Variable damping control method and electronic guide rubber wheel vehicle damping control system

Abstract

The invention discloses a variable damping control method and an electronic guide rubber wheel vehicle damping control system, and relates to the field of rail transit vehicle control. The method comprises the steps that speed data of the electronic guiding rubber-tyred vehicle are obtained, and a speed control variable of variable damping control is constructed based on the speed of the electronic guiding rubber-tyred vehicle; offset data, vehicle running direction data and similar vehicle running environment data of the electronic guide rubber-tyred vehicle and a preset track are obtained, and an angular velocity control variable of variable damping control is constructed based on the offset data, the vehicle running direction data and the vehicle running environment data; an optimal damping force control variable is determined based on the sum of the speed control variable and the angular speed control variable. According to the method, active control is carried out on the vehicle end system, meanwhile, a multivariable monitoring scheme for the road condition is added, and multivariable damping force of the end system is introduced to meet the overall requirement for the vehicle control performance.

Description

Technical Field

[0001] The invention relates to the technical field of rail transit, and in particular to an electronically guided rubber-tyred vehicle, and in particular to a variable damping control method and a damping control system for an electronically guided rubber-tyred vehicle. Background Art

[0002] The electronically guided rubber-tyred train is a new type of rail transit vehicle developed to relieve urban traffic pressure and improve transportation efficiency. It is generally designed as a 3-5-car train with a structure similar to that of an articulated bus. Figure 1 As shown. The maximum design speed of the electronically guided rubber-wheeled train is 80km / h, and it consists of a tractor and a trailer. The electronically guided rubber-wheeled train has many degrees of freedom, and unstable phenomena such as tail swing, yaw, and folding may occur during driving, affecting the vehicle's driving stability and smoothness.

[0003] Therefore, during the operation of electronically guided rubber-tyred trains, it is necessary to improve the multi-degree-of-freedom problem. At present, the damping control signals required by the vehicle-side connection system for electronically guided rubber-tyred vehicles include vehicle speed, vehicle running direction and emergency braking signals. The vehicle-side connection system's own angle sensor can detect the turning angle between vehicles, match the above three signals such as vehicle speed, calculate the vehicle damping characteristics when the vehicle turns, and use the damping cylinder in the system for adjustment.

[0004] However, the above solution still has the following disadvantages in actual application:

[0005] 1. Due to the asynchronous operation of the axle system, the vehicle connection system is often in a state of uneven force. The existing method only considers the passive damping of the vehicle during operation, and does not give enough consideration to the control of the multi-module degrees of freedom of the whole vehicle.

[0006] 2. Existing technologies lack consideration of multiple variables such as complex and changeable road conditions and weather in highway traffic, resulting in poor application results in actual scenarios.

[0007] 3. The prior art does not have a corresponding design for the damping control after an abnormal power failure of the vehicle. Summary of the invention

[0008] In view of the shortcomings of the prior art, the present invention provides a variable damping control method and an electronic guided rubber-tyred vehicle damping control system. The present invention actively controls the vehicle end system, and at the same time adds a monitoring scheme for multiple variables in road conditions, and introduces multiple variables to adjust the damping force of the end system to meet the overall requirements of vehicle comfort.

[0009] The technical means adopted by the present invention are as follows:

[0010] A variable damping control method for an electronically guided rubber-tyred vehicle end system comprises the following steps:

[0011] Acquiring speed data of an electronically guided rubber-tyred vehicle, and constructing a speed control variable for variable damping control based on the speed of the electronically guided rubber-tyred vehicle;

[0012] Obtaining the offset data of the electronically guided rubber-wheeled vehicle from the predetermined track, the vehicle running direction data and the vehicle-like running environment data, and constructing the angular velocity control variable of the variable damping control based on the offset data, the vehicle running direction data and the vehicle running environment data;

[0013] Based on the sum of the speed control variable and the angular velocity control variable, the current control variable used to drive the mechanical cylinder oil pressure adjustment is obtained:

[0014] I=C1+C2

[0015] Among them, I represents the current control variable used to drive the oil pressure adjustment of the mechanical cylinder, C1 represents the speed control variable, and C2 represents the angular velocity control variable.

