Autonomous-rail rapid transit tram: System architecture, design and applications

Autonomous-rail Rapid Transit (ART) tram is a new type of multiple-articulated rubber-tire transit that utilizes intelligent perception, path tracking, and trajectory following control technologies to eliminate reliance on physical railway tracks. The adoption of power batteries, hydrogen energy, wheel-edge motor drive, and other technologies has comprehensively realized the dual advantages of large-capacity rail transportation, which is punctual, high volume, energy-saving, and environmentally friendly, as well as the flexibility and low comprehensive cost of traditional bus operations. This has created a brand-new urban rail transit model. This article first introduces the ART tram systems architecture, operating principles, applicable scenarios. Secondly, it introduces the core subsystems of ART tram vehicle structure, electrical system, and energy storage system. Thirdly, it focuses on analyzing the structure composition and control principles of the Automatic All-Wheel Steering System, which includes two key core subsystems: path tracking control subsystems and trajectory following control subsystems. Then, a horizontal comparison is made between the performance advantages and disadvantages of ART and other transportation systems, and the application status of ART tram is summarized. Finally, some common issues related to the development of ART tram are discussed, and a development plan for future ART systems is proposed to better integrate ART tram into urban transportation and meet people's demands for intelligent, comfortable, fast, and environmentally friendly urban public transportation.