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H-Bahn ("hanging railway") refers to the suspended, unmanned urban railway transportation system. Through the reasonable platform layout, H-Bahn can be easily integrated into the existing urban transit system. With the development of urban roads, the associated rail facilities can be conveniently disassembled, moved and expanded. The track beam, circuits, communication equipment, and sound insulation screen are all installed in a box-type track beam so that the system can achieve a high level of integration and intelligence. The carriage of the modern H-banh vehicle is connected with the bogies by two hanging devices. The vehicle is always running in the box-type track beam; therefore there are less possibilities of derailment. Consequently, the key work focuses on the running stability evaluation and curve negotiation performance analysis.

Dynamic modeling and state estimation are significant in the trajectory tracking and stability control of the intelligent vehicle. In order to meet the requirement of the stability control of the eight-in-wheel-motor-driven intelligent vehicle, a full vehicle dynamics model with 12 degrees of freedom, including the longitudinal, lateral, yaw and roll motion of the body, and rotational motion of 8 wheels, is established for the research of the intelligent vehicle in this paper. By simulation with MATLAB/SIMULINK and by comparison with the TruckSim software, the reliability and practicality of the dynamics model are verified. Based on the established dynamics model, an extended Kalman filter (EKF) state observer is proposed to estimate the vehicle sideslip angle, roll angle and yaw rate, which are the key parameters to the stability control of the intelligent vehicle.

Commercial vehicle plays an important role during transportation process under the demand of high speed, convenience and efficiency. So improving active safety of commercial vehicle has become a research topic. Due to the fact that braking characteristic is the basic and most closely related to safe driving of vehicle's performances, this paper aims to improve the braking performance by researching into an integrated control method based on the mature ABS products. Firstly, a strategy which gives priority to ABS and differential yaw moment control, complementary with the hydraulic active suspension control is proposed. In comparison with ABS, the combined control of brake system and suspension system is designed not only for preventing wheels lock. But the directional control to avoid roll or spin is more focused on. Then in order to run the novel method correctly, the controlled variables and evaluation criteria are illustrated briefly.