List of semi-automatic train systems

This is a list of current semi-automatic train systems capable of GoA2 as according to the Grade of Automation classifications specified by the standard IEC 62290‐1. These are explained diagrammatically by the UITP. For the systems capable of GoA3 and higher, see the list of driverless train systems. Canceled automated train systems are in the list of defunct automated train systems.

Control panel of a BART train, which has a black knob to allow the driver to switch between different modes of operation.
Much like BART, Washington Metro trains also have a rotary switch to allow the driver to switch between automatic and manual operation.
Many metro systems with automatic train operation, such as the Tokyo Metro Namboku Line, are equipped with platform screen doors
Automated track-bound traffic
Automatic train operation
Lists of automated train systems
Related topics

Africa
Country/region Name of system Line Date System Notes
Algeria AlgeriaAlgiers MetroLine 11 November 2011Siemens CBTC

Americas
Country/region Name of system Line Date System Notes
Argentina ArgentinaBuenos Aires UndergroundLine C2016Siemens Trainguard MT CBTC
Line H
Canada CanadaMontreal MetroLine 1 Green1976[lower-alpha 1]
Line 2 Orange
Line 5 Blue1986
O-TrainConfederation Line14 September 2019SelTrac
Toronto subwayLine 1 Yonge–UniversityDecember 2017Alstom Urbalis 400[lower-alpha 2]
Line 3 ScarboroughMarch 1985SelTrac[lower-alpha 3]
Chile ChileSantiago MetroLine 12012Alstom Urbalis 400
Mexico MexicoGuadalajara light rail systemLine 314 September 2020
Mexico City MetroLine 1230 October 2012Alstom Urbalis 400
Panama PanamaPanama MetroLine 16 April 2014Alstom Urbalis 400
Line 225 April 2019
Puerto Rico Puerto RicoTren Urbano19 December 2004[lower-alpha 4]
United States United StatesBay Area Rapid TransitOrange Line11 September 1972
Yellow Line21 May 1973
Green Line16 August 1974
Red Line19 April 1976
Blue Line10 May 1997
Honolulu Rail Transit2023Hitachi Rail Italy Driverless Metro[1]
Los Angeles Metro RailB Line1993US&S
C Line1995[lower-alpha 5]
D Line2006
MARTA railRed Line1996
Gold Line1981
Blue Line1979
Green Line1992
Muni MetroMarket Street subway / Twin Peaks Tunnel1997SelTrac[lower-alpha 6]
New York City SubwayBMT Canarsie Line (L train)2012Siemens Trainguard MT CBTC[2][3]
IRT Flushing Line (7 and <7>​ trains)10 May 2019Thales CBTC[4]
PATCO SpeedlineBetween Philadelphia and New Jersey4 January 1969
Walt Disney World Monorail System22 June 2014
Washington MetroRed Line27 March 1976[lower-alpha 7]
Blue Line1 July 1977
Orange Line20 November 1978
Yellow Line30 April 1983
Green Line11 May 1991
Silver Line26 July 2014

