JP2016192079A - Automatically traveling vehicle control system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To appropriately manage the entry to and exit from an automatic traveling road of an automatic driving vehicle, even in a road environment where the automatic traveling road and a general road are juxtaposed.SOLUTION: In an automatically traveling vehicle control system 1, a management center 3 transmits a request signal to a vehicle 2 to the effect that information for determining whether a diagnostic code is normal or not be transmitted when a request for entry to an automatic traveling lane is received from the vehicle 2. The vehicle 2 transmits information for determining a diagnostic code, together with vehicle number information and vehicle position information, to the management center 3. The management center 3 transmits an entry permission signal to the vehicle 2 and registers it in a database 10 when determination information that the diagnostic code is normal is obtained. The permitted vehicle 2 notifies the management center 3 to the effect that it has entered when entry to the automatic traveling lane is completed.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an automatic traveling vehicle control system configured by wirelessly connecting a vehicle having an automatic driving function and a management center that manages entry and exit of the vehicle to and from an automatic traveling road.

  2. Description of the Related Art In recent years, automatic driving technology has been developed in the field of automobiles. For example, Patent Document 1 discloses a dedicated road entry / exit system for an autonomous vehicle. In this system, a check-in gate and a service-in facility are provided on the approach road to the automatic driving road, and a service-out facility and a check-out gate are provided on the exit road from the automatic driving road. Furthermore, as roadside equipment, lane markers, various roadside sensors, road-to-vehicle communication devices, etc. are provided, and various in-vehicle sensors including sensors for detecting the lane markers, steering, accelerator, brakes, etc. are automatically controlled on the vehicle side. The road-to-vehicle communication device is provided.

  In this system, the roadside facility and the center facility inspect the vehicle that has passed through the check-in gate, register a vehicle having a good inspection result, and guide a vehicle having a good inspection result to a general road. In addition, when the vehicle leaves, the operation mode is switched to manual operation before service out, and checkout is performed.

JP 2002-163756 A

  However, in the system disclosed in Patent Document 1, it is necessary to construct a road dedicated to automatic driving and a plurality of physical gates, and a large-scale infrastructure work is required for introduction. Thus, for example, with respect to an existing road for exclusive use of automobiles having a plurality of lanes on one side, it is conceivable that some of the lanes are dedicated to automatic driving lanes and the remaining lanes are general lanes. In this case, the type of lane is differentiated by setting signs, coloring the road surface, etc., and the vehicle is configured so that the driver can freely enter and exit the automatic lane from the general lane according to the driver's will. It is desirable.

  However, since the automatic driving lane is for automatic driving, it is not desirable for vehicles other than those that perform automatic driving to enter the vehicle. The entry of a vehicle should be prohibited, for example, causing confusion with other autonomous driving vehicles. When such an automatic traveling lane and a general lane are provided side by side, the technique of Patent Document 1 described above cannot be applied, and a technique for appropriately managing the entry and exit of a vehicle is desired.

  The present invention has been made in view of the above circumstances, and its purpose is to manage the entry and exit of an autonomously driven vehicle to and from an autonomous road even in a road environment where an autonomous road and a general road are provided side by side. It is in providing the automatic traveling vehicle control system which can perform appropriately.

  In order to achieve the above object, an automatic traveling vehicle control system (1) of the present invention includes a vehicle (2) having an automatic driving function and a management center ( 3), in which the vehicle (2) is configured to connect to the management center (3) with an entry request transmission means for transmitting an entry request to the automatic traveling road. 12) and collecting means (14) for collecting control information of a plurality of ECUs mounted on the host vehicle, and automatically driving the vehicle (2) based on the information collected by the collecting means (14) Quality control means (15) for determining the quality of the vehicle, and the management center (3), when receiving an entry request from the vehicle (2), the vehicle (2) determined by the quality determination means (15) ) Autonomous driving quality allowed The vehicle when it is bell or (2) and allow the vehicle to, where provided with the vehicle entry permission means for transmitting the entry permission to (2) (8) having features (the invention of claim 1).

