1 research outputs found
V2V communication-enabled collision avoidance for railroad vehicles
Tato práce se zabĂ˝vá návrhem systĂ©mu pro predejitĂ srážce tramvajĂ s vyuĹľitĂm V2V (vehicleto-vehicle) komunikace mezi tramvajemi. V2V komunikace spadá pod kategorii vyhrazenĂ© komunikace krátkĂ©ho dosahu umoĹľnujĂcĂ bezdrátovou komunikaci mezi vozidly. V práci je popsán návrh algoritmu, kterĂ˝ by mohl beĹľet na palube tramvaje a v prĂpade hrozĂcĂ srážky s tramvajĂ jedoucĂ vpred upozornit ridice na nutnost neprodlenĂ© akce pro zabránenĂ srážky. Jednou ze soucástĂ algoritmu je pozorovatel stavu systĂ©mu zaloĹľenĂ˝ na Kalmanovu filtru vyuĹľĂvajĂcĂ k odhadu stavu systĂ©mu merenĂ z inerciálnĂch senzoru a GNSS/GPS. Funkcnost navrĹľenĂ©ho algoritmu je následne rozsáhle otestována na simulacĂch s ruznĂ˝m nastavenĂm parametru algoritmu i simulace. K tomuto Ăşcelu práce takĂ© predkládá odvozenĂ matematickĂ©ho modelu podĂ©lnĂ© dynamiky tramvaje spolecne s modelem ridice. PomocĂ tohoto modelu lze generovat data verná reálnĂ˝m merenĂm ze senzoru s prijatelnou presnostĂ.This thesis deals with the design of a collision avoidance system for trams utilizing V2V (vehicle-to-vehicle) communication between trams. V2V communication falls under the category of dedicated short-range communication technology, allowing to establish wireless communication between two vehicles. The thesis presents an algorithm which could run onboard a tram and in case of an imminent collision with tram ahead warn a driver that immediate action is required to prevent the collision. One part of the algorithm is an estimator of tram longitudinal motion based on Kalman filter which uses for estimation measurements from inertial sensors and GNSS/GPS. The functionality of this algorithm is then extensively tested using simulations with a different set of parameters of both the algorithm and simulations. For this purpose, the thesis also presents a mathematical model of longitudinal dynamics of a tram, including a model of a driver. The model generates data with acceptable accuracy close to real measurements