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Since 1981, the conventional ATC (automatic train control) system has been used on the Yamanote and Keihin-Tohoku Lines, which are the most crowded commuter routes in Tokyo. The conventional ATC is a ground oriented system with cumbersome wayside equipment. Therefore, they have several problems and an obstacle to improvements in transportation service. The D-ATC system with on-board intelligence was introduced, an ldquoautonomous decentralizedrdquo technology, and with this technology was realized a new concept. Following introduction to Yamanote and Keihin-Tohoku several years ago, D-ATC system will be introduced into Negishi Line next. There are two problems in system construction: these are ldquoCoexistence of heterogeneous systemsrdquo and ldquoautonomous on-board mode changerdquo. We clarified these problems and solved them by using the Assurance technology. In this paper, we will outline the D-ATC system and these solution techniques.