| 摘要 |
PROBLEM TO BE SOLVED: To improve the safety, reliability and smoothness especially at the joining part of traveling road by finding a time section in which vehicles pass through a joining spot concerning a vehicle traveling on the joining road and a vehicle traveling on the traveling road and judging whether the time sections of them overlap. SOLUTION: When an automatically driving vehicle 1 approaches the neighborhood of the joining spot, a traveling plan is calculated by the vehicle 1 in response to a request from a processing part or spontaneously from the vehicle 1. Then, arriving time section information, speed information, changeable limit range information, etc., at front and rear tips at the joining spot are sent to a road-side central processing part 21. The part 21 judges the presence/absence of the overlapping of the arriving time sections and when there is no overlapping, gives information that the vehicle can join as the traveling plan. When there is overlapping, the part 21 asks the changing command of the traveling plan based on a set controlling countermeasure. To put it concretely, time section information allowing the vehicle to join without collision is calculated and sent to the vehicle 1.
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