Pavel Popov of Russian Railways has been involved in various trials with ATO on the regular track in St Petersburg and Moscow in recent years. He is currently developing a system that detects objects on the track with the aid of video, infrared and lidar technology that makes driving under Grade of Automation 3 or 4 possible.The automation of railway vehicles is a very important task for competitiveness. It’s important to reach GoA3/4 for significant economic benefits. The challenge is to develop a perception system for an autonomous train. More braking distance means more complicated perception system has to be developed. For this reason, we started with shunting locomotives and continues with commuter trains. In my presentation, there will be information about our experience with developing and testing autonomous trains, especially for perception system.