Local Dynamic Path Planning for an Ambulance Based on Driving Risk and Attraction Field

Fang Zong, Meng Zeng, Yang Cao and Yixuan Liu
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Fang Zong: College of Transportation, Jilin University, Changchun 130022, China
Meng Zeng: College of Transportation, Jilin University, Changchun 130022, China
Yang Cao: College of Transportation, Jilin University, Changchun 130022, China
Yixuan Liu: College of Transportation, Jilin University, Changchun 130022, China

Sustainability, 2021, vol. 13, issue 6, 1-13

Abstract: Path planning is one of the most important aspects for ambulance driving. A local dynamic path planning method based on the potential field theory is presented in this paper. The potential field model includes two components—repulsive potential and attractive potential. Repulsive potential includes road potential, lane potential and obstacle potential. Considering the driving distinction between an ambulance and a regular vehicle, especially in congested traffic, an adaptive potential function for a lane line is constructed in association with traffic conditions. The attractive potential is constructed with target potential, lane-velocity potential and tailgating potential. The design of lane-velocity potential is to characterize the influence of velocity on other lanes so as to prevent unnecessary lane-changing behavior for the sake of time-efficiency. The results obtained from simulation demonstrate that the proposed method yields a good performance for ambulance driving in an urban area, which can provide support for designing an ambulance support system for the ambulance personnel and dispatcher.

Keywords: traffic flow; ambulance; local planning; potential field (search for similar items in EconPapers)
JEL-codes: O13 Q Q0 Q2 Q3 Q5 Q56 (search for similar items in EconPapers)
Date: 2021
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