  In modern rail transportation, energy-efficient train control (EETC) is
concerned with the optimal train speed trajectory or control strategies to
achieve the minimum energy cost under various operation and traction
constraints. This paper proposes an EETC model based on convex optimization so
that the model can be rapidly solved by convex optimization algorithms. The
high computational efficiency and robustness of the convex model can be
verified by comparing the results achieved by the method proposed by this paper
and other mainstream mathematical programming methods including mixed-integer
linear programming (MILP) and Radau pseudospectral method (RPM). Based on the
characteristics of convex optimization, the proposed method boasts more
significant advantages over its counterparts in terms of computational
efficiency in the promising online applications for automatic train control
systems of various types of rail transportation.
