Refined Path Planning for Emergency Rescue Vehicles on Congested Urban Arterial Roads via Reinforcement Learning Approach

Figure 3

Abstracted schematic diagram of road segment model and optimal rescue path planned by PERDQN and SP method. (1a) Optimal rescue path planned by PERDQN in case 1 under scheme 1. (2a) Optimal rescue path planned by PERDQN in case 2 under scheme 1. (1b) Optimal rescue path planned by PERDQN in case 1 under scheme 2. (2b) Optimal rescue path planned by PERDQN in case 2 under scheme 2. (1c) Optimal rescue path planned by PERDQN in case 1 under scheme 3. (2c) Optimal rescue path planned by PERDQN in case 2 under scheme 3. (1d) Optimal rescue path planned by PERDQN in case 1 under scheme 4. (2d) Optimal rescue path planned by PERDQN in case 2 under scheme 4. (1e) Optimal rescue path planned by SP in case 1. (2e) Optimal rescue path planned by SP in case 2.