Trajectory Simulation of Emergency Vehicles and Interactions with Surrounding Traffic

Table 1

Summary of modeling features found in relevant articles from the recent literature in this topic.

Article	Simulator	Lane model	Sidewalk model	Intersection model	Traffic light model	Calibration	Perfect cooperation
Weinert and Düring [5]	SUMO	Yes	No	Yes	Yes	No	Yes
Weinert et al. [6]	SUMO	Yes	No	Yes	Yes	Yes	Yes
Bieker-Walz [7]	SUMO	Yes	No	No	Yes	No	Yes
Lu and Kim [8]	SUMO	No	No	Yes	Yes	No	Yes
Bieker-Walz et al. [9]	SUMO	Yes	No	No	Yes	No	Yes
Hannoun et al. [12]	NetLogo	Yes	No	Yes	No	No	No
Zhang et al. [11]	CORSIM	Yes	No	Yes	Yes	Yes	No
Yoo et al. [13]	IMAGES	Yes	Yes	Yes	No	No	No
Toy et al. [14]	SmartAHS	Yes	No	No	No	No	Yes
So et al. [15]	VISSIM	Yes	No	Yes	Yes	No	Yes