Automated urban metro systems - Grade of Automation 4 (GoA4)
The first line to be operated with Automatic Train Operation (ATO) was London
Underground's Victoria line, which opened in 1967. Since then, ATO technology has been
developed to enable trains to operate even without a driver in a cab. Underground trains,
which use now the most developed system (Grade of Automation 4 as known as GoA4), are
capable of operating automatically at all times (unattended train operation - UTO), including
door closing, obstacle detection and emergency situations. On-board staff may be provided
for other purposes, e.g. customer service, but are not required for safe operation. These kind
of trains can be found in Barcelona, Paris, London, Rome and in Budapest.
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