Asia
Country/region Name of system Line Date System Notes
China China (Mainland)Beijing SubwayLine 19 December 2015CASCO/Alstom Urbalis 888[6]Previously used Westinghouse ATC in GoA1[7]
Line 29 June 2008
Line 428 September 2009SelTrac
Line 57 October 2007Westinghouse ATCNewer BTCT LCF-300 will be added and interoperable with existing system
Line 630 December 2012CASCO/Alstom Urbalis 888[6]
Line 728 December 2014BTCT LCF-300
Line 819 July 2008CRSC FL300
Line 931 December 2011CASCO Urbalis 888
Line 1019 July 2008Siemens Trainguard CBTC
Line 1131 December 2021
Line 145 May 2013BTCT LCF-300
Line 1530 December 2010Nippon Signal SPARCS
Line 1631 December 2016BTCT LCF-300
Batong Line3 November 2019CASCO Urbalis 888Previously used Westinghouse ATC in GoA1[8]
Changping Line30 December 2010BTCT LCF-300
Daxing LineSelTrac
Fangshan LineCASCO/Alstom Urbalis 888[6]
Yizhuang LineBTCT LCF-300
S1 Line30 December 2017
Changchun Rail TransitLine 130 June 2017CASCO Urbalis 888
Line 230 August 2018
Line 430 June 2011
Changsha Maglev Express6 May 2016
Changsha MetroLine 128 June 2016
Line 229 April 2014
Line 328 June 2020
Line 426 May 2019
Line 528 June 2020
Line 628 June 2022
Changzhou MetroLine 121 September 2019Bombardier CITYFLO 650[9]
Line 228 June 2021
Chengdu MetroLine 127 September 2010Ansaldo STS CBTC
Line 216 September 2012
Line 331 July 2016BTCT LCF-300
Line 426 December 2015Alstom Urbalis 400
Line 527 December 2019BTCT LCF-300
Line 618 December 2020
Line 76 December 2017Alstom Urbalis 400
Line 818 December 2020
Line 106 September 2017Ansaldo STS CBTC
Line 1718 December 2020
Line 1827 September 2020CASCO Urbalis 888
China RailwayBeijing–Zhangjiakou intercity railway30 December 2019CTCS-3+ATO[lower-alpha 8]
Chongqing Rail TransitLoop Line28 December 2018BTCT LCF-300Interoperable with other lines with Type As trainset despite different suppliers
Line 128 July 2011Siemens Trainguard MT CBTC
Line 329 September 2011BTCT CBTC
Line 428 December 2018UniTTEC BiTRACON CBTCInteroperable with other lines with Type As trainset despite different suppliers
Line 528 December 2017CRSC FZL300
Line 628 September 2012Siemens Trainguard MT CBTC
Line 925 January 2022CARS MTC-IInteroperable with other lines with Type As trainset despite different suppliers
Line 1028 December 2017
Dalian MetroLine 130 October 2015Ansaldo STS CBTC
Line 222 May 2015
Line 517 March 2023
Line 1230 December 2013CRSC
Line 1328 December 2021
Dongguan Rail TransitLine 227 May 2016SelTrac CBTC
Foshan MetroLine 13 November 2010Siemens Trainguard MT CBTC
Line 228 December 2021
Line 328 December 2022
Fuzhou MetroLine 118 May 2016Siemens Trainguard MT CBTC
Line 226 April 2019
Line 529 April 2022
Line 628 August 2022
Guangzhou MetroLine 128 June 1997Siemens LZB 700M
Line 225 September 2010
Line 326 December 2005SelTrac
Line 4Siemens Trainguard MT CBTC
Line 528 December 2009
Line 628 December 2013CASCO Urbalis 888
Line 728 December 2016CARS MTC-I
Line 825 September 2010Siemens LZB 700M
Line 928 December 2017SelTrac
Line 13CASCO Urbalis 888
Line 14SelTrac
Line 1828 September 2021
Line 2128 December 2018SelTrac
Line 2231 March 2022
