I. Introduction
In Recent years, the high-speed railway network has become an essential part of the public transportation. It is particular true in China which has a high-speed railway network over 38,000 km. The traditional train control system has been undergoing a huge revolution and towards to the intelligent automatic train control (ATC) system, which significantly improves the reliability and efficiency of the high-speed railway system [1]. As a typical example, the Jing-Zhang high-speed railway in China, as a representation of intelligent high-speed railway, trains equipped with the ATC system achieve automatic driving with the operation speed of 350 km/h for the first time in the world. Predictably, intelligent high-speed railways will become the development direction in the future. In China, the Chinese Train Control System (CTCS), especially the latest CTCS Level 3 (CTCS-3) provides technology and infrastructure conditions for future intelligent high-speed railways [2]. In CTCS-3, the information exchange between trains can be achieved through the Global System for Mobile communications-for Railway (GSM-R) and Radio Block Center (RBC), which enables cooperative control of high-speed trains.