[0016] Furthermore, the speed control variable is obtained according to the following calculation:

[0017] C1=K1·V1

[0018] Among them, V1 represents the speed of the electronically guided rubber-tyred vehicle, and K1 represents the vehicle speed influencing factor.

[0019] Furthermore, the angular velocity control variable is obtained according to the following calculation:

[0020] C2=K2·S2·W1+K3·D1·S3+K4·S4

[0021] Among them, S2 represents the offset of the electronically guided rubber-wheeled vehicle from the predetermined trajectory, K2 represents the position offset influencing factor, W1 represents the angular velocity, D1 represents the vehicle running direction data, S3 represents the vehicle axle system position data, K3 represents the axle offset influencing factor, K4 represents the external influencing factor, and S4 represents the vehicle operating environment data.

[0022] Furthermore, the vehicle operating environment data is obtained according to the following calculation:

[0023] S4=S 41 +S 42 +…+S 4n

[0024] Among them, S 4i Represents the vehicle operating environment index component, i = 1, 2, ... n, n is the number of environmental indicators.

[0025] Furthermore, the environmental indicators include traffic light signals, weather signals and crowd density information.

[0026] The present invention also discloses a variable damping control system applied to an electronically guided rubber-tyred vehicle end system, which is used to execute the above method. The system comprises:

[0027] A position monitoring module, which is used to obtain speed data of the electronically guided rubber-wheeled vehicle on the one hand, and to construct a speed control variable of the variable damping control based on the speed of the electronically guided rubber-wheeled vehicle; and to obtain offset data of the electronically guided rubber-wheeled vehicle from a predetermined trajectory, vehicle running direction data, and vehicle-like running environment data on the other hand, and to construct an angular velocity control variable of the variable damping control based on the offset data, vehicle running direction data, and vehicle running environment data;

[0028] A vehicle communication module, the vehicle communication module is used to transmit the speed control variable and the angular velocity control variable to the intelligent computing module;

[0029] An intelligent calculation module, the intelligent calculation module is used to obtain a current control variable for driving the mechanical oil cylinder oil pressure adjustment based on the sum of the speed control variable and the angular velocity control variable:

[0030] I=C1+C2

[0031] Among them, I represents the current control variable used to drive the oil pressure adjustment of the mechanical cylinder, C1 represents the speed control variable, and C2 represents the angular velocity control variable;

[0032] A mechanical cylinder module is used to receive the optimal damping force control amount and control the opening of the mechanical cylinder solenoid valve according to the optimal damping force control amount.

[0033] Furthermore, the system also includes a fault diagnosis module, which monitors the end connection internal module for switching to an emergency mode, and the fault diagnosis module includes a backup power supply.

[0034] Furthermore, the angular velocity control variable is obtained according to the following calculation:

[0035] C2=K2·S2·W1+K3·D1·S3+K4·S4

[0036] Among them, S2 represents the offset of the electronically guided rubber-wheeled vehicle from the predetermined trajectory, K2 represents the position offset influencing factor, W1 represents the angular velocity, D1 represents the vehicle running direction data, S3 represents the vehicle axle system position data, K3 represents the axle offset influencing factor, K4 represents the external influencing factor, and S4 represents the vehicle operating environment data.

[0037] Furthermore, the vehicle operating environment data is obtained according to the following calculation:

[0038] S4=S 41 +S 42 +…+S 4n

[0039] Among them, S 4i Represents the vehicle operating environment index component, i = 1, 2, ... n, n is the number of environmental indicators.

[0040] Furthermore, the environmental indicators include traffic light signals, weather signals and passenger density information in the carriage.

[0041] Compared with the prior art, the present invention has the following advantages:

[0042] The present invention adds active control function to the vehicle end system by using the existing passive control. At the same time, corresponding modules are added for monitoring under the condition of multi-variable road conditions, and multi-variables are introduced to adjust the damping force of the end system to meet the overall requirements of vehicle comfort. Finally, there is also a corresponding design for adjusting the damping force when the vehicle fails. The present invention improves the running stability of the vehicle and meets the requirement that the lateral acceleration is less than 2m / s 2 , better than the standard requirement of 2.5m / s 2 . BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0044] Figure 1 Schematic diagram of a multi-module electronically guided rubber-wheel vehicle.