Guiyang MetroLine 128 December 2017BTCT LCF-300
Line 228 April 2021
Harbin MetroLine 126 September 2013Kyosan
Line 219 September 2021
Line 326 January 2017
Hangzhou MetroLine 124 November 2012Ansaldo STS CBTC
Line 224 November 2014
Line 321 February 2022
Line 42 February 2015 UniTTEC BiTRACON CBTC[10]
Line 524 June 2019
Line 630 December 2020
Line 7
Line 828 June 2021CASCO Urbalis 888
Line 910 July 2021
Line 1021 February 2022
Line 1623 April 2020SelTrac CBTC
Line 1922 September 2022
Hangzhou–Haining intercity railway28 June 2021
Hefei MetroLine 126 December 2016SelTrac CBTC
Line 226 December 2017
Line 326 December 2019CRSC FZL-300
Line 426 December 2021
Line 526 December 2020
Hohhot MetroLine 129 December 2019CASCO Urbalis 888
Line 21 October 2020
Jinan MetroLine 11 April 2019
Line 226 March 2021
Line 328 December 2019CASCO Urbalis 888
Kunming MetroLine 120 May 2013CASCO/Alstom Urbalis 888[6]
Line 230 April 2014
Line 329 August 2017CASCO Urbalis 888
Line 423 September 2020
Line 529 June 2022
Line 629 August 2017CASCO Urbalis 888
Lanzhou MetroLine 123 June 2019CASCO Urbalis 888
Line 229 June 2023
Luoyang SubwayLine 128 March 2021
Line 226 December 2021CASCO Urbalis 888[11]
Nanchang MetroLine 126 December 2015SelTrac CBTC
Line 218 August 2017
Line 326 December 2020
Line 426 December 2021
Nanjing MetroLine 13 September 2005Siemens LZB 700 M
Line 228 May 2010Siemens Trainguard MT CBTC
Line 31 April 2015
Line 418 January 2017
Line 101 July 2014Siemens LZB 700M
Line S1SelTrac CBTC
Line S36 December 2017
Line S628 December 2021
Line S726 May 2018SelTrac CBTC
Line S81 August 2014CASCO Urbalis 888
Line S930 December 2017Siemens Trainguard MT CBTC
Nanning MetroLine 128 June 2016CASCO Urbalis 888
Line 228 December 2017
Line 36 June 2019
Line 423 November 2020
Nantong MetroLine 110 November 2022
Ningbo Rail TransitLine 130 May 2014Alstom Urbalis 400
Line 226 September 2015
Line 330 June 2019
Line 423 December 2020
Pearl River Delta Metropolitan Region intercity railwayGuangzhu ICR7 January 2011CASCO INTXISWithin CTCS-2 framework, plus ATO function[12]
Guanhui ICR30 March 2016
Guangfozhao ICR
Suishen ICR15 December 2019
Zhuji ICR18 August 2020
Qingdao MetroLine 124 December 2020
Line 210 December 2017
Line 316 December 2015
Line 426 December 2022
Line 824 December 2020
Line 1123 April 2018CASCO Urbalis 888
Line 1326 December 2018
Shanghai Maglev Train2004Transrapid
Shanghai MetroLine 11995General Railway Signal Micro Cabmatic
Line 211 June 2000Union Switch & Signal International MicroCab[lower-alpha 9]
Line 326 December 2000SACEM/Urbalis 200
Line 431 December 2005
Line 62011Seltrac
Line 72010
Line 82011
Line 9
Line 112012
Line 1229 December 2013CASCO Urbalis 888
Line 1320 April 2010
Line 1629 December 2013
Shaoxing MetroLine 128 June 2021
Shenyang MetroLine 127 September 2010Ansaldo STS CBTC
Line 29 January 2012
Line 925 May 2019CASCO Urbalis 888
Line 1029 April 2020
Shenzhen MetroLine 128 December 2004Siemens LZB 700M
Line 228 December 2010CASCO/Alstom Urbalis 888[6]
Line 3Bombardier CITYFLO 650
Line 428 December 2004Siemens LZB 700M
Line 522 June 2011CASCO Urbalis 888
Line 618 August 2020
