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