Detection of an emergency vehicle approaching from behind

Abstract

The present disclosure relates to detection of an emergency vehicle approaching from behind. The present disclosure relates to a method performed by a behavior analysis system for detecting an emergency vehicle approaching a vehicle from behind. The behavior analysis system derives a road configuration of a road along which the vehicle is determined to be located and / or has been located for a period of time. The behavior analysis system further determines an atypical driving criterion in dependence on the road configuration. Furthermore, the behavior analysis system determines a respective first surrounding vehicle trajectory and at least a second surrounding vehicle trajectory along at least a road segment. The behavior analysis system further determines that an emergency vehicle is considered to be approaching the vehicle from behind. The present disclosure also relates to a behavior analysis system according to the foregoing, a vehicle and / or an off-board entity comprising such a behavior analysis system, and a corresponding computer program product and a non-transitory computer-readable storage medium.

Description

Technical Field

[0001] This disclosure relates to the detection of emergency vehicles approaching a vehicle from behind. Background Technology

[0002] More and more modern vehicles are equipped with Advanced Driver Assistance Systems (ADAS) to improve vehicle safety and, more generally, road safety. ADAS (which can be represented by, for example, Adaptive Cruise Control (ACC), Collision Avoidance Systems, Forward Collision Warning, etc.) are electronic systems that assist the driver while driving. To function as intended, ADAS can rely on input from multiple data sources, such as image sensors, cameras, ultrasonic sensors, LiDAR, radar, image processing, and / or computer vision.

[0003] Furthermore, in the not-too-distant future, autonomous driving systems, or automatic driving systems (often referred to as AD systems), will largely permeate modern vehicles. An AD system can be defined as a complex combination of various components of a system in which the perception, decision-making, and operation of the vehicle are performed by electronic devices and mechanics rather than by a human driver. This includes handling the vehicle and recognizing its surroundings. While the automated system is able to control the vehicle, it allows the human operator to leave all responsibility to the system. AD ​​systems typically combine various sensors to perceive the vehicle's surroundings, such as radar, lidar, ultrasonic sensors, cameras, navigation and / or positioning systems (e.g., GNSS such as GPS, odometers, and / or inertial measurement units), on which advanced control systems can interpret the sensor information to identify appropriate navigation paths and obstacles and / or relevant landmarks.

[0004] Just like drivers, vehicles equipped with ADAS and / or AD systems must act in accordance with traffic regulations. One such regulation could be the obligation to give way to emergency vehicles approaching from behind, for example by partially or completely moving out of the lane and possibly out of the road to leave enough space for the emergency vehicle to pass.

[0005] However, detecting approaching emergency vehicles from behind can prove difficult, especially in heavy and / or slightly congested traffic (where there may be many vehicles on the road behind the ego vehicle). Proposed methods for emergency vehicle detection include hazard light detection in a rear-facing camera and / or sound analysis using an external microphone to detect an approaching emergency vehicle. A drawback of the first method is that detection can be delayed due to obstruction from other vehicles. Furthermore, hazard light detection is also problematic, especially when the color of the lights is significant. Additionally, different countries may have different color schemes for emergency vehicles, which could add to the complexity. When it comes to microphone methods, several factors complicate matters, including the difficulty of installing such sensors, high noise levels at higher speeds, and the unlikely prospect of such sensors being part of a mass-produced vehicle lineup in the foreseeable future. Summary of the Invention

[0006] Therefore, one object of the embodiments herein is to provide a method for determining, in an improved and / or alternative manner, that an emergency vehicle may be approaching a vehicle from behind.

[0007] The above objectives can be achieved through the subject matter disclosed herein. Embodiments are set forth in the appended claims, the following description, and the accompanying drawings.

[0008] The disclosed subject matter relates to a method for detecting an emergency vehicle approaching a vehicle from behind, executed by a behavior analysis system. The behavior analysis system derives the road configuration of a road based on a digital map, wherein, based on the vehicle's position obtained with the support of positioning sensors on the vehicle, the vehicle is determined to be positioned along the road and / or has been along the road for a period of time. The behavior analysis system also determines an unconventional driving judgment criterion based on the road configuration. Furthermore, based on surrounding vehicle detection data of a first surrounding vehicle and at least a second surrounding vehicle, the behavior analysis system determines corresponding first and at least second surrounding vehicle trajectories along at least a road segment, according to the digital map, wherein the surrounding vehicle detection data is obtained with the support of surrounding detection sensors on the vehicle and is derived continuously and / or intermittently along at least a road segment. The behavior analysis system also determines that the emergency vehicle is considered to be approaching a vehicle from behind when the first and at least second surrounding vehicle trajectories respectively and / or jointly satisfy at least a portion of the unconventional driving judgment criteria.

[0009] The disclosed subject matter also relates to a behavior analysis system for and / or adapted to detect emergency vehicles approaching from behind. The behavior analysis system includes a road configuration derivation unit for and / or adapted to derive a road configuration based on a digital map, wherein the vehicle is determined to be positioned along the road and / or has been along the road for a period of time based on its own position obtained with the support of positioning sensors on the vehicle. The behavior analysis system also includes a judgment criterion determination unit for and / or adapted to determine an irregular driving judgment criterion based on the road configuration. Furthermore, the behavior analysis system includes a trajectory determination unit for and / or adapted to determine a corresponding first trajectory based on a digital map and at least a second surrounding vehicle, based on surrounding vehicle detection data of a first surrounding vehicle and at least a second surrounding vehicle, according to a digital map, wherein the surrounding vehicle detection data is obtained with the support of surrounding detection sensors on the vehicle and is derived continuously and / or intermittently, at least along a road segment. The behavior analysis system also includes a criterion satisfaction determination unit, which is used and / or adapted to determine that an emergency vehicle is considered to be approaching a vehicle from behind when the trajectory of a first surrounding vehicle and at least a second surrounding vehicle meet and / or jointly meet at least a portion of the unconventional driving criterion.

[0010] Additionally, the disclosed subject matter relates to a vehicle and / or external entity that includes a behavior analysis system as described herein.

[0011] Furthermore, the disclosed subject matter relates to a computer program product stored on a computer-readable medium or carrier wave, the computer program product comprising a computer program containing computer program code means arranged to cause a computer or processor to perform the steps of the behavior analysis system described herein.

[0012] The disclosed subject matter also relates to a non-volatile computer-readable storage medium having the computer program product stored thereon.