Line 728 October 2016BTCT LCF-300
Line 828 October 2020CASCO Urbalis 888
Line 928 October 2016SelTrac CBTC
Line 1018 August 2020BTCT LCF-300
Line 1128 June 2016CASCO/Alstom Urbalis 888[6]
Shijiazhuang MetroLine 126 June 2017
Line 226 August 2020
Line 326 June 2017
Suzhou Rail TransitLine 128 April 2012
Line 228 December 2013
Line 325 December 2019CASCO Urbalis 888
Line 415 April 2017
Tianjin MetroLine 112 June 2006
Line 21 July 2012Bombardier CITYFLO 650
Line 31 October 2012
Line 428 December 2021
Line 522 October 2018
Line 66 August 2016
Line 9March 28 2006
Ürümqi MetroLine 125 October 2018
Wenzhou MetroLine S123 January 2019
Wuhan MetroLine 128 July 2004SelTrac
Line 228 December 2012CASCO/Alstom Urbalis 888[6]
Line 328 December 2015
Line 428 December 2013Alstom Urbalis 400
Line 628 December 2016CASCO/Alstom Urbalis 888[6]
Line 71 October 2018
Line 826 December 2017CASCO Urbalis 888
Line 111 October 2018
Line 1626 December 2021
Wuxi MetroLine 11 July 2014Alstom Urbalis 400
Line 228 December 2014
Line 328 October 2020
Line 417 December 2021
Xi'an MetroLine 115 September 2013Siemens Trainguard MT CBTC
Line 216 September 2011Ansaldo STS CBTC
Line 38 November 2016
Line 426 December 2018CASCO Urbalis 888
Line 528 December 2020
Line 6
Line 9
Line 1429 September 2019
Xiamen MetroLine 131 December 2017CASCO Urbalis 888
Line 225 December 2019
Line 325 June 2021
Xuzhou MetroLine 128 September 2019
Line 228 November 2020
Line 328 June 2021
Zhengzhou MetroLine 128 December 2013
Line 219 August 2016CASCO/Alstom Urbalis 888[6]
Line 326 December 2020
Line 4
Line 520 May 2019CASCO Urbalis 888
Line 630 September 2022
Line 1419 September 2019CASCO TRANAVI
Chengjiao Line12 January 2017CASCO Urbalis 888
Hong Kong Hong KongMTRKwun Tong line1 October 1979SACEM[lower-alpha 10]
Tsuen Wan line17 May 1982
Island line31 May 1985
Tung Chung line21 June 1998
Airport Express6 July 1998
Tseung Kwan O line18 August 2002
East Rail line6 February 2021Siemens Trainguard MT CBTCReplaced the Alstom TBL system which used ATO since 2002
West Rail line20 December 2003SelTrac
Ma On Shan line21 December 2004
India IndiaAhmedabad MetroEast-West Corridor4 March 2019Nippon Signal SPARCS
North-South Line6 October 2022
Chennai MetroBlue Line21 September 2016
Green Line25 September 2015
Delhi MetroRed Line25 December 2002Alstom Urbalis 200[lower-alpha 11]
Yellow Line20 December 2004
Blue Line31 December 2005Siemens[lower-alpha 12]
Green Line3 April 2010Bombardier CITYFLO 350
Violet Line3 October 2010
Airport Express23 February 2011
Hyderabad MetroRed Line28 November 2017SelTrac[lower-alpha 13]
Blue Line
Green Line7 February 2020
Kanpur MetroOrange Line28 December 2021Bombardier CITYFLO 650
Kochi MetroLine 117 June 2017Alstom Urbalis 400
Kolkata MetroLine 1
Line 213 February 2020Ansaldo STS CBTC
Line 330 December 2022
Lucknow MetroRed Line5 September 2017Alstom Urbalis 400
Mumbai MetroLine 18 June 2014Siemens LZB 700M
Nagpur MetroOrange Line7 March 2019
Aqua Line28 January 2020
Namma MetroPurple Line20 October 2011Alstom Urbalis 200
Green Line1 March 2014
Noida MetroAqua Line25 January 2019Ansaldo STS CBTC
Pune MetroPurple Line6 March 2022
