Automated Emergency Vehicle Control Strategy Based on Automated Driving Controls

Table 1

Evaluation scenarios.

Scenarios		Scenario code	Signal preemption	Automated driving
				LC possibility criteria (%)	LC benefit criteria (%)
Scenario 1 (base)		Base	Not applied	—	—
Scenario 2 (signal preemption only)		SP	Applied	—	—
Signal preemption + automated control	Scenario 3	p2b2	Applied	20	20
	Scenario 4	p2b4	Applied	20	40
	Scenario 5	p2b6	Applied	20	60
	Scenario 6	p2b8	Applied	20	80
	Scenario 7	p4b2	Applied	40	20
	Scenario 8	p4b4	Applied	40	40
	Scenario 9	p4b6	Applied	40	60
	Scenario 10	p4b8	Applied	40	80
	Scenario 11	p6b2	Applied	60	20
	Scenario 12	p6b4	Applied	60	40
	Scenario 13	p6b6	Applied	60	60
	Scenario 14	p6b8	Applied	60	80
	Scenario 15	p8b2	Applied	80	20
	Scenario 16	p8b4	Applied	80	40
	Scenario 17	p8b6	Applied	80	60
	Scenario 18	p8b8	Applied	80	80