Abstract
This paper presents an application to detect and track obstacles using a multilayer laser scanner. The goal of the detection system is to develop collision avoidance for the Light Rail Vehicle (LRV). The laser scanner, which is mounted in front of the tram, collects information in a four-scan plane. The object recognition and tracking module, which is composed of a three sub-modules segmentation, classification, and Kalman Filter tracking, was carried out on the raw data. Thus, data were provided for collision avoidance module. The proposed system was applied to a tram named “Silkworm” which is manufactured by Durmazlar Machine Inc. (Bursa, Turkey) and initial experimental tests have been conducted at the facilities of Durmazlar Machine Inc. in the city of Bursa, Turkey. This study aims to illustrate parts of the possible tests that can be carried out and to share with the scientific community an important application of multilayer laser scanners, although in the initial implementation phase, in urban rail transportation.
Highlights
According to the latest United Nations Population Division projections, the number of people on the planet exceeded 7.3 billion as of mid-2015 and it is expected to reach 9.7 billion in 2050 and11.2 billion by 2100
In order to reduce human-induced road accidents, this study presents a collision avoidance system (CAS) based on an approach using a state-of-the-art multilayer laser scanner mounted in front of tram
This study presents a CAS algorithm for Light Rail Vehicle (LRV) to avoid the collision by using only a multilayer
Summary
According to the latest United Nations Population Division projections, the number of people on the planet exceeded 7.3 billion as of mid-2015 and it is expected to reach 9.7 billion in 2050 and11.2 billion by 2100. In the 15 years, 60% of the total population will be city dwellers. This number will increase to 70% by 2050 [1]. These results show that the population is increasing, but is becoming progressively concentrated in urban areas as well. In this context, public transportation will remain to be an indispensable answer to the nation’s economic, energy, and environmental questions. Local communities are expanding public transportation networks and people are using public transportation in increasing numbers
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