| CPC B60W 30/18163 (2013.01) [B60W 30/09 (2013.01); B60W 30/0956 (2013.01); B60W 30/165 (2013.01); G06N 20/00 (2019.01); G06V 20/584 (2022.01); G08G 1/166 (2013.01); G08G 1/167 (2013.01); B60W 2554/80 (2020.02); B60W 2556/65 (2020.02)] | 17 Claims |
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1. A method, comprising:
based on host vehicle sensor data, determining host vehicle velocities and target vehicle velocities, at respective times within a predefined time interval, and then determining a velocity risk assessment based on comparing the host vehicle velocities and the target vehicle velocities;
based on the host vehicle sensor data, determining host vehicle paths and target vehicle paths within the predefined time interval, and determining a path risk assessment based on a ratio of (1) a number of target vehicle paths that match the host vehicle paths to (2) a number of the host vehicle paths;
based on the host vehicle sensor data, determining host vehicle lane selections and target vehicle lane selections within the predefined time interval, and determine a lane risk assessment based on a ratio of (1) a number of target vehicle lane selections that match the host vehicle lane selections to (2) a number of the host vehicle lane selections;
determining a following risk assessment for the target vehicle relative to the host vehicle based on the velocity risk assessment, the path risk assessment, and the lane risk assessment;
determining the target vehicle is following the host vehicle based on the following risk assessment being above a threshold;
then transmitting data identifying the target vehicle to a remote computer and actuating vehicle components to operate the host vehicle to a location specified by the remote computer; and
transmitting, from the remote computer, a message to an assistance vehicle in response to receiving the data identifying the target vehicle, the message instructing the assistance vehicle to operate to the location.
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