Patent ID: 11904856
Assignee: ZENUITY AB
Field: Transport (Mechanical engineering)
Classification: CPC B  G | IPC B  G

Claim 0:
1. A method performed by a behavioral analyzing system for detection of an emergency vehicle approaching a vehicle from behind, the method comprising:
deriving from a digital map a road configuration of a road along which the vehicle, based on ego-vehicle positions obtained with support from localization sensors on-board the vehicle, is at least one of determined to be and has been positioned;
determining unconventional driving criteria in view of the road configuration;
determining based on surrounding vehicle detection data of a first and at least a second surrounding vehicle, obtained with support from surrounding detecting sensors on-board the vehicle, derived at least one of continuously and intermittently along at least a road section of the road, a respective first and at least a second surrounding vehicle trajectory along at least the road section in view of the digital map; and
determining, when the first and the at least second surrounding vehicle trajectory at least one of respectively and combined fulfill at least a portion of the unconventional driving criteria, that an emergency vehicle is deemed to be approaching the vehicle from behind.