CN1827409A - Intelligent automobile and railway - Google Patents
Intelligent automobile and railway Download PDFInfo
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- CN1827409A CN1827409A CN 200610074440 CN200610074440A CN1827409A CN 1827409 A CN1827409 A CN 1827409A CN 200610074440 CN200610074440 CN 200610074440 CN 200610074440 A CN200610074440 A CN 200610074440A CN 1827409 A CN1827409 A CN 1827409A
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Abstract
The invention provides an intelligent vehicle used on special vehicle railway, with automatic driving property. It is characterized in that: the weight of vehicle is supported by the steel wheels and rubber wheels, while the steel wheels guide the direction and rubber wheels drive the vehicle, and the hydraulic device can adjust the weight. Since the rolling resistance of steel wheels is less than the rubber wheels, the oil consumption can be reduce 40-50%, with better starting, accelerating, and braking properties. And said special railway can be arranged on speedway and public transport line, with seamless connection between the railway and the road. The invention can reduce the transportation cost and protect the environment.
Description
Technical field
The present invention relates to a kind of be furnished with steel wheel can be on railway siding automatic cruising drive the intelligent vehicle that rubber wheel drives, and the dedicated line that is equipped with rail on the road surface.
Background technology
At present, countries in the world are all wished to develop and a kind ofly both can be travelled flexibly on highway, can fast and safely travel on railway again, energy-saving road and rail dual-purpose car, but mode converting difficulties between road and the railway on business all, the vehicle structure complexity, and be difficult to practical application.The applying date is " automobile railroad " on March 19th, 2006, though solved an above-mentioned difficult problem, can large quantities of inputs use, vehicle drives operation by steel wheel fully on railway, because rolling resistance between the wheel track, much smaller than the rolling resistance between rubber wheel and the road surface, the driving power of vehicle and oil consumption decline to a great extent nearly 70%, but simultaneously because friction force is too little between the wheel track, make vehicle braked apart from increase, the safety distance of railway up train strengthens, and has reduced the efficient of railway operation, and the speed of a motor vehicle also is restricted simultaneously.
Summary of the invention
The present invention is to provide the circuit that is equipped with rail on a kind of road surface, and by the steel wheel guiding, rubber wheel drives, the two while vehicle weight is traveling automobile on the line.Wherein, two sides are established the guiding wall in the guiding highway section of circuit leading portion, establish the oriented identification of buy car in installments set sensor or pick up camera identification on the road surface, enter railway operation by sensor or pick up camera automatically by road surface identification or two sides guiding wall guided vehicle; By the rang sensor of vehicle front setting or the radar that cruises, judge the speed of a motor vehicle and the spacing of front truck simultaneously, the safe stopping distance between the speed of a motor vehicle of automatic compensation self and control and the front truck guarantees service brake safety.And, judge the speed of a motor vehicle and the spacing of back car by the rang sensor of rear vehicle end setting or the radar that cruises, by the acousto-optic warning on the car, remind the back car to keep the suitable speed of a motor vehicle and safe stopping distance.
Owing to disposed the automatic cruising control loop, reduced the error that manual operation causes, vehicle adopts rubber wheel to drive and braking simultaneously, stopping distance is declined to a great extent, thereby the safe stopping distance before and after making between the car shortens, the rate of traffic flow of circuit is increased, and efficient improves, and the speed of a motor vehicle and safety simultaneously also greatly improves.
In the application, configurable hydraulic efficiency gear of while on the steel wheel by the running state of hydraulic efficiency gear according to vehicle, increases or reduces the pressure of steel wheel to rail automatically, promptly increases automatically or the minimizing vehicle weight that steel wheel carried.When starting acceleration of vehicle place or braking mode, the pressure of hydraulic actuating cylinder in the hydraulic efficiency gear of reduction steel wheel top, make the weight of vehicle most of or all bear by rubber wheel, steel wheel mainly plays safe directional tagging, because the extremely strong friction force between rubber wheel and the road surface makes vehicle can start rapidly, quicken and brake.When the steady high-speed cruising of vehicle place cruising condition, increase the pressure of hydraulic actuating cylinder, most of weight (about 70%) of vehicle is born by steel wheel, rubber wheel only carries about 30% vehicle weight, thereby the vehicle operating resistance is declined to a great extent surpass 50%, rubber drive wheels only provides less acceleration/accel just can overcome resistance to motion, guarantees vehicle high speed smooth operation.And the vehicle weight of front and back rubber wheel carrying is mainly born by driving rubber wheel.Simultaneously, on the steel wheel electronic or hydraulic lift can be installed, make the steel wheel can lifting below vehicle by jacking system.