  According to the above configuration, when the vehicle (2) wants to enter the automatic traveling road, the approach request transmitting means (12) transmits the request for entering the automatic traveling road to the management center (3). At the same time, in the vehicle (2), control information of a plurality of ECUs is collected by the collecting means (14). And based on the information collected by the collection means (14), the quality determination means (15) determines the quality of automatic driving of the vehicle (2). The management center (3) that has received the entry request from the vehicle (2), if the automatic driving quality of the vehicle (2) determined by the quality determination means (15) is equal to or higher than the permission level, The vehicle is permitted, and the entry permission means (8) transmits the entry permission to the vehicle (2).

  At this time, the vehicle (2) with high quality of automatic driving is permitted to enter the automatic driving road, and the vehicle with low quality is not permitted. The vehicle (2) can enter the automatic traveling road when permitted. In this case, the management center (3) can manage entry and exit of the vehicle (2) by exchanging with the vehicle (2) through wireless communication. Along with this, there is no need for a dedicated gate for managing entry and exit, or a physical section for partitioning a dedicated road and a general road, and a road environment with an autonomous road and a general road. It can be applied well.

The block diagram which shows one Embodiment of this invention and shows schematically the electrical structure of an automatic traveling vehicle control system Block diagram schematically showing the electrical configuration of the automatic travel device A flowchart schematically showing a procedure of processing in the management center when there is an entry request from a vehicle A flowchart schematically showing a processing procedure in a vehicle traveling in an automatic lane Flowchart schematically showing the procedure of automatic lane monitoring processing in the management center The figure which shows the example of the road which includes the self-driving lane in a part of plural lanes

  Hereinafter, an embodiment of the present invention will be described with reference to the drawings. FIG. 1 schematically shows an electrical configuration of an automatic traveling vehicle control system 1 according to the present embodiment. The automatic traveling vehicle control system 1 according to the present embodiment manages vehicles 2 having an automatic driving function (actually, each of a plurality of vehicles 2 having an automatic driving function) and the entry and exit of the vehicle 2 with respect to the automatic traveling road. The management center 3 is connected by wireless communication. In addition, a vehicle recognition system 4 as vehicle recognition means is provided on the automatic traveling road, and the vehicle recognition system 4 is also connected to the management center 3 by wireless communication.

  Here, FIG. 6 shows an example of an automatic traveling road, and an automatic traveling lane L as an automatic traveling road is provided in a part of the lane of the automobile exclusive road (highway) H. In this case, the automobile exclusive road H has three lanes on one side, and one lane on the right side is an automatic travel lane L, and the remaining two lanes are general lanes L0. At this time, the automatic driving lane L and the general lane L0 are separated by a lane marking, and a sign is provided, and further, the color of the paint on the road surface is made different (hatching is added for convenience in FIG. 6), A distinction is made. Although not shown, the automatic travel lane L is provided with a marker (signal transmitter) for realizing automatic travel.

  In the present embodiment, the vehicle recognition system 4 described above includes an automobile number automatic reading device 5 and a communication device 6 for performing wireless communication with the management center 3 as shown in FIG. Configured. The automobile number automatic reading device 5 is the same as the so-called N system, and photographs the vehicle 2 that is provided at an appropriate position on the automobile exclusive road H and travels on the automatic driving lane L and reads the number plate. It is configured. Vehicle number information (vehicle recognition information) read by the automobile number automatic reading device 5 is transmitted to the management center 3 by the communication device 6.

  In the present embodiment, the above-described general lane L0 and the automatic traveling lane L are mutually accessible, that is, it is physically possible to leave one side and enter the other at any position. (Permission required later) However, it is also possible to enter and exit the automatic driving lane L only in a predetermined entry permitted section. In this case, for a place other than the entry permitted section, a configuration in which the general lane L0 and the automatic travel lane L are partitioned by a guard rail or the like may be employed.

