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 vehicles operating in IFOM as object, of vehicle is defined control system architecture system. In addition, considering heterogeneous environ-ment vehicles, evaluation index for proposed. Then, according to longitudinal dynamics model and artificial potential field algorithm, we build controller. After that, referring model, a multi rigid body simulation environment established. Finally, performance analyzed. The analysis results show that meets requirements system, which proves feasibility IFOM.