System and method for evacuation of a vehicle in condition

A system adapted for a vehicle to evacuate from a condition, the system comprising:

• one or more processors;
• and
• memory storing instructions that, when executed by the one or more processors, cause the system to perform:
• acquiring, using a first camera, current sensor data at the current location;
• detecting a condition at a current location based on a proportion of matching features in the current sensor data that match historical features of historical sensor data at the current location, wherein the detection of the condition comprises:
• determining an existence of the condition in response to:
• the proportion being less than a first threshold proportion, and
• a degree to which a subset of the matching features in the current sensor data match corresponding historical features of the historical sensor data being less than a first threshold degree;
• determining an absence of the condition in response to:
• the proportion exceeding a second threshold proportion, and
• the degree exceeding a second threshold degree, wherein the second threshold proportion is greater than the first threshold proportion and the second threshold degree is greater than the first threshold degree;
• and
• performing additional testing using a second camera or other sensor to determine the existence or the absence of the condition in response to:
• the proportion being between the first threshold proportion and the second threshold proportion, or
• the degree being between the first threshold degree and the second threshold degree;
• comparing the features identified by the current sensor data to the corresponding features from historical data at the current location to determine a type and a seriousness of the condition;
• confirming the type and the seriousness of the condition using a Lidar sensor of a different modality, wherein the confirmation of the seriousness is based on an extent to which the density of vehicles deviates from a first threshold density based on a historical density of vehicles at the current location and an extent to which the average speed of other vehicles deviates from a second threshold speed, wherein:
• the threshold density is dynamically determined based on a historical density of vehicles at the current location, and
• the threshold speed is dynamically determined based on a historical average speed of other vehicles at the current location;
• determining whether to evacuate the vehicle in response to confirming the type and the seriousness of the condition;
• selecting a mode of evacuation to evacuate the vehicle away from the condition in response to determining that the vehicle is to be evacuated, based on:
• a mode of evacuation having a highest historical success rate in addressing a condition of the determined seriousness, and
• a time consumed to complete the mode of evacuation;
• and
• evacuating the vehicle away from the condition according to the mode of evacuation in response to selecting the mode of evacuation.