ABSTRACT
ABSTRACT: As the development of urbanization and economy, the traffic stresses in most urban cities have many severe challenges. The idea of a new kind of tramcar based on virtual tracks is proposed which owns a series of advantages including suitable speed, big capacity, low construction cost and environmentally friendly. The designation of the tramcar is moving around the aim of a capacity of 15 thousand persons per hour with the operation speed of 40-50 km/h. The key technologies contains the identification of the virtual track, guiding theory by the virtual track, control of the wheel hub motor, vehicle system dynamics the right of way rules (ROW) and so on. The kinematic model and dynamics model are analyzed in the article. The design philosophy and the central wheel hub motor velocity calculation method is introduces emphatically. However, the works of accuracy lateral and longitudinal control and the producing sample tramcar should be paid more attention in the future.
