Intersection-Controller Software Module

An important part of the emergencyvehicle traffic-light-preemption system summarized in the preceding article is a software module executed by a microcontroller in each intersection controller. This module monitors the broadcasts from all nearby participating emergency vehicles and intersections. It gathers the broadcast data pertaining to the positions and velocities of the vehicles and the timing of traffic and pedestrian lights and processes the data into predictions of the future positions of the vehicles. Analyzing the predictions by a combination of proximity tests, map-matching techniques, and statistical calculations designed to minimize the adverse effects of uncertainties in vehicle positions and headings, the module decides whether to preempt and issues the appropriate commands to the traffic lights, pedestrian lights, and electronic warning signs at the intersection. The module also broadcasts its state to all nearby vehicles and intersections. The module is designed to mitigate the effects of missing data and of unpredictable delays in the system. It has been intensively tested and refined so that it fails to warn in very few cases and issues very few false warnings.