In the application, steel wheel can be directly installed between the side or two-wheel of rubber wheel steel ring, also can steel wheel be installed between steel ring one side or the two-wheel (to overcome owing to steel wheel is different with the external diameter of rubber wheel by reel, the rotation differential that is produced), weight with rubber wheel while vehicle, thereby reduce the advance resistance of vehicle, make driving power and oil consumption reduce about 30%; Because vehicle is still driven by rubber wheel, its starting acceleration and deceleration and stopping performance all are better than simple steel wheel and drive the vehicle that moves on railways simultaneously.After steel wheel choosing dress should be considered the tire pressurized, the variation that the lower part radius of wheel takes place made all effective weight of vehicle of steel wheel and rubber wheel, the steel wheel diameter is big more, the vehicle weight of rubber wheel carrying is more little, and the steel wheel diameter is more little, and the vehicle weight of rubber wheel carrying is big more.
In the application, vehicle is back-wheel drive in this way, and the weight of front part of vehicle is then most of by preceding steel wheel carrying, the resistance that advances with minimizing, the major part of vehicle rear weight should be by rear drive rubber wheel carrying, with the friction force that guarantees to produce between starting is quickened and glancing impact is required rubber wheel and the road surface.Vehicle is as being f-w-d, and most of weight of front part of vehicle just should be by the carrying of before driving rubber wheel, and then steel wheel is then roughly the same with the rear portion vehicle weight of back rubber wheel carrying.
In the application, the vehicle that steel wheel is housed of electronic machine identification road surface oriented identifications such as onboard sensor, pick up camera is not installed, can pass through to be provided with at the rail front end, the routing apparatus of forming by guided way or the traversing supporting plate of guide table and road surface, service vehicle's entry-line, steel wheel is moved on rail, drive by rubber wheel.
In the application, steel wheel is not installed the vehicle of jacking system, by the rotating table in the circuit or mobile station and translation track switch, and turnover circuit and finish conversion between the circuit.
In the application, rail is laid immediately on the circuit on the road surface, and mainly the confession steel wheel is installed in the vehicle operating on the rubber wheel.Rail is installed in circuit on the road surface by the track plate, mainly is installed in the vehicle operating of compartment or vehicle frame below for steel wheel.The circuit that the rail level of rail is concordant with the road surface, the main vehicle operating that is installed in under-vehicle for steel wheel by jacking system, and vehicle is on the line by oriented identification or rail in onboard sensor or the pick up camera identification circuit, and the control wheel flutter is the operation automatic guide of vehicle; Simultaneously can lay the planar shaped rail concordant with the road surface in the circuit, vehicle uses no wheel rim steel wheel simultaneously.
Description of drawings
Fig. 1 is the application scheme drawing in circuit front end guidance highway section.
Fig. 1-1 is provided with the application scheme drawing of routing apparatus for the circuit front end.
Fig. 2 is the scheme drawing of steel wheel between rubber wheel.
Fig. 2-1 is installed in the scheme drawing of rubber wheel steel ring one side for steel wheel.
Fig. 3 is installed in the scheme drawing of bottom, compartment for steel wheel.
Fig. 3-1 is the birds-eye view of Fig. 3.
Fig. 4 is the application scheme drawing of compact car in shared line that steel wheel is housed.
Fig. 4-1 is for being equipped with the application scheme drawing of Oversize vehicle in shared line of steel wheel.
Fig. 5 is the scheme drawing in shared line front end guidance highway section.
Fig. 5-1 is the birds-eye view of Fig. 5.
Fig. 6 is the scheme drawing of the hydraulic efficiency gear installed on the steel wheel.
Fig. 7 is a rotating table haul road schematic representation of apparatus.
Fig. 8 is a mobile station haul road schematic representation of apparatus.
Fig. 8-1 is the birds-eye view of Fig. 8.
Fig. 9 is the scheme drawing that is installed in the jacking system on the steel wheel.
Fig. 9-1 is the action scheme drawing of Fig. 9.
