## 4 Results
### Results in Emergency Driving Mode
#### 4.2.3 Simulation in Pro-SiVIC  
The next phase of testing the Automated Decision-Support Framework was again in the simulation, this time using two interconnected softwares Pro-SiVIC and RTMaps (In-tempora). In the two scenarios presented here, the ego-vehicle (the red car on Figure 19) started in Autonomous mode (using the virtual Co-Pilot presented in Section 3), relatively close to another vehicle (the white car), which did an emergency braking at 1 second, coming to a complete stop about 2 s later. The ego vehicle switched to Emergency mode (using the emergency trajectory planning algorithm presented in Section 4) and tried to avoid the collision. These scenarios were designed to show the limits of the Co-Pilot, and demonstrate how the emergency mode could help in these critical situations. Figure 18: Different scenarios of the ego-vehicle passing an intersection with a moving obstacle. Figure 20a,b show the trajectory plot for all cars in both scenarios. In the first one (Figure 20a), the left lane was available. Autonomous mode was engaged and the advice was given to change lane and keep the same speed in order to overtake the white vehicle. Unfortunately, the white vehicle applied emergency braking. The only way for the virtual Co-Pilot to avoid the collision was to change lanes and apply a braking maneuver. The two vehicles were too close and a collision seemed to be unavoidable. The emergency mode was activated and an abrupt steering wheel order was given in order to avoid the collision. In the advice matrix, the right column was fully inaccessible. Now only the left lane was green. In the second one (Figure 20b), the autonomous mode was engaged. The advice was given to stay in the same lane at the same speed. The left lane was unavailable due to the presence of a third vehicle (the black vehicle) moving in the opposite way. Unfortunately, the white vehicle applied emergency braking. The red vehicle tried to overtake the white vehicle but could not apply this maneuver due to the black vehicle. The only way was to switch to the emergency mode. The emergency mode advice was to use the emergency lane (or sidewalk) in order to avoid collision with both the black and the white vehicles. Figures 21 and 22 show the distance between the two cars, the speed of the vehicles 1 and 2, and the steering angle of the ego-vehicle, as a function of time during the simulation, for both scenarios. In all plots (as well as the trajectory plots above), the ego-vehicle mode is indicated by the color: green for Autonomous mode (Co-Pilot), and red for Emergency mode. The first scenario shows the limits of the lateral maneuvers of the Co-Pilot: the steering angle stayed cautious and rarely exceeded 7 degrees in Autonomous mode (see Figure 21), which was not enough given the urgency. In Emergency mode, the steering angle reached up to 20 degrees. Lane changing was normally a maneuver that the Co-Pilot was capable of doing, but not in such a short time interval. As soon as the obstacle was safely passed, the ego-vehicle switched back to Autonomous mode and converged toward a cautious and soft driving behavior. The second scenario aims to demonstrate the emergency algorithm's flexibility, its ability to ignore traffic rules and laws and come up with creative options that the general Co-Pilot would never consider. Since the two legal lanes were occupied, the Co-Pilot simply could not find a trajectory with no collisions. Figure 19: Example of critical scenarios. However, the Emergency mode was able to use the space between the white car and the sidewalk. Figure 21: Parameters of ego vehicle in first scenario: distance to obstacle (**left**), speed (**middle**) and steering angle (**right**). Figure 22: Parameters of ego vehicle in second scenario: distance to obstacle (**left**), speed (**middle**) and steering angle (**right**).