Cellular automaton models for mixed traffic flow considering passage way of emergency vehicle

Two kinds of cellular automaton models are proposed for mixed traffic flow with emphasis on emergency vehicles. By analyzing the characteristics of ordinary vehicles in giving way to emergency vehicles, the rules for changing lanes are modified. Computer numerical simulation results indicate that an emergency vehicle without changing lanes can enhance speed with density lower than 0.1, while its speed can be enhanced by changing lane with density greater than 0.1. Meanwhile, vehicle speed and density within a certain range around emergency vehicles are lower than the road section average velocity and average density. The passage way of emergency vehicle that facilitate lane change causes less interference than that of an emergency vehicle which is unable to change lane. The study found that the physical characteristics of traffic flow when there are emergency vehicles are significantly different from routine traffic flow. Emergency vehicles can facilitate their passage by changing lanes at a medium or high density.