Figure 10 is positioned at the scheme drawing of the rail level steel rail line top concordant with the road surface for vehicle.
Figure 10-1 drops to scheme drawing on the rail for the vehicle steel wheel.
Figure 10-2 is the application scheme drawing of flush type rail and no wheel rim steel wheel.
Figure 11 is the scheme drawing of the concordant circuit with the road surface of rail rail level when intersecting.
The specific embodiment
Below in conjunction with accompanying drawing, the invention will be further described.
Embodiment 1:
Shown in Fig. 1, rail 1 is laid on the road surface 2 of rubber wheel operation in the circuit, the guiding highway section is positioned at the front end of circuit, two sides are established guiding wall 3, guiding graticule 4 and guiding magnetic nail 5 are established in the road surface, vehicle enters the guiding highway section by the guiding of guiding wall, by vehicle-borne left and right sides rang sensor 7, measures the guiding wall and determines the horizontal position of vehicle in the highway section; Or by the guiding magnetic nail 5 on the vehicle-borne electromagnetic sensor measurement road surface, or by vehicle-mounted vidicon identification ground-surface guiding graticule, determine vehicle horizontal relative position in the guiding highway section, by being installed in the steering controlling device on the wheel steering system, the control wheel flutter, vehicle is traveling on the line of centers in guiding highway section, guarantees that vehicle aligns circuit, steel wheel reaches rail smoothly; Vehicle is led by steel wheel, and rubber wheel drives, the weight of the two common vehicle.
Vehicle is by the rang sensor of front end setting or the radar 6 that cruises, and measures the speed and the distance of front truck, by the automatic cruising control loop control speed of a motor vehicle and and front truck between safe stopping distance; And, measure the speed and the distance of back car by the rang sensor of rear vehicle end setting or the radar that cruises, by the acousto-optic warning device of vehicle afterbody, the prompting back car control speed of a motor vehicle also keeps a safe distance.
In the application, the rail front end in the online pass guide passage section also can be established routing apparatus 8 (referring to Fig. 1-1), and auxiliary steel wheel reaches rail, and can be auto-guider is not installed, and the automobile entry-line that is fitted with steel wheel provides guiding.When vehicle enters routing apparatus, as malposition, one side steel wheel produces extruding to guided way in the routing apparatus or guide table, thereby vehicle is produced side-force reaction, make the rubber wheel that is positioned on the traversing supporting plate take place oppositely traversing, thereby make vehicle align circuit, steel wheel can reach rail smoothly.
In the application, compact car circuit rail can be laid in the middle of the Oversize vehicle circuit rail.
Embodiment 2:
Shown in Fig. 2, steel wheel 9 is installed on the core wheel 11 by reel 10, core wheel 11 is between two rubber wheels or be installed in the side (seeing Fig. 2-1) of rubber wheel steel ring, and on the rubber wheel operation road surface in the line, steel wheel operates in the top of the rail of laying on the road surface; Rail is arranged in the mounting groove 12 on the metal sheet 13 that is fixedly mounted on the road surface, and can adjust fixing by the screw on the mounting groove 14.Vehicle weight is carried simultaneously by steel wheel and rubber wheel, and drives operation by steel wheel guiding rubber wheel.
Fig. 3 and shown in Figure 4, steel wheel 9 are installed in the vehicle frame below (seeing Fig. 4-1) of cabin floor or Oversize vehicle, operate on the rail of laying track plate 15 tops and operate in the weight of the common vehicle of rubber wheel on the road surface.In the application, the compact car circuit can be laid (see figure 3) separately, also can unify steel wheel wheelspan and gauge with Oversize vehicle, lays shared line; In the shared line, the compact car rubber wheel operates on the road surface 2 of track plate 15 2 sides, and the Oversize vehicle rubber wheel operates on the road surface 16 of compact car road surface 2 two side-lowers, and the steel wheel of Oversize vehicle and compact car operates on the rail on the track plate 15 jointly.
Guiding highway section two sides of shared line front end are established guiding wall 3, and guiding graticule 4 and guiding magnetic nail 5 are established in the road surface, and compact car ground-surface front end is established ramp 17 simultaneously, and the front end of rail can be established routing apparatus 8 (referring to Fig. 5 and Fig. 5-1) simultaneously.
