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Map-Based Path and Pose Information for Automated and Assisted Driving of Trams

The idea of automated driving as well as advanced driver assistance systems has become a relevant aspect for the operation of trams. Map data is regarded as a key enabler as maps can highly reduce the complexity of the overall task. In contrast to regular mainline trains and street vehicles, the operation area of trams is small as trams operate only within a certain city or region. Thus, the creation of precise maps with high fidelity appears more feasible than for street vehicles and mainline trains. Within this work, a map-based usage of the driving path for automated driving for trams is discussed. For the usage of map data in such a system, an estimation of the trams current pose in terms of position and orientation is required. Our approach aims at solving the problem of a reliable orientation. Therefore, we use the kinematic behavior of trams on tracks and suppose a method to retrieve the orientation solely by the position of the vehicle.