Matsumoto, Masayuki: 'Train control system' (Transportation, 2018), 'Autonomous Decentralized Systems and their Applications in Transport and Infrastructure', Chap. 3, pp. 59-84, DOI: 10.1049/PBTR009E_ch3 IET Digital Library, https://digital-library.theiet.org/;jsessionid=2fm0d1uf51ww3.x-iet-live-01content/books/10.1049/pbtr009e_ch3