Embodiment 3:
Referring to Fig. 6, in the application, can on steel wheel, install hydraulic efficiency gear additional, the pressure between steel wheel and the rail is adjusted, thereby adjust the vehicle weight that steel wheel carried, the vehicle weight of carrying between steel wheel and the rubber wheel can be distributed according to the running state of vehicle.Shown in the figure, steel wheel 9 is arranged in balladeur train 20, the axle sleeve of balladeur train 20 by its two end is installed on the guide rod 19 in the wheel carrier 18, the push pedal 23 that is installed on the guide rod 19 by sliding sleeve is positioned at balladeur train 20 tops, the two establishes hydraulic actuating cylinder 22,18 of the wheel carriers of push pedal 23 and top are established air bellow 21, and retracing spring 21 is established in the below of balladeur train 20 and guide rod 19 simultaneously.When the starting of vehicle place, during acceleration mode, be positioned at the hydraulic actuating cylinder that drives near the steel wheel of rubber wheel, by hydraulic efficiency gear reduction pressure wherein, make steel wheel to the pressure relieve between the rail, thereby alleviate or eliminate the vehicle weight that steel wheel carries, most of weight of vehicle is changeed by driving the rubber wheel carrying, thereby increase the driving friction force that drives rubber wheel, make vehicle quick start, acceleration.When vehicle place braking mode, by the rapid pressure that reduces or eliminate the hydraulic actuating cylinder on the steel wheel of front and back of hydraulic efficiency gear, reduce the steel wheel load, the major part of vehicle or total weight are carried by the front and back rubber wheel, thereby increase the drag friction power of rubber wheel, vehicle is braked rapidly.When vehicle place cruising condition or when only carrying out less acceleration and deceleration at the uniform velocity, increase the pressure of hydraulic actuating cylinder on the steel wheel by hydraulic efficiency gear, increase the steel wheel load, alleviate the load of rubber wheel, thereby reduce the resistance to motion of vehicle, because the rolling resistance of steel wheel significantly reduces more than 50% the driving power of vehicle and oil consumption much smaller than the rolling resistance of rubber wheel.
Embodiment 4:
Figure 7 shows that rotating table 24, when the vehicle that rolls circuit away from when need is positioned on the rotating table,, make the rail on the rotating table break away from circuit by the rotation of engine installation driven rotary platform, vehicle (or fault vehicle) just can reach highway by the road that links to each other with rotating table by rolling circuit on the rotating table away from.
Shown in Fig. 8, vehicle also can or carry out line transfer by mobile station 27 turnover roads.Mobile station is arranged in the chute of base 26, is respectively equipped with straight way transition rail 28 and turnout transition rail 30 on it, and mobile station is by moving on the guide rail of motor-driven steel wheel in chute.When circuit place straight way state, the straight way transition rail on the mobile station is between the straight way circuit rail above base chute two ends.When circuit need be located the current or road approach state in turnout, the motor-driven steel wheel was passed mobile station, the turnout rail on the mobile station was passed between the circuit of need conversion to get final product.Shown in Fig. 8-1, two ends on the base 26 are provided with straight way circuit and turnout circuit 25 (circuit of engaging in this profession) and access circuit 29 simultaneously.
Embodiment 5:
Shown in Figure 9, the steel wheel jacking system is positioned on the vehicle frame or base plate of under-vehicle, and steel wheel is positioned at the below of lifting swing arm 31, is connected with pull bar 32 in the lifting swing arm, the other end of pull bar is installed on the slide block 34 in the chute 33, and slide block 34 is fixedly mounted on the piston nose in the hydraulic actuating cylinder 35; The lifting swing arm is made up of pumping arm action, and following swing arm upper end is inserted in the guide hole of top link bottom, and the hydraulic actuating cylinder that can adjust steel wheel pressure also is housed in the guide hole; Steel rail laying in the line, its rail level can concordant (see figure 10) with the road surface.
