Objective The existing target speed planning algorithm for the automatic driving of urban rail transit train cannot handle in real time the temporary change of the line speed limit in case of emergency due to the large computational load and long computation time. With regard to the problem. a real-time target speed planning algorithm based on global optimization is proposed to genera... https://www.lightemupsequences.com/deal-find-14K-Gold-plated-Lobster-Closure-Freshwater-Pearl-Bracelet-super-grab/