[0045] Figure 2 The present invention is a flow chart of a variable damping control method applied to an end system of an electronically guided rubber-tyred vehicle.

[0046] Figure 3 1 is the relationship between the speed control variable, the angular velocity control variable and the current control variable for driving the mechanical cylinder oil pressure adjustment in the embodiment of the present invention.

[0047] Figure 4 This is a system diagram of the present invention. DETAILED DESCRIPTION

[0048] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0049] like Figure 2 As shown, the present invention provides a variable damping control method applied to an electronically guided rubber-tyred vehicle end system, comprising the following steps:

[0050] S1. Acquire speed data of an electronically guided rubber-tyred vehicle, and construct a speed control variable for variable damping control based on the speed of the electronically guided rubber-tyred vehicle.

[0051] Specifically, the electronically guided rubber-wheeled vehicle speed variable, where the vehicle speed is defined as V1.

[0052] S2. Obtain the offset data of the electronically guided rubber-wheeled vehicle from the predetermined trajectory, the vehicle running direction data and the vehicle-like running environment data, and construct an angular velocity control variable for variable damping control based on the offset data, the vehicle running direction data and the vehicle running environment data.

[0053] The offset of the electronically guided rubber-wheeled vehicle from the predetermined trajectory is defined as S2. The Beidou positioning function of the position monitoring module is used to locate the relative position of the vehicle and the vehicle-end connection. Specifically, the offset is defined by the absolute position distance between coordinate 1 (x1, y1, z1) and coordinate 2 (x2, y2, z2), wherein the initial position is preset, which is equivalent to the position of coordinate 1 being determined, and Beidou is used to determine the position of coordinate 2. In this embodiment, the absolute distance between the current position of the center of the vehicle structure and the preset initial position is preferably calculated as the offset data in mm.

[0054] Among them, the vehicle running direction is D1, and the variable D 1＝ ±1, the vehicle running direction variable is defined as + / - (Note: the forward direction of the first end of the vehicle is +, and the forward direction of the second end of the vehicle is -).

[0055] Further, the vehicle axle system position variable is defined as S3. Specifically, the offset is defined by the absolute position distance between the initial coordinate 1 (a1, b1, c1) and the current coordinate 2 (a2, b2, c2), wherein the initial position is preset, which is equivalent to the position of coordinate 1 being determined, and Beidou is used to determine the position of coordinate 2. In this embodiment, the absolute distance between the current position of the structural center of the axle system and the preset initial position is preferably calculated as the offset data, in mm.

[0056] Furthermore, the vehicle operating environment data includes several index components, and the specific vehicle operating environment variables are obtained in the following manner:

[0057] S4=S 41 +S 42 +…+S 4n

[0058] Among them, S 4i Represents the vehicle operating environment index component, i = 1, 2, ... n, n is the number of environmental indicators.

[0059] As a preferred embodiment of the present invention, the environmental indicators include the traffic light signal S 41 、Weather Signal S 42 , passenger flow density in the carriage S 43 , in this embodiment, n=3.

[0060] Specifically, the traffic light signal index is assigned a value considering the impact of traffic light signals on vehicle acceleration and deceleration. The value range of this index is 0.1-0.5, that is, 0.1 is taken for more than 2 consecutive green lights, 0.3 is taken for 1 red light, and 0.5 is taken for more than 2 consecutive green lights. Furthermore, considering the impact of weather signals on the adhesion between the wheels and the road surface, the weather signal index is assigned a value. The value range of this index is 0.1-0.2, that is, 0.1 is taken for dry sunny days and 0.2 is taken for wet rainy days. Furthermore, considering that the impact of the passenger flow density in the car is relatively small, the value range is 0.05-0.1. When the passenger flow inside the vehicle is 6 people / square meter or less, 0.05 is taken, and when it is higher than 6 people / square meter, 0.1 is taken.