When vehicle sails circuit into, by onboard sensor or pick up camera according to ground-surface oriented identification or rail, judge the horizontal in the line relative position of identification vehicle, by being installed in the control setup in the wheel steering system, the adjusting control wheel flutter, vehicle is positioned on the line of centers of circuit, and steel wheel aligns rail (referring to Figure 10); Then by the slide block 34 on 35 promotion pistons of the hydraulic actuating cylinder in the jacking system and the piston, drive pull bar 32 by slide block and promote lifting swing arm 31 (referring to Fig. 9-1 and Figure 10-1) downwards, steel wheel is dropped on the rail, and slide block is locked by the electric magnetic card locking device on the slide block 34, press down down swing arm by the hydraulic actuating cylinder in the lifting swing arm of top again, thereby increase the pressure of steel wheel, make the weight of steel wheel and the common vehicle of rubber wheel rail, reduce the running resistance of vehicle, reduce oil consumption.The hydraulic actuating cylinder of installing on the steel wheel in the work purpose of the hydraulic actuating cylinder of installing in the lifting swing arm and mode of operation and the previous embodiment 2 22 is identical.When vehicle need leave circuit, reduce or eliminate the pressure of hydraulic actuating cylinder in the lifting swing arm, open the electromagnetism kayser on the slide block 34, by hydraulic actuating cylinder 35 pull back piston and slide block, be pulled upwardly by the pull bar 32 that links to each other with slide block and rise arm swing arm 31, steel wheel is upwards lifted away from road surface and rail, and vehicle is driven by the rubber wheel carrying again fully, freely returns road travel.
In the application, can lay the rail level flush type rail 37 concordant with the road surface (referring to Figure 10-2) in the circuit, the steel wheel 36 of under-vehicle is not established the guiding wheel rim simultaneously yet.When vehicle reaches circuit, by vehicle-borne sensor or pick up camera identification ground-surface magnetic nail, graticule or rail, judge vehicle horizontal position in the line, by the control of the control setup in steering swivel system wheel flutter, vehicle is remained on the central lines of track move.Because the rail level broad of flush type rail is not established the guiding wheel rim on the steel wheel simultaneously, steel wheel just can drop on the rail easily, the weight of bearing part vehicle.
Because the rail level of rail is concordant with the road surface, do not form obstacle,, use for the vehicle that steel wheel is housed so the circuit rail can be laid on existing city bus special line or the express highway, and the vehicle operating of can compatible steel wheel be installed simultaneously, other vehicle on the road is not impacted; Vehicle is controlled operation by sensor or pick up camera according to road surface identification; The connection of rail intersects all (sees Figure 11) on the road surface.On the road surface of steel rail laying not, vehicle is regained steel wheel and is controlled by chaufeur, and rubber wheel drives operation.Lack with respect to low pollution of its energy consumption of existing public transit vehicle, with respect to urban light rail, its noise is little, and is accessible flexibly, can move on any road, and the small investment duration is short, and gain quick return.
Claims (10)
1, intelligent vehicle and railway, main by the automobile that disposes steel wheel, form with the circuit that is equipped with rail on the road surface, it is characterized in that: on the rubber wheel operation road surface in the line of automobile, steel wheel (9) operates on the rail (1), the weight of the two common vehicle, vehicle is led by steel wheel, and rubber wheel drives; Rail is directly laid or is laid on the road surface by track plate (15).
2, intelligent vehicle according to claim 1 and railway, it is characterized in that: guiding highway section two sides of described circuit front end are established the guiding wall, on the road surface, be provided with the oriented identification of can buy car in installments set sensor or pick up camera identification, guide the front end of rail in the highway section can establish routing apparatus (8) simultaneously; Establish longitudinal separation sensor or radar on the vehicle simultaneously.
3, intelligent vehicle according to claim 1 and railway is characterized in that: configurable hydraulic efficiency gear is adjusted the pressure between steel wheel and the rail on the described steel wheel, and steel wheel can be by jacking system lifting on the rail of road surface simultaneously.
4, intelligent vehicle according to claim 1 and railway, it is characterized in that: described Oversize vehicle and compact car can use shared line, the middle-size and small-size bus or train route face of shared line (2) is positioned at track plate (15) and goes up rail two side-lowers of laying, Oversize vehicle road surface (16) is positioned at compact car road surface two side-lowers, and the steel wheel wheelspan of compact car and Oversize vehicle is identical simultaneously.
5, intelligent vehicle according to claim 1 and railway is characterized in that: the compact car circuit rail that is laid on the road surface can be positioned in the middle of the Oversize vehicle circuit rail that is laid on the road surface, and compact car circuit rail front end can be established routing apparatus (8) simultaneously.
