虚拟轨道列车作为一种全新的城市轨道交通工具，近年来已经在我国株洲、宜宾等城市有了广泛的商业 化运用。为了深入研究其行驶特性，需要针对其独有的无人、有人混合驾驶模式开发驾驶仿真平台。本文在 SIMPACK 中建立 3 节编组的虚拟轨道列车系统动力学模型，针对不同驾驶模式分别开发模型预测控制算法和基 于Logitech 驾驶仿真硬件的驾驶员控制仿真模块，并结合Unreal Engine和Blender开发驾驶场景可视化界面，从 而构成可以仿真虚拟轨道列车真实驾驶情况的仿真平台。仿真结果表明，开发的平台可以有效准确地仿真虚拟轨 道列车不同驾驶模式下的行驶表现，具有较强的工程意义。

The Virtual track train (VTT) has been put into commercial operation as a new type of urban rail transport in China in recent years. To further understand VTT’s operational performance, it is essential to develop a specific driving simulation platform to simulate VTT’s unique hybrid autonomous/manual driving mode. The main contributions of this paper are as follows: First, a vehicle system dynamics (VSD) model of VTT was established using SIMPACK. Additionally, the control module for simulating the hybrid autonomous/manual driving mode of VTT was developed based on model predictive control and Logitech driving simulation hardware. Furthermore, a driving scene visualization interface was established using Unreal Engine and Blender to simulate the real driving environment. These components form a comprehensive simulation platform for the VTT. Simulation results demonstrate that the developed platform can effectively and accurately simulate the operational performance of the VTT under various driving modes, highlighting its significant engineering value.

U231

国家自然科学基金(52275124)