{
  "$type": "site.standard.document",
  "description": "A method performed by a behavioral analyzing system for detection of an emergency vehicle approaching a vehicle from behind. The system derives a road configuration of a road along which the vehicle, based on ego-vehicle position obtained with support from localization sensors on-board the vehicle…",
  "path": "/patents/1302601",
  "publishedAt": "2021-10-21T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60W30/0956",
    "Zenuity AB"
  ],
  "textContent": "A method performed by a behavioral analyzing system for detection of an emergency vehicle approaching a vehicle from behind. The system derives a road configuration of a road along which the vehicle, based on ego-vehicle position obtained with support from localization sensors on-board the vehicle, is or was positioned. The system further determines unconventional driving criteria in view of the road configuration. The system determines 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, a respective first and at least a second surrounding vehicle trajectory along at least the road section. The system determines, when the first and the at least second surrounding vehicle trajectory fulfill at least a portion of the unconventional driving criteria, that an emergency vehicle is deemed to be approaching the vehicle from behind.",
  "title": "DETECTION OF A REARWARD APPROACHING EMERGENCY VEHICLE"
}