLE REARWARD MONITORING METHOD

    TSUDA RYUTA | European Patent Office | 2023

    Free access