I. Introduction
With the development of the wireless communication and automation technology, there is a growing trend that the fully automatic operation (FAO) system is adopted by majority of the urban rail transit (URT) systems to promote the cost-effectiveness, traffic frequency and service flexibility [1]–[3]. It is estimated that nearly 75% of new URT lines will adopt the FAO system around the world [4], [5]. As a new generation of train control system in the URT, the FAO is a fully automatic, highly centralized train operation and control system, which involves the automated train operations without traditional on-board drivers.