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    <title>Transport Research International Documentation (TRID)</title>
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    <atom:link href="https://trid.trb.org/Record/RSS?s=PHNlYXJjaD48cGFyYW1zPjxwYXJhbSBuYW1lPSJkYXRlaW4iIHZhbHVlPSJhbGwiIC8+PHBhcmFtIG5hbWU9InN1YmplY3Rsb2dpYyIgdmFsdWU9Im9yIiAvPjxwYXJhbSBuYW1lPSJ0ZXJtc2xvZ2ljIiB2YWx1ZT0ib3IiIC8+PHBhcmFtIG5hbWU9ImxvY2F0aW9uIiB2YWx1ZT0iMCIgLz48L3BhcmFtcz48ZmlsdGVycz48ZmlsdGVyIGZpZWxkPSJpbmRleHRlcm1zIiB2YWx1ZT0iJnF1b3Q7QXJ0aWN1bGF0ZWQgYnVzZXMmcXVvdDsiIG9yaWdpbmFsX3ZhbHVlPSImcXVvdDtBcnRpY3VsYXRlZCBidXNlcyZxdW90OyIgLz48L2ZpbHRlcnM+PHJhbmdlcyAvPjxzb3J0cz48c29ydCBmaWVsZD0icHVibGlzaGVkIiBvcmRlcj0iZGVzYyIgLz48L3NvcnRzPjxwZXJzaXN0cz48cGVyc2lzdCBuYW1lPSJyYW5nZXR5cGUiIHZhbHVlPSJwdWJsaXNoZWRkYXRlIiAvPjwvcGVyc2lzdHM+PC9zZWFyY2g+" rel="self" type="application/rss+xml" />
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    <language>en-us</language>
    <copyright>Copyright © 2026. National Academy of Sciences. All rights reserved.</copyright>
    <docs>http://blogs.law.harvard.edu/tech/rss</docs>
    <managingEditor>tris-trb@nas.edu (Bill McLeod)</managingEditor>
    <webMaster>tris-trb@nas.edu (Bill McLeod)</webMaster>
    <image>
      <title>Transport Research International Documentation (TRID)</title>
      <url>https://trid.trb.org/Images/PageHeader-wTitle.jpg</url>
      <link>https://trid.trb.org/</link>
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    <item>
      <title>Evaluation of All-Door Boarding: Analysis of Dwell Time Performance</title>
      <link>https://trid.trb.org/View/2610617</link>
      <description><![CDATA[All-door boarding is a policy that allows passengers with valid fare cards to board buses via any available door. This program speeds up the boarding process and reduces the amount of time a transit vehicle remains stationary at a regularly scheduled stop. This waiting time, also known as dwell time, can reduce on-time performance and leads to higher operating costs for transit agencies. Metro is currently considering an expansion of their all-door boarding program, and they would like to better understand the effect of the policy on stop dwell time. I used multiple linear regression and difference in difference analysis to determine the impact of the all-door boarding policy. Multiple linear regression was used to see the effect of all-door boarding on weekdays in October 2019 when controlling for differences in boardings per stop, wheelchair boardings per stop, and articulated bus use. Difference in differences analysis was used to see how all-door boarding policy affected boarding times on Lines 720 and 754 in April 2018 vs. April 2019. My statistical models show that all-door boarding is an effective policy that significantly reduces dwell time. The multiple linear regression model shows a 6.5 seconds per stop reduction in stop waiting times due to the policy, and my difference in differences analysis shows a 16 percent reduction in dwell time per passenger boarding on Lines 720 and 754. Routes with articulated buses saw slightly higher reductions, with a 7.5 second reduction in dwell time per stop.]]></description>
      <pubDate>Tue, 18 Nov 2025 09:29:12 GMT</pubDate>
      <guid>https://trid.trb.org/View/2610617</guid>
    </item>
    <item>
      <title>Dynamics and control of articulated passenger vehicles on roads</title>
      <link>https://trid.trb.org/View/2569752</link>
      <description><![CDATA[Articulated passenger vehicles (APVs) represent a transformative approach to urban public transportation, offering a flexible and scalable solution to meet the increasing demand for high-capacity transit systems. APVs combine the advantages of high-capacity rail-based systems with the cost-effectiveness and flexibility of road-based counterparts, making them ideal for urban environments where conventional transport options may fall short. These vehicles, characterised by multiple articulated joints and segmented vehicle units, face particular challenges in dynamic modelling, stability control, and performance evaluation. Active safety and autonomous functions, such as steering assistance, collision avoidance, and automated driving, are critical to improving safety and efficiency in these systems. This paper reviews the state-of-the-art in modelling, control, and performance assessment of APVs, focussing on key aspects such as stability, path tracking, manoeuvrability, and automation. First-principles and data-driven modelling approaches are explored to address the complex dynamics of APVs. Additionally, control strategies for stability and path tracking are discussed, highlighting the importance of integrating active safety and autonomous functions to prevent accidents and improve operational safety and efficiency. The paper aims to provide a holistic perspective on the challenges and opportunities in the development of APVs, contributing to the advancement of smart and sustainable urban transportation systems.]]></description>