6, according to claim 1 or 4 or 5 described intelligent vehicle and railways, it is characterized in that: described vehicle can sail out of circuit by the rotating table (24) that is provided with in the circuit; Or by mobile station (27) turnover circuit, and carry out line transfer.
7, according to claim 1 or 4 described intelligent vehicle and railways, it is characterized in that: the front end of rail can be established routing apparatus (8) in the described circuit.
8, intelligent vehicle according to claim 1 and railway, it is characterized in that: can lay flush type rail (37) in the described circuit, the steel wheel that moves on the flush type rail (36) is not established the guiding wheel rim, and vehicle is vehicle guidance by onboard sensor or pick up camera by identification road surface oriented identification or rail.
9, intelligent vehicle according to claim 1 and railway is characterized in that: the described rail rail level that is laid on the road surface can be concordant with the road surface.
10, intelligent vehicle according to claim 1 and railway, it is characterized in that: described steel wheel (9) can be between the rubber wheel two-wheel or rubber wheel steel ring one side, simultaneously steel wheel also can by reel (10) be installed between the two-wheel or the core wheel (11) of wheel steel ring one side on.
Priority Applications (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200610074440 CN1827409A (en) | 2006-04-09 | 2006-04-09 | Intelligent automobile and railway |
| JP2008558618A JP5330836B2 (en) | 2006-03-18 | 2007-02-28 | Vehicle line |
| PCT/CN2007/000639 WO2007107079A1 (en) | 2006-03-18 | 2007-02-28 | Energy-saving enviroment-protecting vehicle and its traveling line |
| US12/212,769 US7789020B2 (en) | 2006-03-18 | 2008-09-18 | Road and rail vehicle and track therefor |
| US12/786,432 US7975617B2 (en) | 2006-03-18 | 2010-05-25 | Routing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200610074440 CN1827409A (en) | 2006-04-09 | 2006-04-09 | Intelligent automobile and railway |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN1827409A true CN1827409A (en) | 2006-09-06 |
Family
ID=36946032
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200610074440 Pending CN1827409A (en) | 2006-03-18 | 2006-04-09 | Intelligent automobile and railway |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1827409A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101962019A (en) * | 2010-10-12 | 2011-02-02 | 西京学院 | Vacuum pipeline automobile |
| CN102107594A (en) * | 2009-12-24 | 2011-06-29 | 上海高斯通船舶配件有限公司 | Highway and railway hybrid traffic system |
| CN103963585A (en) * | 2014-03-17 | 2014-08-06 | 毛晓东 | Urban track or trackless network PRT car |
| WO2016107338A1 (en) * | 2014-12-29 | 2016-07-07 | 唐山轨道客车有限责任公司 | City rail transit vehicle |
| WO2020047947A1 (en) * | 2018-09-07 | 2020-03-12 | 奈克斯科技股份有限公司 | Mobile cabin, rail, and stereoscopic rail transport system |
| FR3116025A1 (en) * | 2020-11-12 | 2022-05-13 | Akka Ingenierie Produit | Method for automated piloting of a road-rail motor vehicle for its road-to-rail transition |
-
2006
- 2006-04-09 CN CN 200610074440 patent/CN1827409A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102107594A (en) * | 2009-12-24 | 2011-06-29 | 上海高斯通船舶配件有限公司 | Highway and railway hybrid traffic system |
| CN101962019A (en) * | 2010-10-12 | 2011-02-02 | 西京学院 | Vacuum pipeline automobile |
| CN103963585A (en) * | 2014-03-17 | 2014-08-06 | 毛晓东 | Urban track or trackless network PRT car |
| WO2016107338A1 (en) * | 2014-12-29 | 2016-07-07 | 唐山轨道客车有限责任公司 | City rail transit vehicle |
| EP3241690A4 (en) * | 2014-12-29 | 2018-08-22 | Crrc Tangshan Co., Ltd. | City rail transit vehicle |
| WO2020047947A1 (en) * | 2018-09-07 | 2020-03-12 | 奈克斯科技股份有限公司 | Mobile cabin, rail, and stereoscopic rail transport system |
| FR3116025A1 (en) * | 2020-11-12 | 2022-05-13 | Akka Ingenierie Produit | Method for automated piloting of a road-rail motor vehicle for its road-to-rail transition |
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