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To address the problem that the current train operation mode that train selects one of several offline pre-generated control schemes before the departure and operates following the scheme after the departure, energy-saving performance of the whole metro system cannot be guaranteed.

A cooperative train control framework is formulated to regulate a novel train operation mode. The classic train four-phase control strategy is improved for generating specific energy-efficient control schemes for each train. An improved brute force (BF) algorithm with a two-layer searching idea is designed to solve the optimisation model of energy-efficient train control schemes.

Case studies on the actual metro line in Guangzhou, China verify the effectiveness of the proposed train control methods compared with four-phase control strategy under different kinds of train operation scenarios and calculation parameters. The verification on the computation efficiency as well as accuracy of the proposed algorithm indicates that it meets the requirement of online optimisation.

Most existing studies optimised energy-efficient train timetable or train control strategies through an offline process, which has a defect in coping with the disturbance or delays effectively and promptly during real-time train operation. This paper studies an online optimisation of cooperative train control based on the rolling optimisation idea, where energy-efficient train operation can be realised once train running time is determined, thus mitigating the impact of unpredictable operation situations on the energy-saving performance of trains.