  As shown in FIG. 1, the management center 3 is provided with a communication device 7, a request processing device 8, a diagnostic device 9, a database 10, and the like in a mutually connected state. The communication device 7 performs wireless communication with the vehicle 2 and the vehicle recognition system 4 (communication device 6). The request processing device 8 includes a computer, controls the entire management center 3, receives an entry request from the vehicle 2 to the automatic lane L, and enters and leaves the vehicle 2 as will be described later. Perform various processes such as management. The diagnostic device 9 diagnoses whether or not communication with the vehicle 2 (permitted vehicle 2) traveling in the automatic traveling lane L continues and is performed satisfactorily. The database 10 is for recording information of the vehicle 2 (permitted vehicle 2) that has permitted entry into the automatic lane L.

  In contrast, the vehicle 2 is provided with a communication device 11, a request processing device 12, an automatic travel device 13, a vehicle information acquisition device 14, a diagnosis device 15, an abnormality handling device 16, and the like connected to each other. ing. The communication device 11 performs wireless communication with the management center 3 (communication device 7). The request processing device 12 includes a computer, and controls the communication device 11 to transmit an entry request for the automatic driving lane L to the management center 3 or a vehicle state from the management center 3 side. Or accept a send request. Accordingly, the communication device 11 and the request processing device 12 function as an entry request transmission unit.

  The automatic traveling device 13 is for realizing automatic traveling (automatic driving) of the automatic traveling lane L in the vehicle 2, and more specifically, has the configuration shown in FIG. That is, the automatic travel device 13 includes an ECU 17 for automatic travel control, and includes various sensors 18, an operation unit 19, a brake drive device 20, an accelerator drive device 21, a steering drive device 22 and the like connected to the ECU 17. ing.

  The various sensors 18 include a detector (receiver) that detects a marker (signal transmitter) provided in the automatic travel lane L. The operation unit 19 includes a switch for the driver to instruct the start and end of automatic driving. The ECU 17 controls the brake driving device 20, the accelerator driving device 21, and the steering driving device 22 so that the vehicle 2 keeps traveling in the automatic traveling lane L based on the detection of various sensors 18 and the like, and performs an automatic driving function. Realize. Thus, automatic driving along the automatic driving lane L is performed without the driver operating the accelerator, the brake, the steering, etc., and the driving load on the driver is greatly reduced.

  Returning to FIG. 1, the vehicle information acquisition device 14 is connected to each ECU in the vehicle 2 via an in-vehicle LAN. The vehicle 2 is provided with a diagnosis function for self-diagnosis of various sensors for controlling the engine and the like, ECUs and the like, and the vehicle information acquisition device 14 periodically receives diagnosis information ( Diagnostic code) is received. Therefore, the vehicle information acquisition device 14 functions as a collecting unit that collects control information of a plurality of ECUs mounted on the vehicle 2.

  The diagnostic device 15 diagnoses whether the diagnostic code collected by the vehicle information acquisition device 14 is normal (no abnormality). In this case, if the diagnosis code is normal (no abnormality), it is determined that the automatic driving quality is at or above the permission level. Therefore, the diagnostic device 15 functions as a quality determination unit that determines the quality of automatic driving of the vehicle 2. The vehicle 2 is provided with a vehicle position detection function (navigation device) including a GPU receiver so that the position of the vehicle 2 can be detected.

  The abnormality handling device 16 includes a voice device, a display device, and the like for notifying the driver of the abnormality, and when traveling to the automatic traveling lane L is requested or traveling in the automatic traveling lane L. In this case, when the diagnosis device 15 diagnoses that there is an abnormality in the diagnosis code, a notification that an abnormality has occurred (notification that prompts the user to leave the automatic driving lane L) is performed. In addition, the notification when the abnormality occurs by the abnormality handling device 16 is continuously performed until the vehicle 2 leaves the automatic travel lane L and shifts to the general lane L0.

  In the automatic traveling vehicle control system 1 according to the present embodiment, as described later in the explanation of the operation (flow chart explanation), when the vehicle 2 wants to enter the automatic traveling lane L from the general lane L0, the driver Based on the above operation, an approach request signal to the automatic travel lane L is transmitted from the vehicle 2 to the management center 3. When the management center 3 (request processing device 8) receives an entry request from the vehicle 2, the management center 3 (request processing device 8) transmits a request signal for transmitting a diagnosis result (determination information) as to whether the diagnosis code is normal to the vehicle 2. To do. Then, on the vehicle 2 side (request processing device 12) that has received the signal, the diagnosis result (determination information) of the diagnostic code is transmitted to the management center 3 together with the vehicle number information and the own vehicle position information.

