论文标题
V2V基于通信的铁路冲突避免城市轻轨车辆
V2V communication-based rail collision avoidance system for urban light rail vehicles
论文作者
论文摘要
在本文中，我们记录了针对城市轻轨车辆的车辆对车辆（V2V）的设计，实施和现场测试（V2V）避免通信的铁路碰撞系统（RCAS）----型电车。如果与另一台电车发生碰撞是迫在眉睫的，则RCA在电车上运行，并向电车驱动器发出声音警告 - 当前版本中没有向制动子系统发出命令。即将与另一台电车发生碰撞的预测是基于对这两种电车的预测轨迹的实时评估。这些预测基于车辆纵向动力学的数学模型和当前运动状态的实时估计（位置和速度）。有关另一支电车预测轨迹的信息通过V2V通信访问。我们还通过使用真实电车的多个现场测试来记录对拟议RCA的功能的验证结果。
In this paper, we document a design, implementation, and field tests of a vehicle-to-vehicle (V2V) communication-enabled rail collision avoidance system (RCAS) for urban light rail vehicles---trams. The RCAS runs onboard a tram and issues an acoustic warning to a tram driver if a collision with another tram is imminent---no commands to the braking subsystem are issued in the current version. The prediction of an imminent collision with another tram is based on real-time evaluation of predicted trajectories of both trams. The predictions are based on mathematical models of the longitudinal dynamics of the vehicles and real-time estimation of the current motion states (position and velocity). The information about the other tram's predicted trajectory is accessed through V2V communication. We also document the results of verification of the functionality of the proposed RCAS through several field tests with a real tram.