Aqua Line
Rapid Metro Gurgaon14 November 2013
Indonesia IndonesiaJakarta LRTLRT Line A1 December 2019
Jakarta MRTMRT Line 124 March 2019Nippon Signal SPARCS[14][15]
Japan JapanFukuoka City SubwayKūkō Line
Hakozaki Line
Nanakuma Line3 February 2005
Kobe Municipal SubwaySeishin-Yamate Line
Kaigan Line7 June 2001
Hokushin Line2 April 1988[lower-alpha 14]
Kitakyushu MonorailKokura Line9 January 1985[16]
Kyoto Municipal SubwayTōzai Line12 October 1997
Nagoya Municipal SubwayHigashiyama Line2015
Sakura-dōri Line16 February 1994
Okinawa Urban Monorail10 August 2003
Osaka MetroTanimachi Line[lower-alpha 15]
Sennichimae Line2015[lower-alpha 16]
Nagahori Tsurumi-ryokuchi Line31 March 1990
Saitama RailwaySaitama Rapid Railway Line28 March 2001[lower-alpha 17]
Sapporo Municipal SubwayNamboku Line2012
Tōzai Line2008[lower-alpha 18]
Tōhō Line2016
Sendai SubwayNanboku Line15 July 1987[lower-alpha 19]
Tōzai Line6 December 2015
Tama MonorailTama Toshi Monorail Line27 November 1998
Tokyo MetroMarunouchi Line[lower-alpha 20]
Namboku Line
Fukutoshin Line
Yūrakuchō Line
Chiyoda Line(Kita-Ayase branch)
Hibiya Line[lower-alpha 21]
Tokyo Metropolitan Bureau of TransportationToei Ōedo Line10 December 1991
Toei Mita Line
Tsukuba Express24 August 2005
Yokohama Municipal SubwayBlue Line20 January 2007
Green Line30 March 2008
bullet train E7November 2021[lower-alpha 22]
Malaysia MalaysiaExpress Rail LinkKLIA Ekspres14 April 2002Bombardier CITYFLO 550
KLIA Transit
Rapid KLKL Monorail31 August 2003
Philippines PhilippinesManila Light Rail Transit SystemLine 25 April 2003
Saudi Arabia Saudi ArabiaMecca MetroAl Mashaaer Al Mugaddassah Metro line13 November 2010SelTrac
South Korea South KoreaBusan MetroLine 119 July 1985
Line 230 June 1999
Line 328 November 2005
Daegu MetroLine 126 November 1997
Line 218 October 2005
Daejeon MetroLine 116 March 2006
Gwangju MetroLine 128 April 2004
Incheon SubwayLine 16 October 1999
Seoul Metropolitan SubwayLine 22010Siemens LZB 700M[lower-alpha 23]
Line 515 November 1995[lower-alpha 24]
Line 67 August 2000
Line 711 October 1996
Line 823 November 1999
Line 924 July 2009
AREX23 March 2007
Bundang Line2006SelTrac[lower-alpha 25]
Seohae Line16 June 2018Siemens Trainguard MT CBTC
Taiwan TaiwanKaohsiung Rapid TransitRed line9 March 2008
Orange line14 September 2008
Taipei MetroTamsui–Xinyi line28 March 1997
Songshan–Xindian line24 December 1998
Zhonghe–Xinlu line
Bannan line24 December 1999
Taoyuan MetroTaoyuan Airport MRT2 March 2017Siemens Trainguard MT CBTC
Thailand ThailandBTS SkytrainSukhumvit Line5 December 1999Bombardier CITYFLO 450
Silom Line
MRT (Bangkok)Blue Line3 July 2004Siemens LZB 700M
Purple Line6 August 2016Bombardier CITYFLO 650
State Railway of ThailandSuvarnabhumi Airport Rail Link23 August 2010Siemens LZB 700M
Turkey TurkeyAnkara MetroBatıkent Metrosu (M1)29 December 1997Ansaldo STS CBTC[18]Previously used Seltrac CBTC [lower-alpha 26]
Koru Metrosu (M2)2014
Törekent Metrosu (M3)
Keçiören Metrosu (M4)5 January 2017
Istanbul MetroLine M417 August 2012Seltrac CBTC
Marmaray29 October 2013Invensys Sirius CBTC
Vietnam VietnamHanoi MetroLine 2A6 November 2021

