A Collaborative Control Framework: Achieving Emergency Vehicle Priority While Minimizing Negative Impact on Ordinary Vehicles at Signalized Intersection

<div>Vehicle trajectory (a) DEL is not turned on (b) DEL is turned on.</div>

Journal of Advanced Transportation

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Figure 3

Figure 3: A Collaborative Control Framework: Achieving Emergency Vehicle Priority While Minimizing Negative Impact on Ordinary Vehicles at Signalized Intersection 

Figure 3 | A Collaborative Control Framework: Achieving Emergency Vehicle Priority While Minimizing Negative Impact on Ordinary Vehicles at Signalized Intersection 