A Collaborative Control Framework: Achieving Emergency Vehicle Priority While Minimizing Negative Impact on Ordinary Vehicles at Signalized Intersection

<div>Traffic conflict between all phases.</div>

Journal of Advanced Transportation

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Figure 4

Figure 4: A Collaborative Control Framework: Achieving Emergency Vehicle Priority While Minimizing Negative Impact on Ordinary Vehicles at Signalized Intersection 

Figure 4 | A Collaborative Control Framework: Achieving Emergency Vehicle Priority While Minimizing Negative Impact on Ordinary Vehicles at Signalized Intersection 