Abstract：In order to improve the passenger transport efficiency of the urban public transportation system and meet the travel demand of urban residents in life and work, the structure of a new urban passenger transport vehicle and its movement control method are studied. First, the structure of a virtual-rail train-like vehicle with large capacity and self-guidance ability is proposed,which combines the structural advantage of rail train and traditional cars.Then the basic parameters and power drive scheme of the virtual-rail train-like vehicle are designed to realize its flexible movement function in complex urban space.Furthermore, a differential steering control method for this kind of virtual-rail train-like vehicle is proposed to reduce the driving difficulty and realize its automatic driving function. Finally, a theoretical prototype of the virtual rail train is built and the effect of the differential steering control method of the virtual-rail train-like vehicle is tested. The experimental results show that the virtual-rail train-like vehicle control method based on all-wheel differential steering can achieve the control of the vehicle to travel along target route, and the proposed virtual-rail train-like vehicle with large capacity and automatic driving function can run on urban roads with limited space, providing references for the development of urban public transport vehicle.
孙帮成，王文军，刘志明，崔涛，李明高. 基于全轮差动转向的虚拟轨道汽车列车设计[J]. 北京交通大学学报, 2018, 42(6): 67-.
SUN Bangcheng, WANG Wenjun, LIU Zhiming, CUI Tao, LI Minggao. Design of the virtual-rail train-like vehicle based on all-wheel differential steering. Beijing Jiaotong University, 2018, 42(6): 67-.