[0013] Therefore, a method is introduced according to which the behavior analysis of surrounding vehicles forms the basis for determining the presence of an approaching emergency vehicle. That is, since the road configuration is derived from a digital map (based on the vehicle's position obtained with the support of onboard positioning sensors, the vehicle is determined to be positioned along the road and / or has been along the road for a period of time), the current (and / or most recently) location of the vehicle can be determined along which road and / or on which road it is located, with the support of onboard positioning sensors adapted to obtain one or more vehicle positions. Based on this, the road characteristics of the road can be derived from a digital map that encompasses and includes information related to said road. Thus, the behavior analysis system can be made aware of the road characteristics, for example, in relation to road markings, lane markings, shoulders, roadsides, etc. Furthermore, since unconventional driving criteria are determined based on the road configuration, one or more criteria that can thus be considered unusual vehicle driving and / or positioning when considering the characteristics of the road are determined, such as crossing road markings, leaving the shoulder and / or roadside, etc. Furthermore, that is, based on surrounding vehicle detection data of a first surrounding vehicle and at least a second surrounding vehicle obtained continuously and / or intermittently along a road segment, supported by surrounding detection sensors on the vehicle, the corresponding first surrounding vehicle trajectory and at least a second surrounding vehicle trajectory are determined according to a digital map. With the support of onboard surrounding detection sensors adapted to repeatedly capture surrounding vehicles substantially behind the vehicle over a period of time, the travel paths of two or more surrounding vehicles are determined along at least a segment of the road on the digital map. Therefore, the behavior analysis system tracks how surrounding vehicles are (and / or have been) traveling along the road in recent times and maps this to the digital map. Furthermore, since an emergency vehicle is considered to be approaching from behind a vehicle when the trajectory of a first surrounding vehicle and at least a second surrounding vehicle are determined to satisfy at least a portion of the unconventional driving judgment criteria, the behavior analysis system can evaluate the trajectories of surrounding vehicles substantially behind the vehicle based on unconventional driving judgment criteria applicable to road configurations along or along a road for a period of time where the vehicle's position has been determined. The presence of an emergency vehicle approaching from behind is established if the corresponding trajectories and / or the combined trajectories satisfy one or more of the unconventional driving judgment criteria. In other words, by utilizing the introduced concept, the potential appearance of an emergency vehicle from behind can be detected through behavioral analysis of the determined digital map driving trajectories of surrounding vehicles compared to the unconventional driving judgment criteria (e.g., involving crossing or nearly crossing, for example, road markings, which can be understood as one or more surrounding vehicles operating outside the route).

[0014] Therefore, a method is provided for determining, in an improved and / or alternative manner, that an emergency vehicle may be approaching a vehicle from behind.

[0015] The technical features and advantages of the above methods will be discussed in more detail below. Attached Figure Description

[0016] Various aspects of the non-limiting embodiments, including specific features and advantages, will be readily understood from the following detailed description and accompanying drawings, in which:

[0017] Figures 1a-1b A schematic diagram of an exemplary behavior analysis system according to an embodiment of the present disclosure is shown;

[0018] Figure 2 This is a schematic block diagram illustrating an exemplary behavior analysis system according to embodiments of the present disclosure; and

[0019] Figure 3 This is a flowchart illustrating an exemplary method performed by a behavior analysis system according to an embodiment of the present disclosure. Detailed Implementation

[0020] Non-limiting embodiments of the present disclosure will now be described more fully below with reference to the accompanying drawings, in which presently preferred embodiments of the disclosure are illustrated. However, the present disclosure may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Similar reference characters refer to similar elements throughout. Dashed lines in some boxes in the drawings indicate that these elements or actions are optional rather than mandatory.

[0021] Below, a method is disclosed according to an embodiment of the present paper relating to detecting an emergency vehicle approaching from behind, according to which behavioral analysis of surrounding vehicles forms the basis for determining the presence of an emergency vehicle approaching from behind.

[0022] Now refer to the attached diagram and for details. Figure 1a -b and Figure 2 Schematic diagrams and schematic block diagrams of an exemplary behavior analysis system 1 according to embodiments of the present disclosure are shown respectively. The behavior analysis system 1 is used to detect an emergency vehicle 2 approaching a vehicle 3 from behind. Although the emergency vehicle 2 can be positioned at any distance behind the vehicle 3, Figure 1a For illustrative purposes, emergency vehicle 2 is shown in the rear view of vehicle 3.

[0023] The behavior analysis system 1 may be at least partially included in the vehicle 3. Additionally or alternatively, the behavior analysis system 1 may be at least partially included in an external entity 4. The external entity 4 (which is “external” from the perspective of the vehicle 3) may refer to any entity (e.g., known) adapted and / or configured for external and / or offline processing and / or analysis, such as a cloud and / or automotive cloud, a cloud network suitable for cloud-based storage, a backend system, and / or one or more servers. Therefore, the behavior analysis system 1 may accordingly be either included in the vehicle 3 or at least partially included in the external entity 4.

[0024] The phrase "behavioral analysis system" can refer to "surrounding vehicle analysis system," while "for detecting approaching emergency vehicles" can refer to "for anticipating approaching emergency vehicles," "for detecting events of approaching emergency vehicles," "for determining the presence of approaching emergency vehicles," "for determining the possible presence of approaching emergency vehicles," "for determining that an emergency vehicle is considered to be approaching," and / or "concern about approaching emergency vehicles." On the other hand, the phrase "approaching a vehicle from behind" can refer to "approaching a vehicle from behind within a predetermined distance." Such an optional predetermined distance can be any distance, for example, as long as 500 meters or even 3000 meters. According to one example, the phrase "behavioral analysis system for detecting emergency vehicles approaching from behind" can refer to "a vehicle's behavioral analysis system for detecting emergency vehicles approaching from behind."

[0025] The term "vehicle" generally refers to any manned or unmanned vehicle, such as engine-driven or electric vehicles, such as cars, trucks, vans, minivans, buses, motorcycles, and / or tractors. Furthermore, "emergency vehicle 2" (which may be represented, for example, by an ambulance, police car, fire truck, etc.) can refer to (for example, known) any vehicle designated and authorized to respond to an emergency (such as a life-threatening situation). On the other hand, the exemplary vehicle marked "3," which may be referred to as "this vehicle," can refer to "autonomous and / or at least partially autonomous vehicle," "unmanned and / or at least partially unmanned vehicle," "automatic and / or at least partially automatic vehicle," and / or "automatic and / or at least partially automatic vehicle." Vehicle 3 can therefore include and / or be adapted to support ADAS and / or AD system 31, i.e., advanced driver assistance systems and / or automatic driving systems. Such an exemplary ADAS and / or AD system 31 can refer to any ADAS and / or AD system, for example, systems known in the art and / or yet to be developed.

