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The control of vehicles for ground transport is an important element of automated people mover systems. An overview of the system control structure is presented, and attention is focused on individual vehicle longitudinal and lateral control. A longitudinal and lateral control system which utilizes a fixed guideway reference system has been designed, tested, and developed. The fixed guideway reference system is comprised of guideway-mounted measurement markers and an inductive communication link which provides the means for vehicle state error measurement and control. Vehicle status information and longitudinal commands are transmitted to/from the wayside via the inductive link. In addition, measurements of the electromagnetic field surrounding the communication link are used to obtain estimates of vehicle lateral position error with respect to a prescribed path. These vehicle state error measurements are processed by an on-board vehicle computer, and the proper longitudinal and lateral control commands are generated and applied to the appropriate control equipment to effect the necessary longitudinal and lateral control responses. Preliminary conclusions from this on-going study are as follows: 1. Using the approach described, specific vehicle dynamics data can be used to provide a good estimate of potential wire following lateral control performance. 2. Lateral paths requiring vehicle yaw acceleration provide the most severe input to a wire-following vehicle. 3. Good longitudinal control accuracy and ride comfort are inversely related. Although analytical predictions of longitudinal control accuracy are useful, final control parameter value selection requires actual hardware testing to select a level of accuracy consistent with ride comfort requirements.
Smisek et al. (Mon,) studied this question.