3.2.2. Operation rules in different stages
Safety is one of the most important considerations in train operations, which requires that the speed of a train should not exceed the limited speed. We divide train operation into 4 stages, which are acceleration stage, coasting stage, deceleration stage and stopping stage. Then, different operation rules in the corresponding stages are developed, respectively, in order to ensure the speed limit constraints and riding comfort. We use vL to represent the limited speed, then the rules for the controller output a are described as follows.