[0026] Vehicle 3 and / or optional ADAS or AD system 31 may accordingly include, be equipped with, and / or have optional perception systems (not shown) on the vehicle, which are adapted to estimate the surrounding environment of vehicle 3 and subsequently adapted to estimate the world landscape of the surrounding environment, for example, with the support of commonly known digital maps such as high-definition (HD) maps. Such exemplary perception systems may refer to any known systems and / or functions, for example, included in one or more electronic control modules (ECUs) and / or nodes of vehicle 3 and / or ADAS or AD system 31, adapted and / or configured to interpret sensory information relevant to the driving of vehicle 3 to identify, for example, obstacles, lanes, relevant signs, appropriate navigation paths, etc. The exemplary perception system (which may be adapted to support, for example, sensor fusion, tracking, localization, etc.) can therefore be adapted to rely on sensory information. Such exemplary sensory information may, for example, be derived from one or more positioning sensors 32 and / or surrounding detection sensors 33 included in and / or disposed on vehicle 3. The positioning sensor 32 and / or the surrounding detection sensor 33 can be represented by any sensor adapted to sense and / or perceive the whereabouts and / or surrounding environment of the vehicle 3, and can refer, for example, to one or more navigation or positioning systems (e.g., GNSS (e.g., GPS), odometer, inertial measurement unit, radar, lidar, ultrasonic, and / or camera). It can be noted that the positioning sensor 32 and the surrounding detection sensor 33 can refer to the same and / or similar sensors, at least to some extent.

[0027] exist Figure 1a The diagram further illustrates that any number of surrounding vehicles 5 are essentially driving behind vehicle 3, and these surrounding vehicles 5 can be represented by any vehicle.

[0028] The behavior analysis system 1 is adapted and / or configured, for example, by means of a road configuration deriving unit 101, to derive the road configuration 70 of road 7 from a digital map 6, wherein, based on the vehicle position 321 obtained with the support of positioning sensors 32 on the vehicle 3, the vehicle 3 is determined to be located along road 7 and / or has been along road 7 for a period of time. Thus, with the support of one or more onboard positioning sensors 32 adapted to obtain one or more positions 321 of the vehicle 3, it is possible to determine which road 7 the vehicle 3 is currently along and / or has recently been along and / or is located on, thereby deriving the road characteristics 70 of road 7 from the digital map 6, which covers and includes information related to said road 7. Therefore, the behavior analysis system 1 can know, for example, the road characteristics 70 of said road 7 related to road markings, lane markings, shoulders, roadsides, etc.

[0029] Road configuration 70 (which may be pre-stored in digital map 6, for example) can be derived from map 6 in any (e.g., known) feasible manner and refers to any characteristic of road 7, such as road markings, lane markings, shoulders, roadsides, etc. Although in the example Figure 1a The road 7 shown is straight, but road 7 can be represented by any type of road of any size, curved and / or straight and / or combinations thereof, wide or narrow, etc. Additionally, the segments of road 7 covered by road configuration 70 can have arbitrary lengths. Furthermore, digital map 6 can refer to any (e.g., known) digital map, such as a high-definition (HD) map or any equivalent and / or successor thereof. Digital map 6 can also refer to a map on vehicle 3, or two or more distributed maps, such as a first digital map located on vehicle 3 and a second digital map located in external entity 4 (if the behavior analysis system is at least partially included in said entity 4). With the support of the onboard positioning sensor 32 discussed above, the vehicle position 321, which can refer to one or more vehicle positions, can be obtained and / or has been obtained in any (e.g., known) manner.

[0030] The phrase "derive road configuration from digital map" can refer to "derive road configuration from one or more digital maps," and can also refer to "determine road configuration from digital map" and / or "derive pre-stored road configuration from digital map." On the other hand, the phrase "road configuration" can refer to "road characteristics," while "digital map" can refer to "the vehicle's digital map and / or external digital map." Furthermore, "road configuration of a road" can refer to "the road configuration of a road that can be predetermined" and / or "the road configuration of a portion and / or section of a road." The phrase "based on the vehicle's position obtained with the support of positioning sensors" can refer to "based on one or more vehicle positions obtained with the support of positioning sensors," while "positioning sensors" can similarly refer to "one or more positioning sensors," and can also refer to "positioning sensors and / or surrounding detection sensors" and / or "positioning system and / or surrounding detection sensors." Furthermore, "obtained with the support of positioning sensors" can refer to "derived with the support of positioning sensors," "obtained continuously and / or intermittently with the support of positioning sensors," and / or "obtained within a predetermined time period with the support of positioning sensors." On the other hand, according to one example, the phrase "based on the vehicle's position" can refer to "based on the vehicle's position and orientation" and / or "based on the vehicle's trajectory given a digital map." Furthermore, the phrase "determined to be located along and / or has been along for a period of time" can refer to "determined to be located along and / or has recently been along for a period of time" and / or "determined to be located along and / or has been along for a predetermined time range." Such optional time ranges can extend back to any amount of time considered feasible for the discussed implementation and / or situation, for example, 30 seconds is exemplified. Additionally, according to one example, the phrase "determined to be located along and / or has been along for a period of time" can refer to "determined to be driving and / or has been driving for a period of time."

[0031] For example, with the aid of the judgment criterion determination unit 102, the behavior analysis system 1 is adapted and / or configured to determine unconventional driving judgment criteria based on road configuration 70. Thus, one or more judgment criteria are established that can be considered unusual vehicle driving and / or positioning when taking into account the characteristics of road 7, such as crossing road markings, driving off the shoulder and / or curb, etc.

[0032] Unconventional driving judgment criteria can be defined by any one or more arbitrary judgment criteria that are considered relevant to the implementation in question based on road characteristics 70, such as partial or complete vehicle crossing of road markings, partial or complete vehicle leaving the shoulder and / or curb, etc. Additionally, unconventional driving judgment criteria may specify quantitative thresholds, such as the minimum number of vehicles considered to be engaging in unconventional driving, time-range thresholds (such as restrictions related to the time period when such unconventional driving may have occurred), and / or dependency thresholds (such as one or more judgment criterion levels depending on whether other unconventional driving judgment criteria and / or thresholds are met). Furthermore, unconventional driving judgment criteria can be predetermined and / or adjustable. Additionally or alternatively, unconventional driving judgment criteria can be variable, for example, trainable with the support of a neural network.

[0033] The phrase "determine unconventional driving judgment criteria" can refer to "store unconventional driving judgment criteria," while "unconventional driving judgment criteria" can refer to "unconventional operation judgment criteria," "unconventional driving judgment criteria," "difference exceeding judgment criteria," "at least a first unconventional driving judgment criterion," "one or more unconventional driving judgment criteria," "unconventional driving threshold," and / or "predeterminable and / or trainable unconventional driving judgment criteria." On the other hand, the phrase "according to the road configuration" can refer to "taking into account and / or considering the road configuration" and / or "based on the road configuration."

[0034] For example, with the aid of trajectory determination unit 103, behavior analysis system 1 is adapted and / or configured to determine, based on surrounding vehicle detection data of a first surrounding vehicle 51 and at least a second surrounding vehicle 52, a corresponding first surrounding vehicle trajectory 61 and at least a second surrounding vehicle trajectory 62 along at least a segment 71 of road 7, according to digital map 6. This surrounding vehicle detection data is obtained with the support of surrounding detection sensors 33 on vehicle 3 and is derived continuously and / or intermittently along at least a segment 71 of road 7. Thus, with the support of onboard surrounding detection sensors 33 adapted to repeatedly capture surrounding vehicles 5 substantially behind vehicle 3 over a period of time, the driving trajectories 61, 62 of two or more surrounding vehicles 51, 52 are determined at least along a segment 71 of digital map road 7. Therefore, behavior analysis system 1 tracks how surrounding vehicles 5 are traveling along road 7 and / or how they have been traveling along road 7 for a period of time and maps this to digital map 6.