Europe
Country/region Name of system Line Date System Notes
Austria AustriaVienna U-BahnLine U1[lower-alpha 27]
Line U2
Line U3
Line U4
Belarus BelarusMinsk MetroZelenaluzhskaya line6 November 2020
Czech Republic Czech RepublicPrague MetroLine AAŽD Praha LZA
Line B[lower-alpha 28]
Line CSiemens PA 135
Czech railways1991[lower-alpha 29]
France FranceLyon MetroLine A
Paris MetroLine 2
Line 32010OCTYS System
Line 4[lower-alpha 30]
Line 52013OCTYS System
Line 6
Line 7
Line 8
Line 9OCTYS System
Line 11
Line 12
Line 132013SelTracPlanned conversion to GoA4
Paris RERRER ASeptember 1989SACEM
Germany GermanyDüsseldorf Stadtbahn[lower-alpha 31]
Munich U-Bahn[lower-alpha 32]
ICELinienzugbeeinflussung[lower-alpha 33]
Hungary HungaryBudapest MetroLine 4Alstom Metropolis AM4-M4[lower-alpha 1]
Italy ItalyMilan MetroLine 42010Alstom Urbalis
Line 5Siemens LZB 700M[20]
Naples MetroLine 1Ansaldo STS ATIS[21]
Netherlands NetherlandsAmsterdam MetroRoute 50Alstom Urbalis 400
Route 51
Route 5230 July 2018[22]
Route 53
Route 54
Romania RomaniaBucharest MetroLine M1Bombardier CITYFLO 350
Line M2
Line M3
Line M4Siemens TBS100FB
Line M515 September 2020Alstom Urbalis 400
Russia RussiaKazan MetroCentral Line27 August 2005Dvizhenie
Saint Petersburg MetroLine 2Dvizhenie
Line 4PUAV
Line 5PA-M
Spain SpainBarcelona MetroLine 1Bombardier CITYFLO 350
Line 2
Line 3Bombardier CITYFLO 350
Line 5
Bilbao metroLine 111 November 1995Bombardier CITYFLO 350
Line 213 April 2002
Line 38 April 2017
Madrid MetroLine 1July 2009Bombardier CITYFLO 650
Line 22011
Line 3
Line 4
Line 5
Line 6July 2008Bombardier CITYFLO 650
Line 72011Invensys CBTC
Line 8
Line 9
Line 10
Line 11
Line 12
Ramal
Málaga MetroLine 130 July 2014Alstom Urbalis 400[23]
Line 2
MetrovalenciaLine 1[lower-alpha 34]
Line 2[lower-alpha 35]
Seville MetroLine 12 April 2009Bombardier CITYFLO 350
Sweden SwedenStockholm MetroLine 17
Line 18
Line 19
Turkey TurkeyIstanbul MetroLine M216 September 2000Siemens Trainguard MT CBTC
Line M314 June 2013Bombardier CITYFLO 350
Line M619 April 2015Siemens Trainguard MT CBTC
Line M929 May 2021
Marmaray29 October 2013Invensys Sirius CBTC
United Kingdom United KingdomGlasgow Subway16 April 1980
London UndergroundVictoria line1967
Central line1990s (mid-decade)[lower-alpha 1][lower-alpha 36]
Circle line2022
Jubilee line2011[lower-alpha 1][lower-alpha 37]
Northern line2012[lower-alpha 1][lower-alpha 38]
Thameslink2018[lower-alpha 39]
Elizabeth lineCrossrail24 May 2022Siemens Trainguard MT CBTC [lower-alpha 40]

