ATO (Automatic Train Operation) systems which are equipment for automated driving control under protection of ATC (Automatic Train Control), continuous type of ATP, is introduced in specific types of line, such as AGT (Automated Guideway Transit ) systems or subway systems in Japan. There is a growing need for new type ATO system which is operated by a staff who is not required driver's license in order to reduce operating costs further. We have developed an ATO system based on ATS (Automatic Train Stop) -DK which is intermittent type ATP and equipped continuous speed check. In this paper, we show the concept of the ATS-based ATO system and report on the specifications of this system and functional field test results.