[0061] S3. Obtaining a current control variable for driving the mechanical oil cylinder to adjust the oil pressure based on the sum of the speed control variable and the angular velocity control variable:

[0062] I=C1+C2

[0063] Among them, I represents the current control variable (A) used to drive the oil pressure adjustment of the mechanical cylinder, C1 represents the speed control variable (A), and C2 represents the angular velocity control variable (A).

[0064] Furthermore, the speed control variable is obtained according to the following calculation:

[0065] C1=K1·V1(A)

[0066] Among them, V1 represents the speed of the electronically guided rubber-tyred vehicle (km / h), and K1 represents the vehicle speed influencing factor, which represents the relationship between the vehicle speed and the mechanical cylinder oil pressure adjustment current.

[0067] Furthermore, the angular velocity control variable is obtained according to the following calculation:

[0068] C2=K2·S2·W1+K3·D1·S3+K4·S4

[0069] Among them, S2 represents the offset of the electronically guided rubber-wheeled vehicle from the predetermined trajectory, K2 represents the position offset influencing factor, W1 represents the angular velocity, D1 represents the vehicle running direction data, S3 represents the vehicle axle system position data, K3 represents the axle offset influencing factor, K4 represents the external influencing factor, S4 represents the vehicle operating environment data, and K2-K4 characterize the relationship between the angular velocity and the mechanical cylinder oil pressure adjustment current.

[0070] Specifically, K1 is the position offset influencing factor, with a variable of 0.5 to 10, which is used to measure the displacement variable collected by the position monitoring module; K2 is the vehicle speed influencing factor, with a variable of 1 to 3, which is used to weight the speed variable collected by the vehicle communication module; K3 is the axle offset influencing factor, with a variable of 0.1 to 0.5, which is used to weight the axle position variable and the vehicle running direction variable collected by the vehicle communication module; K4 is the external influencing factor, with a variable of 0.8 to 1, which is used to measure the external influencing factor variable collected by the vehicle communication module.

[0071] The scheme and effect of the present invention are further described below through a specific application example.

[0072] In this application example, the electronically guided rubber-tyred vehicle is moving at a speed of 10 km / h, with a steering angular velocity of 1° / s, moving in the first direction, the offset between the vehicle and the route is 10 mm, the offset of the axle system is 10 mm, it is a sunny day, there are two consecutive green lights, and the number of people in the car is more than 6 people / square meter. According to the above conditions, V1 is 10, W1 is 0.1, D1 is +1, S2 is 10, S3 is 10, S 41 Take 0.1, S 42 is 0.1, S 43 is 0.1, K1 is 5, K2 is 2, K3 is 0.5, and K4 is 1. After calculation, we can get: C1 = K1·V1 = 10×5 = 50 (A), C2 = K2·S2·W1 + K3·D1·S3 + K4·S4 = 2×10×0.1+1×0.5×10+(0.1+0.1+0.1)×1 = 7.3 (A), I = C1+C2 = 57.3 (A)

[0073] like Figure 4 As shown, the present invention also discloses a variable damping control system applied to the end system of an electronically guided rubber-wheeled vehicle, which is used to execute the above method. The system includes a position monitoring module, a vehicle communication module, an intelligent calculation, a mechanical cylinder module and a fault diagnosis module.

[0074] On the one hand, the position detection module is used to obtain the speed data of the electronically guided rubber-wheeled vehicle, and to construct the speed control variable of the variable damping control based on the speed of the electronically guided rubber-wheeled vehicle; on the other hand, it is used to obtain the offset data of the electronically guided rubber-wheeled vehicle from the predetermined trajectory, the vehicle running direction data and the vehicle-like running environment data, and to construct the angular velocity control variable of the variable damping control based on the offset data, the vehicle running direction data and the vehicle running environment data.

[0075] Specifically, the location monitoring module includes Beidou positioning function, which is used to locate the relative position of the vehicle and the vehicle-side connection

[0076] The vehicle communication module is used to transmit the speed control variable and the angular velocity control variable to the intelligent computing module.

