1次元LiDARセンサを用いた周辺の構造物同定に基づく列車の絶対位置検知

カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門

発行日: 2024/06/01

タイトル(英語): Absolute Train Localization Based on the Identification of Surrounding Structures using 1D-LiDAR Sensor

著者名: 長井　健介（東京大学），大西　亘（東京大学），古関　隆章（東京大学）

著者名(英語): Kensuke Nagai (The University of Tokyo), Wataru Ohnishi (The University of Tokyo), Takafumi Koseki (The University of Tokyo)

キーワード: 列車位置検知，LiDARセンサ，点群マッチング，構造物同定　　train localization，light detection and ranging sensor，scan matching，structure identification

要約(英語): Train localization is an essential technology for effective train control. Currently, train localization primarily relies on using track circuits and balises, which are placed along the track to provide precise location information. However, balises have to be placed at intervals of a few kilometers. This increases maintenance costs and makes them vulnerable to being damaged by ice blocks falling from moving trains. Therefore, in this study, we propose a method for absolute train localization based on structure detection and identification using a 1D-LiDAR sensor to reduce the number of balises. Structure identification is achieved using scan matching. In the experiments using a car, the proposed method achieved an identification success rate of over 90%. We also considered the effect of raindrops by filtering the measurement data. By testing and analyzing the identification results, we successfully reduced all cases of misidentification.

本誌: 電気学会論文誌D（産業応用部門誌） Vol.144 No.6 （2024） 特集：2023年産業応用部門大会

本誌掲載ページ: 442-451 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejias/144/6/144_442/_article/-char/ja/