Port Island Line (Kobe) opened as GOA4 (fully automated) in 1981 followed by Lille Metro in 1983 and Vancouver's SkyTrain in 1985.
The US has several GOA4 systems, though they're mostly airport shuttles and people movers (AeroTrain at Dulles, Monorail at Tampa, STS at Tacoma) a few serve actual communities (DPM, Metromover, Morgantown, Las Vegas Monorail).
> Helsinki metro was planning to have automated trains when the western extension opens in 2014. It opened in late 2017, without automation because of technical difficulties.
Wow, that's a bit ridiculous.
http://www.railwaygazette.com/news/single-view/view/helsinki...
The Helsinki Metro is also a bit unusual in that it uses Russian wide gauge track (for compatability with the rest of the rail system) but Western tech otherwise, meaning basically everything has to be custom made and is priced accordingly.
(The Finnish rail gauge is in fact nominally different from the current one in Russia, because USSR changed from "imperialist" 1524 mm to "metric" 1520 mm between 1970 and 1990; the trains are in practice compatible, though.)
Less than what's happened with the London Underground Sub-Surface Railway, which is now on the third resignalling contract to get them to GoA Level 3.
Helsinki metro was planning to have automated trains when the western extension opens in 2014. It opened in late 2017, without automation because of technical difficulties. I have a hard time believing there will be much automated traffic on the roads here (with uneven surfaces, unclear markings, snow, and other traffic) before the metro can be automated (in a dedicated tunnel where there is no other traffic, movement is technically only possible on the rails and there is no snow).