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The ECA has recently made an assesment of high speed rail and they found out things are not as rosy as they seem:

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But my understanding is that at least as far things like subways go, driverless trains aren't a difficult problem.

Vancouver, BC has been operating a driverless train system for its rapid transit since 1986.

I think the competition for cars are not high speed lines, but normal, everyday commuter trains.