      <pubDate>Fri, 29 Aug 2025 10:05:44 GMT</pubDate>
      <guid>https://trid.trb.org/View/2569752</guid>
    </item>
    <item>
      <title>Passing Ability Impact Factors Analysis of Heavy Tractor</title>
      <link>https://trid.trb.org/View/2408071</link>
      <description><![CDATA[Passing ability of articulated vehicles is analyzed, which are combined of different 6 × 4 tractors and different semitrailers. According to the requirements of GB 1589-2016 ‘Limits of dimensions, axle load and masses for motor vehicles, trailers and combination vehicles’, passing ability of different structure articulated vehicles are simulated by using AutoTURN software. Tractor front overhang, distance between center of tractor fifth wheel and tractor first axle, semitrailer first wheel space is selected as the main factors of articulated vehicle passing ability, in order to analyzing passing ability impact factor of articulated vehicles type and structure. Simulation analysis is used to study how tractor front overhang, distance between center of tractor fifth wheel and tractor first axle, and semitrailer first wheel space impact passing ability. Some reasonable suggestions is proposed by analysis how parameters change impact passing ability. The validity of the simulation model is validated by the test data of ‘3rd Swap Trailer Transport Recommended Vehicles Test’. The results provide a useful reference for improving articulated vehicle passing ability level and promote the development of vehicle industry technology.]]></description>
      <pubDate>Mon, 18 Aug 2025 08:51:52 GMT</pubDate>
      <guid>https://trid.trb.org/View/2408071</guid>
    </item>
    <item>
      <title>Development of a direct yaw moment control strategy for an articulated bus equipped with on-board electric motors</title>
      <link>https://trid.trb.org/View/2505718</link>
      <description><![CDATA[Considering the damping moment associated with the articulation joint of articulated buses, the degree of actuation freedom increases, for stabilizing the vehicle during harsh maneuvers on slippery surfaces. With this background, this study aims at developing a direct yaw moment control strategy for an articulated bus, equipped with on board electric motors at middle and rear axles, that is capable of braking/accelerating the left and right wheels independently. The yaw moment control problem is treated as a control allocation problem, where the corrective yaw moment action for front and rear compartments, is distributed onto individual wheel braking/acceleration and articulation joint damping moment. Through lane change and snaking maneuver simulation results, the effectiveness of the proposed controller is shown, in terms of tracking the desired front and rear compartment yaw rates. This is achieved without sacrificing vehicle sideslip and articulation angles.]]></description>
      <pubDate>Tue, 18 Mar 2025 15:48:12 GMT</pubDate>
      <guid>https://trid.trb.org/View/2505718</guid>
    </item>
    <item>
      <title>Maneuverability and Movement Stability of Buses of the Especially Large Size Class</title>
      <link>https://trid.trb.org/View/2475808</link>
      <description><![CDATA[One of the main problems of modern big city is the global crisis of normal urban environment operation as a result of structural growing of automobilization level, oversaturation of road-street network by the transport streams. Buses of the especially large size class occupy, at the least, 20% in the structure of a modern bus park. The buses of especially large size classes, with the aim of necessary maneuverability, as a rule are made articulated. One of the ways of improving the maneuverability of articulated buses is the usage of guided towed sections. Solving the mentioned problem usually needs the mathematic models for predicting the vehicle behavior. The aim of introducing the trailer direction is to increase the overall traffic lane of an articulated bus that ensures a necessary maneuverability. The aim is gained by a choice of a rational transmitting ratio of trailer axle gear and necessary value of braking moment on one of its wheels. The solving of the problem concerning the stability of an articulated bus with a guided trailer axle was made by the way of analyzing the linear approaching of stationary vehicle movement. An influence of the construction parameters of the bus and the trailer, a transmitting ratio of control gear and a value of braking moment on the parameters of bus maneuverability were analyzed. It was proved that for an articulated bus, the normal maneuverability parameters can be ensured at the trailer direction by a way of braking of one of the wheels.]]></description>
