Selection of Visual Rail Train Trajectory Following Points Based on Minimum Passing Width on Circular Curves

[Objective] The impact of selecting trajectory following points for a type of three-module visual rail train on vehicle road passing width is studied, providing theoretical basis for the choice of trajectory control points. [Method] The calculation formulas for the lateral deviation between left and right sides and the passing width of vehicle on steady-state circular curve are derived, the vehicle posture conditions that meet the equal deviation and minimum passing width are discussed. Then a vehicle circular curve passing model is established and the curve passing performance of the vehicle under different following point conditions is simulated and analyzed. [Result & Conclusion] The road passing width is an important indicator for measuring vehicle passing ability of multi-formation ART tram. Selecting the vehicle articulation point as trajectory following point in path-following control can optimize the passing width indicator for vehicle.