[0035] Surrounding vehicle detection data can be captured and / or has been captured in any (e.g., known) feasible manner by the surrounding detection sensor 33 discussed above. Furthermore, surrounding vehicle detection data can be captured and / or has been captured repeatedly at any frequency feasible for the discussed implementation and / or situation, and also within any (e.g., predetermined) time period. Additionally, road segment 71 can refer to any segment of road 7 of any length. It can be noted that road segment 71 according to the first surrounding vehicle trajectory 61 may differ from road segment 71 according to at least the second surrounding vehicle trajectory 62; that is, the corresponding road segment 71 for different trajectories 61, 62 may refer to slightly different segments of road 7 or segments that only partially overlap.

[0036] It should also be understood that, although in the exemplary cases Figure 1b Only two surrounding vehicle trajectories 61 and 62 are shown, but any feasible number of surrounding vehicle trajectories following any number of surrounding vehicles 5 can be determined based on the digital map 6 along road segment 71. Nevertheless, in the exemplary case... Figure 1b In the first surrounding vehicle trajectory 61, it is shown that the first surrounding vehicle 51 has crossed the left-hand road marking in an exemplary manner, while the second surrounding vehicle trajectory 62 shows that the second surrounding vehicle 52 has crossed the right-hand road marking in an exemplary manner.

[0037] The phrase "determined based on surrounding vehicle detection data" can mean "stored based on surrounding vehicle detection data" and / or "mapped based on surrounding vehicle detection data." The phrase "surrounding vehicle detection data" can mean "surrounding vehicle detection information" and / or simply "detection data," while "of the first surrounding vehicle and at least the second surrounding vehicle" can mean "of two or more surrounding vehicles" and / or "of the first surrounding vehicle and at least the second surrounding vehicle substantially behind the vehicle." On the other hand, the phrase "obtained with the support of surrounding detection sensors" can mean "derived with the support of surrounding detection sensors" and / or "obtained with the support of surrounding detection sensors that capture substantially backwards," while "derived continuously and / or intermittently" can mean "obtained continuously and / or intermittently" and / or "derived continuously and / or intermittently within a predetermined time period." Furthermore, "at least along the road segment" can refer to "at least a section along the road," while "corresponding first surrounding vehicle trajectory and at least second surrounding vehicle trajectory" can refer to "two or more surrounding vehicle trajectories," "corresponding first surrounding vehicle historical trajectory and at least second surrounding vehicle historical trajectory," and / or "corresponding first and at least second surrounding vehicle travel paths, tracks, and / or trend trails (snail trails)." Additionally, the phrase "at least along the road segment according to the digital map" can refer to "at least along the road segment in the digital map."

[0038] For example, by means of the judgment criterion satisfaction determination unit 104, the behavior analysis system 1 is adapted and / or configured to determine that an emergency vehicle 2 is considered to be approaching vehicle 3 from behind when a first surrounding vehicle trajectory 61 and at least a second surrounding vehicle trajectory 62 respectively and / or jointly satisfy at least a portion of the unconventional driving judgment criteria. Thus, by evaluating the trajectories 61, 62 of surrounding vehicles 5 substantially behind vehicle 3 according to unconventional driving judgment criteria applicable to a road configuration 70 along or for a period of time on a road 7 where vehicle 3 has been located, the behavior analysis system 1 can determine the presence of an approaching emergency vehicle 2 from behind if the respective trajectories 61, 62 and / or combined trajectories 61, 62 satisfy one or more of the unconventional driving judgment criteria. That is, by utilizing the introduced concept, the potential appearance of an emergency vehicle 2 from behind can be detected through behavior analysis of the determined digital map driving paths 61, 62 of the surrounding vehicles 5 compared to unconventional driving judgment criteria (e.g., driving distance) (e.g., involving crossing or nearly crossing, for example, road markings, which can be translated into one or more exit routes of the surrounding vehicles 5). The more surrounding vehicles 5 are detected, and the more surrounding vehicle trajectories 61, 62 are subsequently evaluated, the higher the confidence level can be in determining that the emergency vehicle 2 is believed to be approaching the vehicle 3 from behind.

[0039] In the example Figure 1b In this example, it is assumed that the first unconventional driving judgment criterion specifies that the surrounding vehicle trajectories 61, 62 cross or nearly cross the road markings, and it is also assumed that the second mandatory unconventional driving judgment criterion specifies that at least two trajectories 61, 62 cross or nearly cross the road markings. Then, the first unconventional driving judgment criterion and the second unconventional driving judgment criterion are both satisfied by the first surrounding vehicle trajectory 61 and at least the second surrounding vehicle trajectory 62, thereby the emergency vehicle 3 is considered to be approaching vehicle 3 from behind.

[0040] As described above, satisfying at least some of the unconventional driving judgment criteria can refer to satisfying a single judgment criterion or a combination of different judgment criteria, such as at least a predetermined number of different judgment criteria and / or combinations of different judgment criteria considered relevant to the discussed implementation method and / or situation. Furthermore, the surrounding vehicle trajectories 61, 62 can be evaluated one by one based on at least a portion of the unconventional driving judgment criteria. Additionally or alternatively, the trajectories 61, 62 can be evaluated in combination based on at least a portion of the unconventional driving judgment criteria. For example, if multiple trajectories 61, 62 are evaluated in combination, the judgment criteria can be set differently, for example, using another threshold and / or level.

[0041] The phrase “determined that an emergency vehicle is considered to be approaching” can refer to “determined that an emergency vehicle is detected as approaching” and / or “determined that an emergency vehicle is approaching”, while “when [...] satisfies [...]” can refer to “if [...] satisfies,” “suppose [...] satisfies,” and / or “if [...] satisfies.” Furthermore, the phrase “when the first and at least second surrounding vehicle trajectories respectively satisfy and / or jointly satisfy [...]” can refer to “when at least corresponding portions of the first and at least second surrounding vehicle trajectories respectively satisfy and / or jointly satisfy [...]” and / or “when at least corresponding predeterminable and / or selected portions of the first and at least second surrounding vehicle trajectories respectively satisfy and / or jointly satisfy [...]”. On the other hand, the phrase “respectively and / or jointly” can refer to “respectively and / or in combination,” while “satisfying at least a portion of the driving judgment criteria” can refer to “satisfying one or more of the unconventional driving judgment criteria” or “satisfying at least a predeterminable and / or selected portion of the driving judgment criteria.” Furthermore, the phrase “satisfying separately and / or jointly satisfying at least a portion” can refer to “being identified separately and / or jointly as satisfied during evaluation, comparison, analysis and / or behavioral analysis.”

