Emergency response vehicle routing allowing lane straddling in congested traffic conditions under connected and autonomous vehicle environment

초록

Routing an emergency response vehicle (ERV) is essential to sustain the society and save people in high risk. ERV must have top priority on highways to pass through without interference with other non-ERVs. Congested road traffic conditions, however, might not allow for such a priority. When non-ERVs fully occupy all lanes in a road segment, in principle, an ERV cannot pass through the segment until the congestion releases. On the other hand, the situation is often observed in the field that non-ERVs sidestep to make way for an ERV, and the ERV straddles lanes and runs along a lane delineation line. The present study devised an optimization model to allow such a situation. Whereas most ERV routing problems have been formulated for uncongested traffic conditions, the present study presents a robust formulation that can work for both congested and uncongested traffic conditions. The connected and autonomous vehicle (CAV) environment is prerequisite for the present modeling framework. The proposed optimization model is robust to derive an optimal trajectory for ERV in road segments of diverse traffic and geometric conditions.

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