In this paper, we propose a speed controller for precision stop of Bimodal tram. The precisionstop of vehicles is important at the bus stop for passengers. The Korea Rail road ResearchInstitute (KRRI) is developing the bimodal tram. The Bimodal tram is all wheel steered singlearticulated vehicle and will be automatically driven with the automatic guidance systems. Thekey technology of the systems is longitudinal and lateral vehicle control algorithm. Thelongitudinal control is concerned with traction control and brake control of the vehicle and thelateral control is concerned with steering control. First, we propose the speed controller usingthe sliding mode control. Then, the speed and distance profiles are designed with satisfyingthe specifications of a vehicle. The control performance for precision stop is shown bysimulation results.
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