[0042] Optionally, for example by means of an optional confirmation transmission unit 105, the behavior analysis system 1 can be adapted and / or configured to transmit emergency vehicle confirmation data 8 when the emergency vehicle 2 is believed to be approaching the vehicle 3 from behind. Thus, if one or more emergency vehicle judgment criteria are met, an emergency vehicle confirmation 8 reflecting that criterion can be transmitted from the behavior analysis system 1. Therefore, the behavior analysis system 1 notifies when the emergency vehicle 2 is believed to be approaching the vehicle 3 from behind. The phrase "transmit emergency vehicle confirmation data" can refer to "transmitting emergency vehicle confirmation data digitally, electronically, wirelessly, and / or wiredly" and / or "transmitting emergency vehicle confirmation data at the appropriate time and / or when it is deemed feasible and / or safe," while "emergency vehicle confirmation data" can refer to "one or more emergency vehicle confirmation signals" and / or "emergency vehicle confirmation messages."

[0043] Emergency vehicle confirmation data 8 may optionally be transmitted to a control system 34 adapted to control the ADAS and / or AD system 31 of vehicle 3. This emergency vehicle confirmation data 8 includes instructions for initiating one or more evasive maneuvers and / or at least partially disabling the ADAS and / or AD system 31. Thus, instructions may be provided to the control system 34 to prompt the ADAS and / or AD system 31 to initiate maneuvers to give way to a perceived approaching emergency vehicle 2 from behind, and / or at least disable the ADAS or AD system 31 to at least temporarily prohibit one or more further activations. The control system 34 may refer to, for example, any known system and / or function included in one or more electronic control modules and / or nodes of vehicle 3 that is adapted and / or configured to at least partially control the ADAS and / or AD system 31. The phrase "control system" may refer to "onboard control system," "ADAS / AD control system," and / or "disable system," while "adapted to control control system" may refer to "control system adapted to at least partially control." On the other hand, the phrase "including instructions for initiating [...]" can refer to "prompting initiation" and / or "including instructions for initiating [...]", while "instructions for initiating one or more evasion maneuvers and / or at least partially disabling the ADAS or AD system" can refer to "instructions for initiating one or more evasion maneuvers and / or at least partially disabling the ADAS or AD system at the appropriate time and / or when it is deemed feasible and / or safe." Furthermore, "disabling the ADAS or AD system" can refer to "prohibiting and / or restricting the functionality of the ADAS or AD system."

[0044] Additionally or alternatively, emergency vehicle confirmation data 8 may optionally be transmitted to the user interface 35 of vehicle 3, the emergency vehicle confirmation data 8 including instructions to present one or more instructions relating to an approaching emergency vehicle to the occupants of vehicle 3. Thus, instructions can be provided to the user interface 35 of vehicle 3 to prompt the occupants of vehicle 3 (e.g., their driver) to take appropriate action, such as veer off the road and / or take over driving of vehicle 3 from a possible onboard ADAS or AD system 31. The phrase “user interface” may refer to “user interface control system”, and according to one example, also to “a user interface including one or more of a display, speaker, and haptic interface”. Additionally, the phrase "including an instruction to present one or more instructions relating to an approaching emergency vehicle to the occupants of the vehicle" can refer to "a prompt to present one or more instructions relating to an approaching emergency vehicle to the occupants of the vehicle" and / or "an instruction including a prompt to present one or more instructions relating to an approaching emergency vehicle to the occupants of the vehicle," while "an instruction to present one or more instructions relating to an approaching emergency vehicle to the occupants of the vehicle" can refer to "an instruction to present one or more instructions relating to an approaching emergency vehicle to the occupants of the vehicle at an appropriate time and / or when it is deemed feasible and / or safe." Furthermore, the phrase "instructions relating to an approaching emergency vehicle" can refer to "instructions related to the belief that an emergency vehicle is approaching from behind."

[0045] Additionally or alternatively, emergency vehicle confirmation data 8 may optionally be transmitted to nearby vehicles (not shown), including instructions relating to the identified emergency vehicle 2. Thus, information reflecting the identified emergency vehicle 2 can be provided to another vehicle, such as this vehicle 3 and / or vehicles near the identified emergency vehicle 2. Vehicle confirmation data 8 may be transmitted in any (e.g., known) manner (e.g., from and / or via the previously discussed entity 4 and / or via vehicle-to-vehicle communication). Where deemed feasible, the transmission time may be arbitrarily chosen, e.g., immediately or at a deemed appropriate time. The latter may, for example, refer to waiting for a high-bandwidth connection, such as a Wi-Fi connection. The phrase "nearby vehicles" may refer to "vehicles other than the vehicle mentioned," "vehicles other than this vehicle," and / or "vehicles within a predetermined distance of the vehicle and / or the identified emergency vehicle and / or traveling in the same direction as the vehicle and / or the identified emergency vehicle." On the other hand, the phrase "including instructions relating to the identified emergency vehicle" may refer to "instructions relating to the identified emergency vehicle."

[0046] Optionally, the judgment criterion satisfaction determination unit 104 is adapted to determine that the emergency vehicle 2 is considered to be approaching the vehicle 3 from behind when the first surrounding vehicle trajectory 61, at least the second surrounding vehicle trajectory 62, and at least one supplementary trajectory 91 of the supplementary surrounding vehicle 9 along the road segment 71 obtained from the supplementary surrounding detection vehicle 10 which is determined to be located along the road 7 and / or has been along the road 7 for a period of time respectively satisfy and / or jointly satisfy at least a portion of the unconventional driving judgment criteria. Thus, in addition to the first surrounding vehicle trajectory 61 and at least the second surrounding vehicle trajectory 62, at least one other trajectory 91 is evaluated separately and / or in combination with the first surrounding vehicle trajectory 61 and at least the second surrounding vehicle trajectory 62 to determine whether the emergency vehicle 2 is considered to be approaching from behind. At least one other trajectory 91 represents the travel path of at least one vehicle 9 along at least a portion of the road segment 71 observed continuously and / or intermittently by vehicles 10 other than the vehicle 3 along the road 7 currently or within a predetermined time period (e.g., in the past 1, 5, or 10 minutes). Therefore, by considering one or more other trajectories 91 of the vehicle 9 tracked by one or more supplementary surrounding detection vehicles 10 that are relatively close to the vehicle 3 in time and place, it is possible to determine with greater confidence whether the emergency vehicle 2 is considered to be approaching. It can be noted that the road segment 71 according to at least one trajectory 91 may differ from the corresponding road segment 71 according to the first surrounding vehicle trajectory 61 and at least the second surrounding vehicle trajectory 62; that is, the corresponding road segment 71 for different trajectories 61, 62, 91 may refer to slightly different segments or only partially overlapping segments of road 7. Furthermore, supported by an entity-based digital map 6, the one or more supplementary trajectories 91 of one or more supplementary surrounding vehicles 9 and / or the detection data of the supplementary surrounding vehicles 9 from which the trajectories 91 can be obtained by the supplementary surrounding detection vehicles 10, at least partially, in or via the vehicle-exterior entity 4 discussed above, can be evaluated, processed, transmitted, and / or processed in any other feasible manner. Additionally or alternatively, the behavior analysis system 1 may utilize, for example, the surrounding detection vehicle 10 via vehicle-to-vehicle communication to obtain the one or more supplementary trajectories 91, and / or may have already utilized, for example, the surrounding detection vehicle 10 via vehicle-to-vehicle communication to obtain the one or more supplementary trajectories 91.

