Trajectory Simulation of Emergency Vehicles and Interactions with Surrounding Traffic

Algorithm 1

For signalized intersection with phases

(1)	Calculate:
(2)	number of phases
(3)	current phase
(4)	closest phase that permits the EMV’s desired movement
(5)	all-red interval between each phase and following phase
(6)	time remaining in the current phase
(7)	set ;
(8)	set ;
(9)	ifthen
(10)	for phases between and
(11)	set ;
(12)	set ;
(13)	if current phaseandthen
(14)	set ;
(15)	set ;
(16)	end