[0077] Specifically, the vehicle communication module and the acquisition module include V2V system (vehicle to vehicle communication) and V2I system (vehicle to infrastructure communication). The communication signals between vehicles include the offset of the electronically guided rubber-wheeled vehicle from the predetermined trajectory, the vehicle's running direction variables, the status and position variables of the vehicle's axle system operation; the communication signals between vehicles and infrastructure include traffic light signals, weather signals, crowd density, external vehicle information, etc.

[0078] An intelligent calculation module, the intelligent calculation module is used to obtain a current control variable for driving the mechanical oil cylinder oil pressure adjustment based on the sum of the speed control variable and the angular velocity control variable:

[0079] I=C1+C2

[0080] Among them, I represents the current control variable (A) used to drive the oil pressure adjustment of the mechanical cylinder, C1 represents the speed control variable, and C2 represents the angular velocity control variable.

[0081] The angular velocity control variable is obtained according to the following calculation:

[0082] C2=K2·S2+K3·D1·S3+K4·S4

[0083] Among them, S2 represents the offset of the electronically guided rubber-wheeled vehicle from the predetermined trajectory, K2 represents the position offset influencing factor, D1 represents the vehicle running direction data, S3 represents the operating status and position data of the vehicle axle system, K3 represents the axle offset influencing factor, K4 represents the external influencing factor, and S4 represents the vehicle operating environment data.

[0084] Furthermore, the vehicle operating environment data is obtained according to the following calculation:

[0085] S4=S 41 +S42 +…+S 4n

[0086] Among them, S 4i Represents the vehicle operating environment index component, i = 1, 2, ... n, n is the number of environmental indicators.

[0087] Specifically, the intelligent computing module includes a small-sized and large-capacity computing module, which is used to calculate the collected variables and output the optimal damping force of the end system to the mechanical cylinder module.

[0088] The mechanical cylinder module is used to receive the optimal damping force control amount and control the opening of the mechanical cylinder solenoid valve according to the optimal damping force control amount.

[0089] Specifically, the mechanical cylinder module can change the output of the damping force, and adjust the current to control the solenoid valve and then adjust the oil pressure in the mechanical cylinder to provide the damping force. The variables collected by the position monitoring module, vehicle communication module and fault diagnosis module are transmitted to the intelligent calculation module through data transmission. The calculation module calculates according to the preset formula in the system to obtain a suitable current value. The mechanical cylinder changes the opening of the solenoid valve according to the current to provide the appropriate damping size.

[0090] Furthermore, the system also includes a fault diagnosis module, which monitors all the acquisition modules connected to the end and is used to switch to an emergency mode. The fault diagnosis module includes a backup power supply.

[0091] Specifically, if the fault diagnosis module collects the fault of a module, the variable collected by the module is 0, and the other influencing factors K n Increase appropriately. Specifically, multiply the current impact factor by 1.1 to increase damping. At the same time, reduce the vehicle speed to ensure smooth operation of the vehicle. If a power outage occurs, the mechanical cylinder module outputs fixed damping.

[0092] As for an embodiment of the variable damping control system applied to an electronically guided rubber-wheeled vehicle end system of the present invention, since it corresponds to the above embodiment of a variable damping control method applied to an electronically guided rubber-wheeled vehicle end system, the description is relatively simple. For relevant similarities, please refer to the partial description in the above embodiment of a variable damping control method applied to an electronically guided rubber-wheeled vehicle end system, which will not be described in detail here.

[0093] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A variable damping control method for an electronically guided rubber-tyred vehicle end system, characterized in that: The following steps are involved: Acquiring speed data of an electronically guided rubber-tyred vehicle, and constructing a speed control variable for variable damping control based on the speed of the electronically guided rubber-tyred vehicle; Obtaining the offset data of the electronically guided rubber-wheeled vehicle from the predetermined track, the vehicle running direction data and the vehicle-like running environment data, and constructing the angular velocity control variable of the variable damping control based on the offset data, the vehicle running direction data and the vehicle running environment data; Based on the sum of the speed control variable and the angular velocity control variable, the current control variable used to drive the mechanical cylinder oil pressure adjustment is obtained: I=C1+C2 Among them, I represents the current control variable used to drive the oil pressure adjustment of the mechanical cylinder, C1 represents the speed control variable, and C2 represents the angular velocity control variable.

