Research on intelligent formation operation performance of straddle-type rapid transit vehicles in heterogeneous operating environment

This paper presents an intelligent formation operation mode (IFOM) based on straddle-type rapid transit vehicles. Taking the straddle-type rapid transit vehicles operating in IFOM as the object, the operation mode of the vehicle is defined in the control system architecture of the straddle-type rapid transit system. In addition, considering the heterogeneous operating environ-ment of formation vehicles, an evaluation index system for formation vehicles is proposed. Then, according to the vehicle longitudinal dynamics model and the artificial potential field formation algorithm, we build the formation vehicle operation controller. After that, referring to the vehicle dynamics model, a multi rigid body dynamics simulation model of formation vehicles in a heterogeneous operating environment is established. Finally, the operating performance of formation vehicles in heterogeneous operating environment is analyzed. The analysis results show that the operation performance of the formation vehicle meets the requirements of the evaluation index system, which proves the feasibility of the formation operation of straddle-type rapid transit vehicles operating in IFOM.