| For the fact of the modern tram’s potential safety risks in different environments, we proposed a millimeter-wave radar as the optimized method for modern tram obstacles detection and designed auxiliary safety protection function. Then, a new auxiliary safety protection algorithm was established. A modern tram auxiliary safety protection technology based on obstacles detection was also proposed with the information of anterior obstacles by the detector, and the location of obstacles and relative location of tram rail by coordinate matching. For the obstacles in the range of tram rail, this research could calculate the distance between tram and obstacles and compute train protection curve dynamically, therefore, the warning information could be delievered to the driver. Finally, the results of simulation experiments proved the research, which could provide the dynamic protection information based on the detective data.
Key words： tram; obstacle detection; auxiliary safety protection; train protection algorithm