Lane changing yielding motion model of connected and automated vehicles for emergency vehicles priority on highways

Emergency vehicles play a crucial role in saving lives and avoiding property losses. Connected and Automated Vehicles (CAVs) provide a new perspective to further enhance the effectiveness of emergency vehicles priority in the upstream section of the accident on highway segments. Based on the new technology, we propose a lane-changing yielding motion model to control the ahead connected vehicles in the dynamic tracking control area of emergency vehicles. Also, we develop a corresponding execution logic for better implementation of the lane changing model. This proposed model is based on the theory of the artificial potential field to reserve space for the rapid passage of emergency vehicles. Simulation results show that the implementation of lane-changing of ahead connected vehicles to give way can effectively improve the passage efficiency of emergency vehicles, when the traffic flow in the accident section is high. The interference to the overall traffic flow of the road section is small over the entire duration of the accident, which verifies the validity and feasibility of the model. This model provides a new solution for emergency vehicles priority after the occurrence of the traffic accident.