苏州高新有轨电车车地综合感知系统应用研究

Application Research on Vehicle-ground Integrated Sensing System of Suzhou High-tech Zone Tram

[目的]在有轨电车半独立路权运营场景下,尤其是在路口区域,存在行人或社会车辆进入有轨电车轨行区的潜在风险。通过布设在车载及地面的感知系统,可对轨行区及有轨电车周围进行监视,识别出潜在风险。为保护有轨电车运行安全,提高线路运营效率,有必要对有轨电车车地综合感知系统的应用进行深入研究。[方法]依托苏州高新有轨电车,分析了有轨电车感知系统和V2X通信技术在城市轨道交通领域的应用场景,包括车辆调控、环境感知、超视距感知、车车通信和车地通信等。介绍了车地综合感知系统在苏州高新有轨电车上的应用情况。通过实际运营数据对该系统性能进行了测试评估。[结果及结论]试验结果表明,基于深度学习方法对车载相机和激光雷达数据进行处理后,有轨电车可在距离其250 m处检测出道路交通中常见的社会车辆和行人;通过V2X通信技术,有轨电车在距离路口600 m以外,即可获得路口的地面感知信息,实现对路口的超距感知;通过车载V2X设备,当前有轨电车可与其他有轨电车和地面控制系统实时交换运行信息及其周围环境数据。车地综合感知系统的响应时间小于0.33 s,漏识别率小于0.1%。

[Objective]In the semi-independent right-of-way operation scenario of the tram,there exists the potential risk of pedestrians or vehicles entering the track area,especially in the intersection area.The sensing system deployed on the tram and the ground can monitor the track area and the area around the tram to identify potential risks.In order to ensure the operation safety of the tram and improve the operation efficiency of the line,it is necessary to conduct in-depth research on the application of the tram vehicle-ground integrated sensing system.[Method]Based on Suzhou Hi-tech Zone tram project,the application scenarios of the tram sensing system and V2X communication technology in the field of urban rail transit are analyzed,including vehicle control,environment sensing,over-the-horizon sensing,vehicle-to-vehicle and vehicle-to-ground communication,etc.The application of the vehicle-ground integrated sensing system in Suzhou Hi-tech Zone tram is introduced,and the performance of the system is tested and evaluated by the actual operation data.[Result&Conclusion]The test results show that the tram can detect the common social vehicles and pedestrians in road traffic at a distance of 250m after the on-board camera and LiDAR data are processed based on the deep learning method.And with the V2X communication technology,the tram can obtain the ground sensing information of the intersection 600 meters away,realizing the over-the-horizon sensing of the intersection.With on-board V2X equipment,the current tram can implement real-time exchange of the operation information and surrounding environment data with other trams and ground control systems.The response time of the vehicle-ground integrated sensing system is less than 0.33s,and its missing detection rate is less than 0.1%.