Research Article
Automated Emergency Vehicle Control Strategy Based on Automated Driving Controls
| Scenarios | Scenario code | Signal preemption | Automated driving | LC possibility criteria (%) | LC benefit criteria (%) |
| Scenario 1 (base) | Base | Not applied | — | — | Scenario 2 (signal preemption only) | SP | Applied | — | — | Signal preemption + automated control | Scenario 3 | p2b2 | Applied | 20 | 20 | Scenario 4 | p2b4 | Applied | 20 | 40 | Scenario 5 | p2b6 | Applied | 20 | 60 | Scenario 6 | p2b8 | Applied | 20 | 80 | Scenario 7 | p4b2 | Applied | 40 | 20 | Scenario 8 | p4b4 | Applied | 40 | 40 | Scenario 9 | p4b6 | Applied | 40 | 60 | Scenario 10 | p4b8 | Applied | 40 | 80 | Scenario 11 | p6b2 | Applied | 60 | 20 | Scenario 12 | p6b4 | Applied | 60 | 40 | Scenario 13 | p6b6 | Applied | 60 | 60 | Scenario 14 | p6b8 | Applied | 60 | 80 | Scenario 15 | p8b2 | Applied | 80 | 20 | Scenario 16 | p8b4 | Applied | 80 | 40 | Scenario 17 | p8b6 | Applied | 80 | 60 | Scenario 18 | p8b8 | Applied | 80 | 80 |
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