Automated detection of hazardous drifting vehicles by vehicle sensors

A method for determining an anomalous driving pattern of a neighboring vehicle with a vehicle camera of a present vehicle, comprising:

• receiving image data from the vehicle camera, the image data comprising image frames;
• scanning the image data for lane markings;
• determining if the lane markings are suitable for deriving a trajectory of the neighboring vehicle relative to the lane markings in response to the lane markings being detected in the scanned image data;
• deriving a reference trajectory from the detected lane markings in response to the detected lane markings being suitable for deriving a trajectory;
• deriving the reference trajectory from a motion of the present vehicle in response to lane markings not being detected in the scanned image data;
• determining a trajectory of the neighboring vehicle relative to the reference trajectory;
• deriving characteristic parameters of the determined trajectory;
• comparing the characteristic parameters with predetermined trajectory data;
• determining, based on the comparison, if the trajectory of the neighboring vehicle is an anomalous trajectory;
• and
• outputting an alert signal in response to the trajectory of the neighboring vehicle being an anomalous trajectory.