[0047] Optionally, the judgment criterion determination unit 102 can be adapted to determine the non-routine driving judgment criteria based on road configuration 70 and also based on one or more detected and / or reported anomalies along road segment 71. Thus, when determining what should be considered non-routine driving based on road configuration 70, exceptions to said road configuration 70 can be considered, such as one or more obstacles along road 7, temporary road construction, accidents, etc. One or more anomalies can be detected and / or reported and / or have been detected and / or reported in any (e.g., known) feasible manner, such as being detected by the vehicle 3 itself with the support of one or more ambient detection sensors 33, transmitted from entity 4 discussed above, and / or obtained via vehicle-to-vehicle communication. Furthermore, one or more detected and / or reported anomalies can be detected by observing the trajectories of multiple vehicles traveling along road 7, for example in entity 4, with the support of an external digital map 6, continuously and / or intermittently determining their positions (from which the corresponding trajectories along road 7 can be derived), and / or may have already been detected by observing the trajectories of multiple vehicles traveling along road 7, continuously and / or intermittently determining their positions, with the support of an external digital map 6. Potential anomalies along road segment 71 can be identified from the trajectories of multiple vehicles. The phrase “detected and / or reported anomalies” can refer to “known anomalies,” “detected and / or reported anomalies affecting the accessibility of the road,” and / or “detected and / or reported irregularities and / or obstacles,” while “detected and / or reported anomalies along the road segment” according to one example can refer to “detected and / or reported anomalies along the road segment obtained from the vehicle and / or from another vehicle identified as traveling along the road and / or having traveled along the road for a period of time.”

[0048] Optionally, the criteria for determining unconventional driving according to road configuration 70 may include trajectories such as a first surrounding vehicle trajectory 61, at least a second surrounding vehicle trajectory 62, and / or at least a supplementary trajectory 91, which trajectories, individually and / or in combination, cross and / or approach the road and / or lane markings of road configuration 70 to a predetermined extent. Additionally or alternatively, the criteria for determining unconventional driving according to road configuration 70 may include trajectories such as a first surrounding vehicle trajectory 61, at least a second surrounding vehicle trajectory 62, and / or at least a supplementary trajectory 91, which trajectories, individually and / or in combination, deviate from one or more reference trajectories 60 associated with road configuration 70 to a predetermined extent. Reference trajectories 60 may refer to any number of potential trajectories considered to represent conventional driving along road 7, and therefore may refer to many possible trajectories. The phrase “reference trajectory” can refer to “normal driving trajectory” and / or “nominal trajectory”, while “crossing and / or approaching road and / or lane markings” can refer to “at least partially crossing and / or entering within a predetermined distance of said road and / or lane markings” and / or “crossing and / or approaching road and / or lane markings, roadside and / or shoulder”. On the other hand, the phrase “reference trajectory related to road configuration” can refer to “a reference trajectory related to road configuration and / or considered suitable for road configuration”.

[0049] Optionally, at least one of the one or more reference trajectories 60 may be at least partially based on the vehicle trajectory 3211 along road segment 71 derived from the obtained vehicle position 321. Additionally or alternatively, at least one of the one or more reference trajectories 60 may be at least partially based on the auxiliary trajectory 111 along road segment 71 derived from the vehicle position of the auxiliary vehicle 11. Thus, dynamic input in the form of recent and / or historical travel along road 7 can form the basis of one or more reference trajectories 60. For example, supported by an entity-based digital map 6, the auxiliary trajectory 111 of the auxiliary vehicle 11 and / or the position determination and / or positioning data of the auxiliary vehicle 11 from which the trajectory 111 can be derived can be at least partially evaluated, processed, transmitted, and / or processed in any other feasible manner in or via the external entity 4 discussed above. Additionally or alternatively, the behavior analysis system 1 may obtain the auxiliary trajectory 111 via vehicle-to-vehicle communication with, for example, an auxiliary vehicle 11, and / or may have already obtained the auxiliary trajectory 111 via vehicle-to-vehicle communication with, for example, an auxiliary vehicle 11. The phrase "vehicle trajectory" may refer to "the vehicle's driving path, track, and / or trend track." On the other hand, "auxiliary vehicle" may refer to "a vehicle other than the vehicle itself" and / or "an auxiliary vehicle having onboard positioning sensors adapted to continuously and / or intermittently detect the vehicle's position," while "auxiliary trajectory" may refer to "the trajectory of the auxiliary vehicle" and / or "a pre-stored auxiliary trajectory." Furthermore, the phrase "derived from the vehicle position of the auxiliary vehicle" may refer to "derived from the vehicle position of the vehicle obtained with the support of the onboard positioning sensors" and / or "derived from the vehicle position of the auxiliary vehicle, which is determined to be along the road and / or has been along the road for a period of time."

[0050] As in Figure 2(A schematic block diagram illustrating an exemplary behavior analysis system 1 according to an embodiment of this disclosure) further shows that the behavior analysis system 1 includes a road configuration determination unit 101, a judgment criterion determination unit 102, a trajectory determination unit 103, a judgment criterion satisfaction determination unit 104, and an optional confirmation transmission unit 105, all of which have been described in more detail above. Additionally, the embodiments herein for detecting an emergency vehicle 2 approaching a vehicle 3 from behind can be implemented by one or more processors (such as processor 106, denoted herein as a CPU) and computer program code for performing the functions and actions of the embodiments herein. The program code can also be provided as a computer program product, for example in the form of a data carrier carrying computer program code for executing the embodiments herein when loaded into the behavior analysis system 1. One such carrier may be in the form of a CD-ROM and / or a hard disk drive, but other data carriers are also feasible. The computer program code can also be provided as plain program code on a server and downloaded to the behavior analysis system 1. The behavior analysis system 1 may also include a memory 107 comprising one or more memory units. Memory 107 may be arranged to store, for example, information, and also to store data, configurations, schedules, and applications for executing the methods described herein when executed in the behavior analysis system 1. For example, computer program code may be implemented as firmware stored in flash memory 107 of embedded processor 106, and / or wirelessly downloaded, for example, from an external server. Additionally, road configuration determination unit 101, judgment criterion determination unit 102, trajectory determination unit 103, judgment criterion satisfaction determination unit 104, optional confirmation transmission unit 105, optional processor 106, and / or optional memory 107 may be at least partially included in one or more nodes (e.g., the ECU of vehicle 3), and / or at least partially included in an external entity (e.g., a vehicle cloud) such as entity 4 discussed above. Those skilled in the art will also understand that the units 101, 102, 103, 104, and 105 described above may refer to a combination of analog and digital circuitry, and / or one or more processors configured with software and / or firmware stored, for example, in a memory such as memory 107, which, when executed by one or more processors such as processor 106, as described herein in combination with... Figure 3 It performs as described. One or more of these processors and other digital hardware may be included in a single application-specific integrated circuit (ASIC), or several processors and various digital hardware may be distributed across several separate components, either individually packaged or assembled into a system-on-a-chip (SoC).

