智轨电车的传感器配置方案研究

Research on Sensor Configuration Scheme of Autonomous-rail Rapid Tram

无人驾驶汽车感知信息的有效性与完整性很大程度上取决于传感器的选择与布置方案。文章介绍了无人驾驶汽车环境感知传感器的特点,对国内外主流的传感器布置方案进行了对比。考虑到智轨电车与无人驾驶汽车具有众多相似性以及相同的应用场景,文章基于无人驾驶汽车的传感器配置方式设计了一套合理的智轨电车传感器布置方案,并从感知覆盖范围、视野盲区以及冗余性3个方面对该设计布置方案的性能展开分析。结果表明,采用所设计的传感器布置方案,有效感知覆盖率达85%,视野盲区小;前方障碍物检测传感器冗余性良好,符合智轨电车对感知系统准确性和安全性的要求。

The effectiveness and completeness of driverless car perception information depends to a large extent on the selection and placement of sensors.This paper introduces the characteristics of environmental sensors for driverless cars,and compares the mainstream sensor arrangements of both domestic and oversea solutions.Taking into account the similarities between autonomous-rail rapid tram and driverless cars as well as the same application scenarios,it designed a reasonable autonomous-rail rapid tram sensor layout scheme based on the sensor configuration of driverless car.Finally,the performance of the sensor layout scheme was analyzed from three aspects:sensing coverage,blind field of view and redundancy.The analysis results show that the designed sensor layout scheme has an effective sensing coverage area of 85%with a smaller blind area,its redundancy is good,and it meets the requirements of accuracy and safety for the sensing system of driverless vehicles.