      <pubDate>Tue, 18 Feb 2025 10:56:05 GMT</pubDate>
      <guid>https://trid.trb.org/View/2475808</guid>
    </item>
    <item>
      <title>The Choice and Reasoning of the Bus Rapid Transit Systems for City Transport</title>
      <link>https://trid.trb.org/View/2417283</link>
      <description><![CDATA[The presented research is focused on the design of a new driving cycle of the Bus Rapid Transit (BRT) for the Kyiv city. This cycle consists of a complex of two types of sections. Each of them includes various phases of the traffic. A mathematical model was specified, which serves for defining the efficiency properties indices and for regimes of bus transport. The BRT are used within the bus lines. It was found, that two articles articulated buses are the most suitable choice, the MAZ-215 among them, for exploitation. At the same time, they provide the smallest fuel consumption together with the shorter operation time on the bus line as well as higher average speed at full and half loading. The optimal driving speeds of the steady traffic are the values of 50 km/h for section up to 1 km and 60 km/h or 70 km/h for section over 1 km. It was evaluated, that depending on the steady motion speed and the load level, the driving time of the BRT on the line varies from 20.1 min to 23.4 min, which is much lower than the driving time of a trolleybus on the same line according to the traffic schedule.]]></description>
      <pubDate>Tue, 20 Aug 2024 16:17:32 GMT</pubDate>
      <guid>https://trid.trb.org/View/2417283</guid>
    </item>
    <item>
      <title>Lateral stability control of distributed electric-drive articulated heavy vehicles</title>
      <link>https://trid.trb.org/View/2148620</link>
      <description><![CDATA[In order to improve the high-speed stability of distributed electric drive articulated heavy vehicles, a direct yaw torque hierarchical controller has been designed in conjunction with distributed electric drive technology. The upper layer is a sliding-model control-based decision control for the additional yaw torque. The lower controller adopts the equal-proportional distribution method to allocate the torque of the wheels. Finally, the effectiveness of the control strategy was verified and analyzed with the co-simulation platforms of TruckSim and MATLAB/Simulink, and the working condition of double lane change (DLC) was selected. The results show that the stability of both the tractor and trailer of the designed SMC distributed electric drive articulated heavy-duty vehicle is improved, effectively improving the lateral stability of the distributed electric drive articulated heavy-duty vehicle.]]></description>
      <pubDate>Fri, 21 Jul 2023 09:18:43 GMT</pubDate>
      <guid>https://trid.trb.org/View/2148620</guid>
    </item>
    <item>
      <title>Development and validation of an automatic all-wheel steering system for multiple-articulated rubber-tire transit</title>
      <link>https://trid.trb.org/View/2035639</link>
      <description><![CDATA[When driving a 32-m long multi-set rubber-tire transit in a manual driving mode, it is easy for the driver to feel tired due to the massive concentration, and it is hard to manually operate in a narrow and twist gauge. The authors introduce a six-axle coordinated automatic all-wheel steering control system and its design method is based on the visual perception and the geometric relationship. First, the functions of the two subsystems of the full-axle automatic steering control system are introduced. One subsystem is a path tracking control system and the other subsystem is a trajectory following the control system. Secondly, the theoretical principles of the two control systems are introduced in detail. Then, the controller design method of the two subsystems is introduced. Finally, the simulation results of Trucksim and MATLAB/Simulink are compared with the actual vehicle test data to test the controller's perception and the follow-up control effect. It can be concluded that the gap between the platform and the train is kept between a relatively 10~20 cm narrow when the train pulls in and out of the station. When the train runs at a high speed, it is stabilised at 72 km/h, and the lateral deviation from the virtual track centreline is controlled within ±15 cm.]]></description>
      <pubDate>Mon, 28 Nov 2022 10:56:48 GMT</pubDate>
      <guid>https://trid.trb.org/View/2035639</guid>
    </item>
    <item>
      <title>National Fuel Cell Bus Program: Advanced Generation Fuel Cell Bus Development, Final Report</title>
      <link>https://trid.trb.org/View/2023805</link>
