Research Article
Refined Path Planning for Emergency Rescue Vehicles on Congested Urban Arterial Roads via Reinforcement Learning Approach
Table 3
Three typical schemes for emergency vehicle route planning on East Youyi Road.
| | Scheme | Traffic control schemes | Driving trajectory |
| | Scheme 1 (RMSC + PERDQN) | Traffic control at L2, L3, and L4: emergency vehicles driving in reverse in the opposite lane of the accident site | Case 1: P16-P24-P23-P22-P21-P20-P19-P18-P17-P9-P10 | | Case 2: P16-P24-P23-P22-P21-P20-P12-P13-P14 |
| | Scheme 2 (RMC + PERDQN) | Traffic control at L2 and L3: emergency vehicles driving in reverse in the opposite lane of the accident site | Case 1: P16-P24-P23-P22-P21-P20-P19-P18-P17-P9-P10 | | Case 2: P16-P24-P23-P22-P21-P20-P12-P13-P14 |
| | Scheme 3 (PMC + PERDQN) | Traffic control at L2: no traffic control at opposite lane of traffic accident | Case 1: P16-P8-P7-P6-P5-P4-P3-P2-P10 | | Case 2: P16-P8-P7-P6-P14 |
| | Scheme 4 (PMSC + PERDQN) | Traffic control at L1 and L2: no traffic control at opposite lane of traffic accident | Case 1: P16-P8-P7-P6-P5-P4-P3-P2-P10 | | Case 2: P16-P8-P7-P6-P14 |
| | SP method | Traffic control at L2: no traffic control at opposite lane of traffic accident | Case 1: P16-P15-P14-P13-P12-P11-P10 | | Case 2: P16-P15-P14 |
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