US Patent 11030895 Incident-based traffic signal preemption and priority

Controlling traffic signal preemption includes inputting to a conditional preemption circuit, values of a plurality of incident parameters that include at least a vehicle unit identifier of a vehicle unit and an incident priority that describes an incident. The conditional preemption circuit determines a preemption mode for a vehicle associated with the vehicle unit identifier based on one or more of the plurality of incident parameters. The preemption mode is one of a first mode or a second mode. Traffic signal preemption is enabled for the vehicle unit in response to the conditional preemption circuit determining the first mode. Traffic signal preemption is disabled for the vehicle unit in response to the conditional preemption circuit determining the second mode.