Modeling and Simulation of All-Wheel Steered Multiple-Articulated Rubber-Tire Transit for Autonomous Driving Control

This paper presents the design and development of a new standard of Urban Transit, which replaced the traditional steel wheels with rubber tire and constraint within virtual track. This transit has been in revenue services at Zhuzhou, Hunan, Mainland of China in 2017. In order to facilitate developing the precision lane keeping control system, analyzing and building the 32 meters long transit dynamic models is necessary. This paper describes in three aspects: the transit dynamic model, the simulation procedure for validation testing, and the lane keeping controller design based on model predictive control method. Through these development procedure we can enhance the control system iterative rate and reliability to facilitate the new type of transit for narrow path lane keeping and precise docking at platform.