The poor person should take the bus, which could actually be a fast option if the streets weren't choked at critical times. That's what a sane utility looks like. (If they're not choked, no congestion charge.)
I'm not a big fan of the mentality that the transportation system should suck just so we can avoid the rich have better options than the poor. Taken seriously, that would mean a ban on air travel because the poor can't have as much.
If you meant emergency vehicles, those always have priority :-p