      <description><![CDATA[This report provides an overview of the development and demonstration of the Advanced Generation Fuel Cell Bus, a 60-ft articulated fuel cell electric bus. The bus, funded by the Federal Transit Administration (FTA) National Fuel Cell Bus Program, was developed by New Flyer and demonstrated at Alameda-Contra Costa (AC) Transit District in California. The objective of this project was to develop and demonstrate an Altoona-tested 60-ft articulated fuel cell bus in real-world service to accelerate the commercialization of this technology.]]></description>
      <pubDate>Thu, 22 Sep 2022 14:06:03 GMT</pubDate>
      <guid>https://trid.trb.org/View/2023805</guid>
    </item>
    <item>
      <title>Performance assessment of urban goods vehicles</title>
      <link>https://trid.trb.org/View/1988728</link>
      <description><![CDATA[Controlling greenhouse gas emissions is becoming increasingly more important. With road freight contributing to a significant amount of energy usage, finding ways to improve this sector will, in turn, lead to large reductions in carbon dioxide emissions, with one method to achieve this being to use larger vehicles. Currently, prescriptive legislation dictates the dimensions a vehicle can take. An alternative to this is to use ‘Performance-Based Standards (PBS)’. This involves determining a set of manoeuvres and performance metrics that a vehicle must perform and pass in order to be road-worthy, instead of saying a vehicle can be a certain size or a certain weight. Through innovation and optimisation, using this method will then allow larger vehicles that are safe for driving on the road to be built. The research conducted here involved creating a PBS framework based on low-speed manoeuvrability for rigid delivery vehicles as well as assessing the high-speed stability of articulated vehicles to determine whether they would be safe for use on urban roads. Additionally, design changes such as incorporating rear axle steering were considered to determine whether vehicles that had failed the proposed PBS framework could be made to pass.]]></description>
      <pubDate>Wed, 24 Aug 2022 15:05:35 GMT</pubDate>
      <guid>https://trid.trb.org/View/1988728</guid>
    </item>
    <item>
      <title>Precise Docking at Charging Stations for Large-Capacity Vehicles: An Advanced Driver-Assistance System for Drivers of Electric Urban Buses</title>
      <link>https://trid.trb.org/View/1873107</link>
      <description><![CDATA[Contemporary transportation is developing toward applications of large-capacity vehicles. This trend is caused mainly by environmental and economic factors. In the public transportation area, it leads to the use of long and articulated electric buses, which are difficult to maneuver, even for experienced drivers. Consequently, there is a need to develop advanced driver-assistance systems (ADAS) for operators of urban buses to safely perform positioning maneuvers with acceptable precision. This article presents an ADAS concept dedicated to the task of precisely docking a pantograph tip with a charging station. The authors describe the functional structure of the ADAS and explain details of its interconnected components responsible for motion algorithmization, environmental perception, and vehicle localization. Experimental results of assisted pantograph docking maneuvers obtained with an articulated electric bus are provided.]]></description>
      <pubDate>Fri, 15 Oct 2021 09:27:08 GMT</pubDate>
      <guid>https://trid.trb.org/View/1873107</guid>
    </item>
    <item>
      <title>Relative navigation control of articulated vehicle based on LTV-MPC</title>
      <link>https://trid.trb.org/View/1850486</link>
      <description><![CDATA[The automation of the articulated vehicle is an important trend of the intelligent transportation system in the mining industry. And the relative navigation is a key technology to automatic vehicles. One of the challenges in the relative navigation of the articulated vehicle is that the system constraints may cause the actuator saturation and other problems. In order to solve these problems, this paper presents a relative navigation control method based on linear time varying model predictive control (LTV-MPC). This control method can explicitly take the system constraints into account. The performance of the controller is verified by simulation and experiment. The results show that the articulated vehicle with the LTV-MPC controller can track the target heading direction, the steady-state error is less than 0.3 rad. The relative navigation controller based on LTV-MPC can be used to improve the automatic driving performance of the articulated vehicle.]]></description>
      <pubDate>Wed, 26 May 2021 11:18:39 GMT</pubDate>
      <guid>https://trid.trb.org/View/1850486</guid>