2. The variable damping control method for the end system of an electronically guided rubber-tyred vehicle according to claim 1 is characterized in that: The speed control variable is obtained according to the following calculation: C1=K1·V1 Among them, V1 represents the speed of the electronically guided rubber-tyred vehicle, and K1 represents the vehicle speed influencing factor.

3. The variable damping control method for the end system of an electronically guided rubber-tyred vehicle according to claim 1 is characterized in that: The angular velocity control variable is obtained according to the following calculation: C2=K2·S2·W1+K3·D1·S3+K4·S4 Among them, S2 represents the offset of the electronically guided rubber-wheeled vehicle from the predetermined trajectory, K2 represents the position offset influencing factor, W1 represents the angular velocity, D1 represents the vehicle running direction data, S3 represents the vehicle axle system position data, K3 represents the axle offset influencing factor, K4 represents the external influencing factor, and S4 represents the vehicle operating environment data.

4. The variable damping control method for the end system of an electronically guided rubber-tyred vehicle according to claim 3 is characterized in that: The vehicle operating environment data is obtained based on the following calculations: S4=S 41 +S 42 +…+S 4n Among them, S 4i Represents the vehicle operating environment index component, i = 1, 2, ... n, n is the number of environmental indicators.

5. The variable damping control method for the end system of an electronically guided rubber-tyred vehicle according to claim 3 is characterized in that: The environmental indicators include traffic light signals, weather signals and passenger density information in the carriage.

6. A variable damping control system for an electronically guided rubber-tyred vehicle end system, used to execute the method according to claim 1, characterized in that: The system comprises: A position monitoring module, which is used to obtain speed data of the electronically guided rubber-wheeled vehicle on the one hand, and to construct a speed control variable of the variable damping control based on the speed of the electronically guided rubber-wheeled vehicle; and to obtain offset data of the electronically guided rubber-wheeled vehicle from a predetermined trajectory, vehicle running direction data, and vehicle-like running environment data on the other hand, and to construct an angular velocity control variable of the variable damping control based on the offset data, vehicle running direction data, and vehicle running environment data; A vehicle communication module, the vehicle communication module is used to transmit the speed control variable and the angular velocity control variable to the intelligent computing module; An intelligent calculation module, the intelligent calculation module is used to obtain a current control variable for driving the mechanical oil cylinder oil pressure adjustment based on the sum of the speed control variable and the angular velocity control variable: I=C1+C2 Among them, I represents the current control variable used to drive the oil pressure adjustment of the mechanical cylinder, C1 represents the speed control variable, and C2 represents the angular velocity control variable; A mechanical cylinder module is used to receive the optimal damping force control amount and control the opening of the mechanical cylinder solenoid valve according to the optimal damping force control amount.

7. A variable damping control system for an electronically guided rubber-tyred vehicle end system according to claim 6, characterized in that: The system further comprises a fault diagnosis module, which monitors the end connection internal module for switching to an emergency mode, and the fault diagnosis module comprises a backup power supply.

8. The variable damping control system for the end system of an electronically guided rubber-tyred vehicle according to claim 6, characterized in that: The angular velocity control variable is obtained according to the following calculation: C2=K2·S2·W1+K3·D1·S3+K4·S4 Among them, S2 represents the offset of the electronically guided rubber-wheeled vehicle from the predetermined trajectory, K2 represents the position offset influencing factor, W1 represents the angular velocity, D1 represents the vehicle running direction data, S3 represents the vehicle axle system position data, K3 represents the axle offset influencing factor, K4 represents the external influencing factor, and S4 represents the vehicle operating environment data.

9. A variable damping control system for an electronically guided rubber-tyred vehicle end system according to claim 6, characterized in that: The vehicle operating environment data is obtained based on the following calculations: S4=S 41 +S 42 +…+S 4n Among them, S 4i Represents the vehicle operating environment index component, i = 1, 2, ... n, n is the number of environmental indicators.

10. A variable damping control system for an electronically guided rubber-tyred vehicle end system according to claim 9, characterized in that: The environmental indicators include traffic light signals, weather signals and passenger density information in the carriage.

Images