基于全轮差动转向的虚拟轨道汽车列车设计
Design of the virtual-rail train-like vehicle based on all-wheel differential steering

摘要 为提高城市公共交通系统客流运输效率以满足城市居民生活与工作的出行需求，对新型城市客流载运工具结构及其运动控制方法进行研究.首先，综合轨道列车和传统汽车结构优势，提出具有大容量、自导向的虚拟轨道汽车列车架构；然后，对其基本参数和动力驱动方案进行设计，使虚拟轨道列车可灵活运行在复杂的城市空间；接着，提出虚拟轨道汽车列车的差动转向控制方法，以降低虚拟轨道汽车列车驾驶操作难度和实现车辆的自动驾驶功能；最后，搭建了虚拟轨道汽车列车的原理样车，对虚拟轨道汽车列车的差动转向控制方法的效果进行测试.实验结果表明：设计的基于全轮差动转向的虚拟轨道汽车列车控制方法，可控制车辆沿目标路径行驶，提出的具有大容量和自动驾驶功能的虚拟轨道汽车列车可运行于空间有限的城市道路，为城市公共交通车辆的开发提供参考.
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.