Abstract: A new train architecture of virtual rail self\|guided transport system-suspended straddle walking virtual rail train is presented. The architecture format and key component structure of suspended straddle walking mode are introduced. By means of vehicle kinematics analysis and steering force-motion freedom degree matching analysis, the rail adequacy of train structure is discussed, and the motion decoupling of train is analyzed using decoupling control theory. Virtual rail train with suspension straddle walking mode can theoretically follow the track of each lateral degree of freedom of the train body with full wheel steering control, so that the train can reach the best position and attitude on the rail. The decoupling motion of each moving part of the train can be realized, which indicates that the tracking motion of the train can be realized by setting only an independent and local controller in each moving part. At the same time, there is no motion interference between each moving part, which is beneficial to improving the overall dynamic performance of the train.