one or more processors configured to:

monitor an ongoing enforcement situation using one or more sensors provided to the vehicle;

determine, based on the monitoring and sensor data of the one or more sensors, that a foot pursuit has begun;

receive a location signal from a location-providing device carried by at least one entity involved in the situation;

determine a street route for the vehicle that follows movement of the entity by using streets travelable by the vehicle, based on a plurality of locations received from the location-providing device;

determine that a series of received locations of the plurality of locations indicate pursuit through an area defined as an area unsuitable for travel by the vehicle and responsively plan a street route intercept path based on at least one projected exit region of the entity from the area, the intercept path including coordinates placing the vehicle within a predefined distance of at least one location within the exit region;

include the street route intercept path in the street route; and

automatically and autonomously control the vehicle to follow the determined street route including the street route intercept path.