IoV-Based Mathematic Model for Platoon Give Way to Emergency Vehicles Promptly

When traffic density on urban roads is relatively large, it is difficult for a large number of O-vehicles (O-vehicles) in front of emergency vehicles (E-vehicles) to give way in a short time, resulting in a delay of E-vehicles. This study aimed to design an automatic way-giving system based on vehicle-to-vehicle communication (V2V) in the internet of vehicles (IoV). Also, a control algorithm was proposed for the platoon to give way to the E-vehicle in the minimum time, the factors such as the traffic density, number of vehicles in the platoon, the initial state, and speed limit were considered in this paper. The algorithm firstly calculated the dynamic adjustment trajectory for the platoon to complete the lane change, the adjustment time, and the minimum distance between the E-vehicle and the platoon at the beginning of lane change, to guide the platoon while changing the lane. A simulator utility was developed to interface with the microscopic traffic simulation package Simulation of Urban Mobility (SUMO) by using the Python program. Lastly, a two-lane road segment was simulated to evaluate the effectiveness of the control algorithm of automatic way-giving system, and its performance is compared with conventional vehicle operation. The results demonstrated that the operating efficiency of E-vehicles can be improved by 12.65% and the operating efficiency of O-vehicles can only be decreased by 3.25% by the automatic way-giving system. Besides, the notification distance is a key factor in affecting the operating efficiency of E-vehicles and O-vehicles.