Research Article
Trajectory Simulation of Emergency Vehicles and Interactions with Surrounding Traffic
Table 8
Events identified in fire truck Q8 videos en route to emergency sites.
| Angle | Time | POV reaction | Distance | Value (m) | Rel. parameter |
| Front | 15:16:54 | Changed lanes | In front of EMV | 10 | | Codriver | 15:17:11 | Stopped although light green | To intersection (POV, EMV) | (5, 5) | | Rear | 15:17:15 | Continued normally | Behind EMV | 15 | | Front | 15:17:27 | Changed lanes | In front of EMV | 27 | | Front | 15:17:44 | Changed lanes | In front of EMV | 40 | | Front | 15:17:45 | Changed lanes | In front of EMV | 30 | | Codriver | 15:17:46 | Stopped although light green | To intersection (POV, EMV) | (10, 10) | | Front | 15:18:24 | Changed lanes | In front of EMV | 30 | | Front | 15:18:40 | Changed lanes | In front of EMV | 30 | | Codriver | 15:18:42 | Stopped although light green | To intersection (POV, EMV) | (10, 10) | | Front | 15:18:44 | Crossed although light red | In front of EMV | 10 | | Codriver | 15:18:47 | Changed lanes | In front of EMV | 40 | | Rear | 15:18:46 | Returned to original lane | Behind EMV | 15 | | Front | 15:19:23 | Stopped although light green | To intersection (POV, EMV) | (10, 20) | | Front | 15:20:34 | Crossed w/out the right of way | In front of EMV | 15 | |
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