  This paper presents the Autonomous Siemens Tram that was publicly
demonstrated in Potsdam, Germany during the InnoTrans 2018 exhibition. The
system was built on a Siemens Combino tram and used a multi-modal sensor suite
to localize the vehicle, and to detect and respond to traffic signals and
obstacles. An overview of the hardware and the developed localization, signal
handling, and obstacle handling components is presented, along with a summary
of their performance.