    </item>
    <item>
      <title>Yaw stability control through independent driving torque control of mid and rear wheels of an articulated bus</title>
      <link>https://trid.trb.org/View/1743885</link>
      <description><![CDATA[This paper describes a novel yaw stability control strategy for a four-wheel-independent-drive electric articulated bus with four motors at the middle and rear wheels. The proposed control strategy uses a hierarchical control architecture. In the upper layer, a 3 degree-of-freedom reference model is established to obtain the desired vehicle states and the desired yaw moments of the front and rear compartments are determined by means of sliding mode control, respectively. The lower layer distributes differential longitudinal forces according to the desired yaw moments based on quadratic programming theory. The tire utilization rate is used as the optimization goal considering the actual constraints. To verify performance, three test cases are designed on the dSPACE-ASM simulation platform. The test results show the proposed control strategy can improve the yaw stability and the trajectory following performance of the bus under different driving conditions.]]></description>
      <pubDate>Wed, 21 Oct 2020 09:52:34 GMT</pubDate>
      <guid>https://trid.trb.org/View/1743885</guid>
    </item>
    <item>
      <title>Modelling, Verification and Analysis of Articulated Steer Vehicles and a New Way to Eliminate Jack-Knife and Snaking Behaviour</title>
      <link>https://trid.trb.org/View/1646819</link>
      <description><![CDATA[A non-linear articulated steer vehicle (ASV) model coupled by 12-DOF (degrees-of-freedom) dynamic model and full-hydraulic steering system model is derived. Field tests of single-lane change are made to verify the accuracy of ASV model. Considering the effect of varying bulk modulus, the unstable area of ASV decided by oil pressure and air content is confirmed. To reveal the differences between the non-linear vehicle model and the linear vehicle model, articulation angle responses of the two models are compared. Results show that the non-linear vehicle model has a smaller unstable area than the linear model, which means the non-linear model is less sensitive to disturbance than the linear model. A new way to improve the stability of ASV by filling-oil pressure control is presented. Simulation results show that jack-knife and snaking behavior is eliminated and the appropriate filling-oil pressure for this ASV is confirmed at 1.0 MPa.]]></description>
      <pubDate>Wed, 18 Sep 2019 09:17:00 GMT</pubDate>
      <guid>https://trid.trb.org/View/1646819</guid>
    </item>
    <item>
      <title>Calibration and Stitching Methods of Around View Monitor System of Articulated Multi-Carriage Road Vehicle for Intelligent Transportation</title>
      <link>https://trid.trb.org/View/1598787</link>
      <description><![CDATA[The around view monitor (AVM) system for the long-body road vehicle with multiple articulated carriages usually suffers from the incomplete distortion rectification of fisheye cameras and the irregular image stitching area caused by the change of relative position of the cameras on different carriages while the vehicle is in motion. In response to these problems, a set of calibration and stitching methods of AVM are proposed. First, a radial-distortion-based rectification method is adopted and improved. This method establishes two lost functions and solves the model parameters with the two-step optimization method. Then, AVM system calibration is conducted, and the perspective transformation matrix is calculated. After that, a static basic look-up table is generated based on the distortion rectification model and perspective transformation matrix. Furthermore, to solve the problem of the variable relative position of cameras, the relative angles of the carriages are collected by the angle sensors and then transmitted to the central processor via the CAN bus. And then a dynamic offset look-up table is generated in real time. With the two look-up tables, the images captured by the fisheye cameras are mapped to the top view image. Finally, the global color adjustment and weighted fusion are applied to obtain a seamless around top view image. The AVM algorithms are implemented on an embedded system based on the NXP i. mx series SoC. The field experiments are conducted using a three-carriage vehicle with eight cameras. The results show that the proposed algorithms can output the seamless around top view images in real time with globally balanced brightness and color.       ]]></description>
      <pubDate>Wed, 19 Jun 2019 11:05:44 GMT</pubDate>
      <guid>https://trid.trb.org/View/1598787</guid>
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