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

Table 1

Traffic flow parameters for East Youyi Road.

Parameters of traffic flow	Main road	Side road
Critical density	km = 48 pcu/km	km = 42 pcu/km
Critical speed	um = 36 km/h	um = 25 km/h
Free flow speed	uj = 60 km/h	uj = 40 km/h
Blocking density	kj = 100 pcu/km	kj = 95 pcu/km