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Chinese Journal of Mechanical Engineering

Table 4 Comparison of the co-simulation results

From: Energy-Saving and Punctuality Combined Velocity Planning for the Autonomous-Rail Rapid Tram with Enhanced Pseudospectral Method

Cruising Strategy

Re-planned by

PGLOSA

Re-planned by

PS

Average velocity(km/h)

25.0

24.5

Arrival time(s)

290.9

293.4

∆Q (kWh)

7.46

6.77

Energy saving rate (%)

Benchmark

9.19

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