# Hierarchical optimal control framework to automatic train regulation combined with energy-efficient speed trajectory calculation in metro lines

> Research article (Transportation Research Part C Emerging Technologies, 2023) · cited 19× · AI/ML

**Wikidata**: [openalex:W4322485670](https://www.wikidata.org/wiki/openalex:W4322485670)  
**Source**: https://4ort.xyz/entity/hierarchical-optimal-control-framework-to-automatic-train-regulation-combined-with-energy-efficient-speed-trajectory-cal