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

Table 2

Traffic density on East Youyi Road under different traffic control schemes.

Parameters of traffic flow		Prograde main road (pcu/km)	Prograde side road (pcu/km)	Reverse main road (pcu/km)	Reverse side road (pcu/km)
Normal traffic density		Kc = 28	Kc = 23	Kc = 31	Kc = 25
Traffic density in schemes	Scheme 1	Ks = 82	Ks = 75	Ks = 98	Ks = 79
	Scheme 2	Ks = 82	Ks = 75	Ks = 78	Ks = 76
	Scheme 3	Ks = 82	Ks = 75	Ks = 31	Ks = 25
	Scheme 4	Ks = 82	Ks = 77	Ks = 31	Ks = 25