Dynamic Path Planning of Emergency Vehicles Based on Travel Time Prediction

Table 5

Results of the shortest paths selection.

Emergency vehicle number	Accident number	shortest paths	Optimal path	Optimal travel time; (min)	Dynamic traffic arrangement algorithm; [26]	Dynamic traffic arrangement algorithm [26]
1	1	51, 3, 4, 48	51, 3, 4, 48	34.01	51, 3, 4, 48	35.27
1	2	—	—	∞	—	∞
1	3	51, 3, 2, 1, 50	51, 3, 2, 1, 50	39.98	51, 3, 2, 1, 50	38.84
2	1	—	—	∞	—	∞
2	2	52, 5, 15, 49	52, 5, 15, 49	37.42	52, 5, 15, 49	40.89
2	3	52, 5, 6, 1, 50	52, 5, 6, 1, 50	57.91	52, 5, 6, 1, 50	55.56
3	1	53, 26, 25, 24, 13, 4, 48	53, 26, 25, 24, 13, 4, 48	59.04	53, 26, 25, 24, 13, 4, 48	57.02
3	2	—	—	∞	—	∞
3	3	—	—	∞	—	∞
4	1	54, 24, 13, 4, 48	54, 24, 13, 4, 48	38.67	54, 24, 13, 4, 48	39.32
4	2	—	—	∞	—	∞
4	3	—	—	∞	—	∞
5	1	—	—	∞	—	∞
5	2	55, 15, 49	55, 15, 49	33.74	55, 15, 49	32.42
5	3	—	—	∞	—	∞
6	1	—	—	∞	—	∞
6	2	56, 29, 15, 49	56, 29, 15, 49	35.06	56, 29, 15, 49	35.92
6	3	—	—	∞	—	∞
7	1	—	—	∞	—	∞
7	2	—	—	∞	—	∞
7	3	57, 33, 32, 18, 7, 1, 50		57.36	—	∞
7	3	57, 33, 32, 18, 6, 1, 50	57, 33, 32, 18, 6, 1, 50	59.42	57, 33, 32, 18, 6, 1, 50	60.87
8	1	58, 7, 1, 2, 3, 49	58, 7, 1, 2, 3, 49	55.24	58, 7, 1, 2, 3, 49	53.94
8	2	—	—	∞	—	∞
8	3	58, 7, 1, 50	58, 7, 1, 50	30.33	58, 7, 1, 50	32.79