A Collaborative Control Framework: Achieving Emergency Vehicle Priority While Minimizing Negative Impact on Ordinary Vehicles at Signalized Intersection
Table 2
Control variables.
Variables
Meanings
Lane
The minimum passage time of EV through the intersection area
The passage time of OV with uniform acceleration to the maximum speed and then traveling at a constant speed through the inner area
The positions where EV and OV conflict
The timing of conflict between EV and OV
The positions where conflicts occur between EV and COV (the earliest position where EV can change lane)
Lane changing in the range of EV
The positions of EV, OV, and COV at time t
The velocities of EV, OV, and COV at time t
The accelerations of EV, OV, and COV at time t
Phase
Total travel time for OV
Green light start time and duration for the EPP
Green light start time and duration for the ordinary signal phase
The time by EV within the intersection area
The time by OV within the intersection area
0-1 variable (representing the order of EPP and ordinary phase)
0-1 variable (representing the order between two ordinary phases)
