CONTROLLING A VEHICLE TO HAVE PREDICTABLE BEHAVIOR

A computer-implemented method controls a vehicle to have predictable behaviour after an unexpected event occurs even if the event causes there to be no safe trajectories at that particular instant. The method comprises an automated driver system, ADS, of the vehicle determines there are no safe trajectories responsive to the occurrence of the unexpected event, and also responsive to the occurrence of the unexpected event, dynamically reevaluates whether a current trajectory being followed by the vehicle meets a current set of safety criteria. A decision to follow the current re-evaluated trajectory is then made possible removing one or more consequences of the occurrence of the event from the safety criteria used to re-evaluate the current trajectory whilst maintaining all other previous safety criteria. This allows the vehicles ADS to maintain the path of the current trajectory whilst possibly changing the behaviour of the vehicle along that path to slow it down.