Oceania
Country/region Name of system Line Date System Notes
Australia AustraliaMetro Trains MelbourneSunbury–Dandenong Line30 July 2023Bombardier CITYFLO 650
Australia Queensland Rail Citytrain Cross River Rail 2026 ECTC

Future systems

Americas
Country/region Name of system Line Date System Notes
Argentina ArgentinaBuenos Aires UndergroundLine A
Line B
Line D
Line F2022–2024
Canada CanadaToronto subwayLine 2 Bloor-Danforth2030Alstom Urbalis 400[lower-alpha 41]
Line 5 Eglinton2024Bombardier CITYFLO 650[lower-alpha 42]
United States United States New York City SubwayIND Culver Line (F, <F>, and ​G trains)2022SelTrac
IND Queens Boulevard Line (E, ​F, <F>, and ​R trains)Siemens Trainguard MT CBTC
IND Eighth Avenue Line (A, ​C, and ​E trains)2024

Asia
Country/region Name of system Line Date System Notes
China ChinaChongqing Rail TransitLine 182023
Dongguan Rail TransitLine 12025
Guiyang MetroLine 323 August 2023
Line S12024
Nantong MetroLine 22023CASCO Urbalis 888[27]
Qingdao MetroLine 72025
Shenyang MetroLine 32024
Line 42023
Line 62026
Tianjin MetroLine 72024
Line 112023
Line B12024
Line Z22025
Line Z42024
Taiyuan MetroLine 12024
Ürümqi MetroLine 22024
Wenzhou MetroLine S2August 2023
Wuhan MetroLine 122024
Line 192023
Wuxi MetroLine S12024
Xi'an MetroLine 82024
Line 10
Xiamen MetroLine 42025
Line 62024
India IndiaKolkata MetroLine 42023
Line 5
Line 62023
Lucknow MetroBlue Line
Turkey TurkeyIstanbul MetroLine M102025
Vietnam VietnamHanoi MetroLine 32023
Ho Chi Minh City MetroLine 12024

Europe
Country/region Name of system Line Date System Notes
United Kingdom United Kingdom London UndergroundAll Subsurface Lines:

Circle, District , Hammersmith & City and Metropolitan.

Thales SelTrac[lower-alpha 43]
Deep level tube:

Bakerloo, Piccadilly and Waterloo & City.

Oceania
Country/region Name of system Line Date System Notes
Australia AustraliaQueensland Rail City networkCross River Rail2025

