Various approaches to autonomous driving in railways

In this paper, we analyse various technical solutions for autonomous driving. Depending on the role of an autonomous system, different safety integrity levels may be required. We examine the three primary architectures. The first one is simply a support system that only requires a basic integrity, rather than a level. The second one is a simple replacement of the driver, which corresponds to SIL 1 up to SIL 2. The third architecture is an integration of ATO into a safe train protection system, which corresponds to SIL 4.