[0051] exist Figure 2The illustration further shows an exemplary vehicle 3, which includes an ADAS and / or AD system 31, one or more positioning sensors 32, one or more ambient detection sensors 33, a control system 34, and a user interface 35. Figure 2 The diagram also shows all the exemplary exterior entities 4, digital map 6, supplementary vehicle 10, and auxiliary vehicle 11 that have been discussed in more detail above.

[0052] Figure 3 This is a flowchart illustrating an exemplary method performed by a behavior analysis system 1 according to an embodiment of the present disclosure. The method is used to detect an emergency vehicle 2 approaching a vehicle 3 from behind. Exemplary methods that can be repeated continuously include... Figure 1a and Figures 1b to 2 With the support of [the relevant authority], one or more of the following actions are discussed. Furthermore, where applicable, actions may be taken in any suitable order and / or one or more actions may be performed simultaneously and / or in an alternating order. For example, action 1003 may be performed before and / or simultaneously with actions 1001 and 1002.

[0053] Action 1001

[0054] In action 1001, behavior analysis system 1, for example with the support of road configuration deriving unit 101, derives road configuration 70 for road 7 from digital map 6, wherein, based on the vehicle position 321 obtained with the support of positioning sensor 32 on vehicle 3, vehicle 3 is determined to be along road 7 and / or has been along road 7 for a period of time.

[0055] Action 1002

[0056] In action 1002, behavior analysis system 1, for example with the support of judgment criterion determination unit 102, determines the non-routine driving judgment criterion based on road configuration 70.

[0057] Optionally, the criteria for determining unconventional driving based on road configuration 70 may include trajectories that traverse and / or approach road and / or lane markings of road configuration 70 and / or deviate from one or more reference trajectories 60 associated with road configuration 70 to a predetermined degree.

[0058] Additionally, optionally, at least one of the one or more reference tracks 60 may be based at least in part on the vehicle track 3211 along the road segment 71 derived from the obtained vehicle position 321 and / or on the auxiliary track 111 along the road segment 71 derived from the vehicle position of the auxiliary vehicle 11 obtained from the auxiliary vehicle 11.

[0059] Optionally, the action 1002 of determining the criteria for unconventional driving may include determining the criteria for unconventional driving based on the road configuration 70 and also based on one or more detected and / or reported anomalies along the road segment 71.

[0060] Action 1003

[0061] In action 1003, the behavior analysis system 1, for example with the support of the trajectory determination unit 103, determines, based on the surrounding vehicle detection data of the first surrounding vehicle 51 and at least the second surrounding vehicle 52, the corresponding first surrounding vehicle trajectory 61 and at least the second surrounding vehicle trajectory 62 along at least the road segment 71 according to the digital map 6, wherein the surrounding vehicle detection data is obtained with the support of the surrounding detection sensor 33 on the vehicle 3 and is obtained continuously and / or intermittently along at least the road segment 71 of the road 7.

[0062] Action 1004

[0063] In action 1004, when the first surrounding vehicle trajectory 61 and at least the second surrounding vehicle trajectory 62 respectively meet and / or jointly meet at least a portion of the unconventional driving judgment criteria, the behavior analysis system 1 determines, for example with the support of the judgment criteria satisfaction determination unit 104, that the emergency vehicle 2 is considered to be approaching the vehicle 3 from behind.

[0064] Optionally, the action 1004 of determining that the emergency vehicle 2 is considered to be approaching the vehicle 3 from behind may include: determining that the emergency vehicle 2 is considered to be approaching the vehicle 3 from behind when the first surrounding vehicle trajectory 61, at least the second surrounding vehicle trajectory 62, and at least one supplementary trajectory 91 of the supplementary surrounding vehicle 9 along the road segment 71 obtained from the supplementary surrounding detection vehicle 10 which is determined to be along the road 7 and / or has been along the road 7 for a period of time respectively meet and / or jointly meet at least a portion of the unconventional driving judgment criteria.

[0065] Action 1005

[0066] In optional action 1005, behavior analysis system 1 may, for example with the support of optional confirmation transmission unit 105, transmit emergency vehicle confirmation data 8 when emergency vehicle 3 is believed to be approaching vehicle 2 from behind.

[0067] Optionally, emergency vehicle confirmation data 8 may be transmitted to control system 34, which is adapted to control the ADAS or AD system 31 of vehicle 3. The emergency vehicle confirmation data 8 includes instructions for initiating one or more evasive maneuvers and / or at least partially disabling the ADAS or AD system 31.

[0068] Alternatively or additionally, emergency vehicle confirmation data 8 may be optionally transmitted to the user interface 35 of vehicle 3, the emergency vehicle confirmation data 8 including instructions to present one or more instructions related to the approaching emergency vehicle 2 to the occupants of vehicle 3.

[0069] Additionally, or alternatively, confirmation data 8 may be optionally transmitted to nearby emergency vehicles, the confirmation data 8 including indications related to the identified emergency vehicle 2.

[0070] Those skilled in the art will recognize that this disclosure is by no means limited to the preferred embodiments described above. Rather, many modifications and variations are possible within the scope of the appended claims. It should also be noted that the drawings are not necessarily to scale, and the dimensions of some features may have been exaggerated for clarity. Rather, the focus is on illustrating the principles of the embodiments described herein. Furthermore, in the claims, the word "comprising" does not exclude other elements or steps, and the indefinite article "a" or "an" does not exclude a plurality.

Claims

1. A method for detecting an emergency vehicle (2) approaching a vehicle (3) from behind, performed by a behavior analysis system (1), the method comprising: The road configuration (70) of road (7) is derived from the digital map (6) (1001), wherein the vehicle (3) is determined to be located along the road (7) and / or has been along the road (7) for a period of time based on the vehicle position (321) obtained with the support of the positioning sensor (32) on the vehicle (3); Based on the road configuration (70), determine the (1002) non-standard driving criteria; Based on the surrounding vehicle detection data of a first surrounding vehicle (51) and at least a second surrounding vehicle (52), the corresponding first surrounding vehicle trajectory (61) and at least a second surrounding vehicle trajectory (62) of at least a segment (71) along the road (7) are determined (1003) according to the digital map (6), wherein the surrounding vehicle detection data is obtained with the support of a surrounding detection sensor (33) on the vehicle (3) and is derived continuously and / or intermittently at least along the segment (71); and When the first surrounding vehicle trajectory (61) and the at least second surrounding vehicle trajectory (62) respectively meet and / or jointly meet at least a portion of the unconventional driving judgment criteria, it is determined (1004) that the emergency vehicle (2) is considered to be approaching the vehicle (3) from behind. The unconventional driving criteria based on the road configuration (70) include trajectories that respectively and / or jointly cross and / or approach the road markings and / or lane markings of the road configuration (70) and / or deviate from one or more reference trajectories (60) associated with the road configuration (70) to a predetermined degree.

