• A unified analytical model integrates static track deformation mapping and dynamic vehicle-track interactions under substructure deformation.
• Critical conditions for avoiding void formation follow power-law and linear relations for cosine-type and angular-type subgrade settlements, respectively.
• Cosine-type settlement with wavelength 15 m and amplitude >35 mm significantly deteriorates vehicle ride quality.
• Interlayer separation causes repeated contact-separation-recontact impacts, potentially degrading long-term structural performance.
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