The present disclosure relates to a method performed by an EV passage planning system (1) for supporting free passage past road users for an approaching emergency vehicle, EV. The EV passage planning system determines (1001) that an EV (3) along its planned route is approaching a set of vehicles (2) respectively equipped with an Automated Driving System, ADS (21), wherein the set of vehicles has a field of view combined covering a continuous dynamic zone along the route; obtains (1002) sensor data of surroundings comprising the dynamic zone captured with support from one or more surrounding detecting sensors (22); determines (1003) based on surrounding and/or situational conditions in the dynamic zone derived from evaluating the sensor data, a preferred passage for the EV through the dynamic zone deemed having potential to be cleared from all traffic; and instructs (1004) the set of ADS-equipped vehicles to act according to a schema influencing road users (6) in the dynamic zone to maneuver such that the preferred passage is cleared in time for arrival of the EV.The disclosure also relates to an EV passage planning system in accordance with the foregoing, an arrangement - for instance at least a first ADS-equipped vehicle and/or a centralized entity (4) such as at least a first cloud and/or cloud server - comprising such an EV passage planning system, and a respective corresponding computer program product and non-volatile computer readable storage medium.


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    Title :

    EMERGENCY VEHICLE PASSAGE


    Additional title:

    DURCHGANG FÜR RETTUNGSFAHRZEUGE
    PASSAGE DE VÉHICULE DE SECOURS


    Contributors:
    FEI ZHENNAN (author) / KROOK JONAS (author) / KIANFAR ROOZBEH (author)

    Publication date :

    2023-11-22


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS




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