See also

Notes
  1. Converted from manual to automated operation
  2. Effective September 24, 2022, the entirety of Line 1 had been fully converted to automatic train control (ATC).
  3. Uses the same train automation system as the Vancouver SkyTrain and the Detroit People Mover; already runs as an ATC/ATO system with an attendant on board.
  4. Entire system is fully automated, but can be over-ridden. Substations providing the power are remotely controlled from an operational control centre.
  5. By the time the K Line opens, manual mode will be required from Aviation/Century to Expo/Crenshaw due to grade crossings and street running. The K Line will overlap most of the C Line east of Aviation/LAX.
  6. Switch to automatic control while operating in the Market Street subway and in the Twin Peaks Tunnel. The operator manages the doors in-station and pilots the vehicle when running aboveground.
  7. Has an automated mode, where the driver is responsible for opening and closing of doors and of overriding the system. However, the system has been operating in manual mode since the June 2009 Washington Metro train collision, and plans are to operate in manual mode until newer railcars are delivered.[5]
  8. Only CR400BF-C trainsets support ATO.
  9. Newer trains (since 2019) use an on-board system jointly developed by CASCO and Hitachi Rail STS. Interoperable with both CBTC and the existing track circuit based signal system.[13]
  10. Same system as Paris RER line A
  11. Uses signalling systems supplied by Alstom.
  12. Uses LZB 700 signalling systems supplied by Siemens.
  13. Line partially opened
  14. A continuation of the Kobe Municipal Subway Seishin-Yamate Line.
  15. ATO trialled from October 1967 until February 1968; trains now operated in manual mode.
  16. ATO previously trialled from October 1973 until July 1974.
  17. A continuation of the Tokyo Metro Namboku Line.
  18. Previously used ATO from 1976 until 1990.
  19. World's first railway system to use fuzzy logic to control the speed of trains.
  20. Main line converted to ATO in 2010, but Hōnanchō branch continues to use ATC/TASC
  21. ATO trialled during the 1960s. Trains now operated in manual mode.
  22. In November 2021, JR East demonstrated autonomously operated bullet train E7 in Niigata prefecture; 5 km between Niigata Station and Niigata Shikansen Stock Yard. They started testing on 29 October.[17]
  23. Older trains still drive in manual mode
  24. Driver on standby and will drive the train when ATO malfunctions or is not available.
  25. Utilizes the SelTrac system with driver on board in case of emergencies.
  26. Uses a modified version of Toronto subway's H6 subway model made by Bombardier Transportation and configured for driverless operation.
  27. Uses the same system as Munich with fully driverless turning at some terminuses.
  28. Line B is partly automated.
  29. Czech railways have used GoA2 operation since 1991. Currently, about 400 vehicles are equipped with on-board units. 1500 km of lines (of total 9000 km network) are equipped with lineside part of ATO, next 1500 km are covered by data for GPS localisation.
  30. The convertion to GoA4 will be complited at the end of 2023
  31. Driver operates the doors and handles emergency situations, accelerating and braking is fully automated, but just between the 22 underground stations. Outside the underground stations the driver operates the train manual.
  32. Driver operates the doors and handles emergency situations, accelerating and braking is fully automated; a fully driverless turning at terminus stations is planned.
  33. German ICE high-speed lines equipped with the Linienzugbeeinflussung (LZB) signalling system support a form of GoA2 ATO operation called AFB (Automatische Fahr- und Bremssteuerung, lit. automatic driving and braking control) which enables the driver to let the on-board train computer drive the train on autopilot, automatically driving at the maximum speed currently allowed by LZB signalling. In this mode, the driver only monitors the train and watches for unexpected obstacles on the tracks. On lines equipped with only PZB/Indusi, AFB acts entirely as a speed cruise control, driving according to the speed set by the driver with manual braking if needed.[19]
  34. Between Empalme and Torrent stations
  35. Between Les Carolines-Fira and Torrent stations
  36. A member of staff opens & closes the train doors monitors the train and fixes faults on board. Drivers drive the trains on Sundays and Bank holidays. All shunt moves are made by the drivers and whenever the train stops for fail safe reasons such as excess wheel spin or sliding the driver takes over; at other times trains are computer driven.
  37. A member of staff opens & closes the train doors, drives the train on Sundays, fixes faults.[24]
  38. A driver operates the doors and presses buttons to start the train, the train is driven manually on Sundays, and can be driven in manual outside of peak hours.
  39. Between St Pancras and Blackfriars stations
  40. Between Paddington and Whitechapel stations
  41. Expected to have ATC/ATO implemented on the Yonge–University–Spadina Line by 2019 and the Bloor–Danforth Line, funding permitting, by 2030.[25][26]
  42. Between Mount Dennis and Laird stations
  43. Phased migration as part of 4 Lines Modernisation (4LM).

References
  1. Betis, Alexander; Torre, Marino; Ghiorzo, Alessandro; Del Gaudio, Giovanni (2017-04-06). "LA LINEA M4 DI MILANO: APPROFONDIAMO GLI ASPETTI TECNICI L'evoluzione del sistema di automazione dalla M5 alla M4, evoluzione e non rivoluzione" (PDF). CIFI (in Italian). Collegio Ingegneri Ferroviari Italiani. p. 18. Retrieved 2022-03-13.
  2. NY1 News (2009-02-21). "L Subway service to be run by computers". Archived from the original on 2009-09-09. Retrieved 2011-12-05.
  3. "MTA L Train Response to Squadron" (PDF) (Press release). Metropolitan Transportation Authority. 2011-09-06. Archived from the original (PDF) on 2011-12-02. Retrieved 2011-12-05.
  4. Murray, Christian (10 May 2019). "MTA Completes 7-Train Upgrade, Touts Improved Service". Sunnyside Post. Queens Post. Retrieved 10 May 2019.
  5. Weir, Kytja (June 2, 2011). "Metro: Trains to stay in manual mode for several years". The Washington Examiner. Archived from the original on 2011-10-21. Retrieved July 13, 2011.
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