Robust Path-based Control for Emergency Vehicle Preemption

摘要

Emergency vehicle preemption shortens the travel time of specific vehicle but it always causes some congestion of which magnitude is unpredictable, especially when the intersection closes to saturation. Given this contradiction, a mechanism is proposed in this paper that a temporary green wave corridor is formed gradually along the path by the integration of coordination control, actuated control and intelligent speed adaption (ISA). The system does not require an extensive complicated collection of real time data. And it takes the abnormal behaviors of the vehicle into consideration. The simulator test demonstrates that the emergency vehicle can reach the destination in the optimal travel time with low impact on cross streets.