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

<div>Comparison of the EV travel time (first 100 experiments).</div>

Journal of Advanced Transportation

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Figure 7

Figure 7: A Collaborative Control Framework: Achieving Emergency Vehicle Priority While Minimizing Negative Impact on Ordinary Vehicles at Signalized Intersection 

Figure 7 | A Collaborative Control Framework: Achieving Emergency Vehicle Priority While Minimizing Negative Impact on Ordinary Vehicles at Signalized Intersection 