Dynamic-collaborative Path Planning Based on Tradable Road Priority: an Interweaving Strategy for Emergency Vehicle
TRANSPORTMETRICA A-TRANSPORT SCIENCE(2025)
Southwest Jiaotong Univ
Abstract
Connected autonomous vehicles (CAV) and mobile payment technology allow vehicles to engage in peer-to-peer transactions for overtaking priority, creating an opportunity for unprivileged emergency vehicles to pass through road segments faster. This paper presents a novel interweaving strategy, offering a general and thoughtful alternative to the conventional lane-clearing approaches. Our approach is formulated as an integer linear programming (ILP) problem, which determines the optimal path for the emergency vehicle to navigate traffic while coordinating surrounding hindering vehicles to free up space. To address this collaborative path finding problem, we develop a novel A*-based algorithm with a nested structure, and provide a thorough proof of optimality for the proposed Nested A* algorithm. Simulations show the algorithm's robustness in handling deadlocks, moving obstacles, and congestion, generating globally optimal solutions efficiently. For a $ 4 \times 8 $ 4x8 map with 53.125% density, the computation time typically ranges from 0.07 and 0.6 seconds.
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Key words
Connected autonomous vehicles,cooperative trajectory management,A * algorithm,priority control
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