2. The method according to claim 1, further comprising: When the emergency vehicle (2) is believed to be approaching the vehicle (3) from behind, emergency vehicle confirmation data (8) is transmitted (1005) to the following: Control system (34), which is adapted to control the advanced driver assistance system or automated driving system (31) of the vehicle (3), the emergency vehicle confirmation data (8) including instructions for initiating one or more evasive maneuvers and / or at least partially disabling the advanced driver assistance system or automated driving system (31); and / or The user interface (35) of the vehicle (3), the emergency vehicle confirmation data (8) includes instructions to present one or more instructions related to the approaching emergency vehicle (2) to the occupants of the vehicle (3); and / or Nearby vehicles, the emergency vehicle confirmation data (8) includes indications related to the identified emergency vehicle (2).

3. The method according to claim 1 or 2, wherein, Determining (1004) that an emergency vehicle (2) is considered to be approaching the vehicle (3) from behind includes: determining that the emergency vehicle (2) is considered to be approaching the vehicle (3) from behind when the first surrounding vehicle trajectory (61), the at least second surrounding vehicle trajectory (62), and at least one supplementary trajectory (91) of a supplementary surrounding vehicle (9) along the road segment (71) respectively meet and / or jointly meet at least a portion of the unconventional driving judgment criteria, wherein the at least one supplementary trajectory (91) is obtained from a supplementary surrounding detection vehicle (10) that is determined to be located along the road (7) and / or has been along the road (7) for a period of time.

4. The method according to any one of claims 1 to 3, wherein, Determining the unconventional driving judgment criteria (1002) includes: determining the unconventional driving judgment criteria based on the road configuration (70) and also based on one or more detected and / or reported anomalies along the road (7).

5. The method according to claim 1, wherein, At least one of the one or more reference trajectories (60) is based at least in part on the vehicle trajectory (3211) along the road segment (71) and / or the auxiliary trajectory (111) along the road segment (71) obtained from the auxiliary vehicle (11), the vehicle trajectory (3211) being derived from the obtained vehicle position (321), and the auxiliary trajectory (111) being derived from the vehicle position of the auxiliary vehicle (11).

6. A behavior analysis system (1) for detecting an emergency vehicle (2) approaching a vehicle (3) from behind, said behavior analysis system comprising: The road configuration generation unit (101) is used to generate (1001) the road configuration (70) of the road (7) based on the digital map (6), wherein the vehicle (3) is determined to be located along the road (7) and / or has been along the road (7) for a period of time based on the vehicle position (321) obtained with the support of the positioning sensor (32) on the vehicle (3). The judgment criterion determination unit (102) is used to determine (1002) the unconventional driving judgment criterion based on the road configuration (70); A trajectory determination unit (103) is configured to determine (1003) corresponding first surrounding vehicle trajectories (61) and at least second surrounding vehicle trajectories (62) along at least a segment (71) of the road (7) based on surrounding vehicle detection data of a first surrounding vehicle (51) and at least a second surrounding vehicle (52) in accordance with the digital map (6), wherein the surrounding vehicle detection data is obtained with the support of a surrounding detection sensor (33) on the vehicle (3) and is derived continuously and / or intermittently at least along the segment (71); and The judgment criterion satisfaction determination unit (104) is used to determine (1004) that the emergency vehicle (2) is considered to be approaching the vehicle (3) from behind when the first surrounding vehicle trajectory (61) and the at least second surrounding vehicle trajectory (62) respectively satisfy and / or jointly satisfy at least a part of the unconventional driving judgment criteria. The unconventional driving criteria based on the road configuration (70) include trajectories that respectively and / or jointly cross and / or approach the road markings and / or lane markings of the road configuration (70) and / or deviate from one or more reference trajectories (60) associated with the road configuration (70) to a predetermined degree.

7. The behavior analysis system (1) according to claim 6 further includes: The confirmation transmission unit (105) is used to transmit (1005) emergency vehicle confirmation data (8) to the following when the emergency vehicle (2) is believed to be approaching the vehicle (3) from behind: Control system (34), which is adapted to control the advanced driver assistance system (ADAS) or automated driving (AD) system (31) of the vehicle (3), wherein the emergency vehicle confirmation data (8) includes indications for initiating one or more evasive maneuvers and / or at least partially disabling the ADAS or AD system (31); and / or The user interface (35) of the vehicle (3), the emergency vehicle confirmation data (8) includes instructions to present one or more instructions related to the approaching emergency vehicle (2) to the occupants of the vehicle (3); and / or Nearby vehicles, the emergency vehicle confirmation data (8) includes indications related to the identified emergency vehicle (2).

8. The behavior analysis system (1) according to claim 6 or 7, wherein, The judgment criterion satisfaction determination unit (104) is adapted to determine that an emergency vehicle (2) is considered to be approaching the vehicle (3) from behind when the first surrounding vehicle trajectory (61), the at least second surrounding vehicle trajectory (62), and at least one supplementary trajectory (91) of the supplementary surrounding vehicle (9) along the road segment (71) respectively satisfy and / or jointly satisfy at least a portion of the unconventional driving judgment criterion, wherein the at least one supplementary trajectory (91) is obtained from a supplementary surrounding detection vehicle (10) that is determined to be located along the road (7) and / or has been along the road (7) for a period of time.

9. The behavior analysis system (1) according to any one of claims 6 to 8, wherein, The judgment criterion determination unit (102) is adapted to determine the non-routine driving judgment criterion based on the road configuration (70) and also based on one or more detected and / or reported anomalies along the road segment (71).

10. The behavior analysis system (1) according to claim 6, wherein, At least one of the one or more reference trajectories (60) is based at least in part on the vehicle trajectory (3211) along the road segment (71) and / or the auxiliary trajectory (111) along the road segment (71) obtained from the auxiliary vehicle (11), the vehicle trajectory (3211) being derived from the obtained vehicle position (321), and the auxiliary trajectory (111) being derived from the vehicle position of the auxiliary vehicle (11).

11. A vehicle (3) comprising the behavior analysis system (1) according to any one of claims 6 to 10.

12. A computer program product stored on a computer-readable medium or carrier wave, the computer program product comprising a computer program including computer program code means arranged to cause a computer or processor to perform the steps of the method according to any one of claims 1 to 5.

13. A non-volatile computer-readable storage medium having a computer program product according to claim 12 stored thereon.

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