Track following method

Abstract

The invention provides a track following method. The track following method comprises the steps of (1) acquiring the turning angle of an active steering axle when a vehicle drives along a curve; (2) determining the expected turning angles of all steering axles in the vehicle through a preset steering axle relation model according to the turning angle of the active steering axle; and (3) determining the expected turning angles of wheels on the two sides of the steering axles correspondingly according to the turning angles of the steering axles. Through the track following method, the moving tracks of the axles in the vehicle steering process, and accordingly, track following of the vehicle is realized. Meanwhile, through the track following method, the steering radius and the passage widthof the vehicle can be reduced. The track following method is particularly suitable for operation control over articulated vehicles.

Description

technical field [0001] The invention relates to the technical field of public transportation, in particular to a trajectory following method. Background technique [0002] With the expansion of city scale, the increasing traffic demand restricts the development of the city. At present, a large number of urban transportation solutions tend to increase the proportion of public transportation travel time and reduce the demand for private cars with small passenger capacity, thereby reducing urban congestion by improving traffic efficiency. Urban public transport mainly includes automobiles (buses) and urban rail transit systems. [0003] Traditional buses mainly have the characteristics of low cost and flexible driving, and can adapt to various road conditions. Although the infrastructure requirements of the traditional automobile transportation system are not high, its carrying capacity is small, and it still cannot meet the requirements of large transport capacity in densely...

AI Technical Summary

Problems solved by technology

[0006] However, the initial investment of the rail transit system is relatively large, and the construction cost per kilometer is far greater than the cost of public transport vehicles, so it is difficult to apply in small and medium-sized cities

In addition, trams require special power supporting systems and tracks, which have high requirements for equipment maintenance, as well as high requirements for the slope and curve radius of the route, and their operation is limited by the environment

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