Mr Johnson, who is seeking re-election in May, also promises to deploy 600 New Bus for London vehicles by 2016.
There are also commitments to continue opposing a third runway at Heathrow and to “lobby Government to change Britain’s strike laws to introduce a minimum turnout in ballots.”
In a statement Mr Johnson says he wants “a new mandate from Londoners to automate the Tube network – to improve journeys, cut delays, drive down costs and keep fares low.”
Such a new mandate would allow him to introduce “driverless” trains “with ‘train captains’ – along the lines of the DLR – with all the efficiency benefits at will bring, and absolutely no loss of safety.”
Despite lacking drivers, the DLR is also subject to industrial disputes and threats of strike action.
The Mayor says TfL “have already begun the process of explaining the plan to staff – and once certain myths are exploded the response is positive.”
Johnson said re-election would also empower him to lobby for minimum turn-outs in strike ballots “so that industrial action can no longer be triggered by a small minority of union members.”
The manifesto also contains a promise to “expand the cycle hire scheme to east and west, and explore expansion to parts of south London”.
Mr Johnson’s campaign say the pledge is “to explore a capacity study of six major town centres – Bromley, Croydon, Hounslow, Richmond, Kingston, and Romford – by the end of the year.”
A spokesperson for Labour candidate Ken Livingstone claimed the Mayor’s manifesto showed he would “continue with his policy of year on year fare rises while Ken will cut the fares saving Londoners £1000 over four years.”
The spokesperson also claimed Mr Johnson “has opted for expensive vanity projects with Londoners paying for the most expensive bus in the world while the Tory Mayor refuses cut the fares and invest in better services.”
Green Party Mayoral candidate Jenny Jones said: “London needs a new vision for transport.
“Instead of wasting tens of millions every year in extra subsidy for a New Bus for London, as Mayor I would focus on lowering fares and making the roads safer. And instead of wasting hundreds of millions on new roads and capacity expansion, I would focus on improving the alternatives to driving and dealing with air pollution.”
Caroline Pidgeon, the Liberal Democrat Deputy Mayoral candidate, said: “There needs to be a reality check with every statement issued by Boris Johnson.
“Four years ago he promised Londoners that the Tube would run for longer at the weekends, that he would end exorbitant train prices and ensure that the bike hire scheme cost nothing to the taxpayer. He even promised to work hard to negotiate a no strike deal with the Tube unions.
“On all these issues the Mayor’s past promises have been broken. Boris Johnson should be judged on his 2008 transport manifesto, not the latest set of false promises he is making to Londoners.”
Candidates for Mayor include Brian Paddick (Liberal Democrat), Jenny JOnes (Green party), Ken Livingstone (Labour), Lawrence Webb (UKIP) and Boris Johnson (Conservative).