  When the determination information that there is no abnormality in the diagnosis code (normal) is obtained, the management center 3 determines that the automatic driving quality of the vehicle 2 is equal to or higher than the permission level, and sends an entry permission signal , And vehicle number information and the like are registered in the database 10 as permitted vehicles. Therefore, the request processing device 8 functions as an entry permission unit. Thus, the vehicle 2 side (driver) who has received the entry permission enters (moves) the automatic travel lane L, and then performs an operation of switching to automatic operation by the automatic travel device 13. When the entry into the automatic driving lane L is completed, the management center 3 is notified that it has entered. As a result, the permitted vehicle 2 can automatically travel in the automatic travel lane L.

  Further, in the present embodiment, the permitted vehicle 2 collects diagnostic information by the vehicle information acquisition device 14 and whether there is an abnormality in the diagnostic code by the diagnostic device 15 even while the automatic traveling device 13 is traveling on the automatic lane L. The determination information is periodically transmitted to the management center 3. When the diagnosis device 15 diagnoses the abnormality of the diagnosis code, it is determined that the automatic driving quality has deteriorated to a low level quality that does not satisfy the permission level, and the vehicle 2 (abnormality handling device 16) sends a voice to the driver. Or a display that prompts the user to leave the automatic driving lane L. Therefore, the abnormality handling apparatus 16 also has a function as an exit promoting means.

  Then, the management center 3 (diagnostic device 9) cancels the permission of the vehicle 2 when the determination information of the diagnosis code transmitted from the permitted vehicle 2 is switched from normal to abnormal, and sets it as the unpermitted vehicle 2. The registration of the database 10 is deleted. At this time, the management center 3 transmits the alert information for alerting the permitted vehicle 2 traveling in the vicinity of the unauthorized vehicle 2 whose permission has been canceled in the automatic travel lane L. Accordingly, the management center 3 (diagnostic device 9) also has a function as alerting information transmission means.

  On the other hand, information on the vehicle number of the vehicle 2 traveling on the automatic traveling lane L is transmitted to the management center 3 by the vehicle recognition system 4. Based on the communication with the vehicle recognition system 4, the management center 3 constantly monitors whether the vehicle 2 with the vehicle number that is not permitted (not registered in the database 10) is running. When the unauthorized vehicle 2 that is not permitted to enter the automatic driving lane L is detected, the management center 3 determines that the unauthorized vehicle 2 that is traveling in the vicinity of the unauthorized vehicle 2 is not authorized. Information on the permitted vehicle 2 (vehicle number information) is notified. Therefore, the management center 3 also has a function as notification means.

  Next, the operation of the automatic traveling vehicle control system 1 having the above configuration will be described with reference to FIGS. The flowchart of FIG. 3 schematically shows a processing procedure executed in the management center 3 when there is an entry request from the vehicle 2. Here, as described above, when the vehicle 2 is desired to enter the automatic driving lane L, the entry request signal is transmitted from the vehicle 2 to the management center 3 based on the driver's operation for transmitting the request signal.

  First, in step S1, it is determined whether an entry request signal from the vehicle 2 has been received. When the approach request signal is received (Yes in step S1), the request signal is transmitted to the vehicle 2 so as to transmit the determination information in step S2. The vehicle 2 that has received the request signal transmits a diagnosis result (determination information) of the diagnostic code to the management center 3 together with the vehicle number information and the own vehicle position information. In step S3, it is determined whether data is sent from the vehicle 2.

  When data is transmitted from the vehicle 2 (Yes in step S3), an entry permission signal is transmitted to the vehicle 2 in step S4. At the same time, the vehicle number information of the permitted vehicle 2 is registered in the database 10. Thereby, the vehicle 2 that has received the entry permission can enter (transfer) the automatic travel lane L and perform automatic travel. At this time, when the entry of the vehicle 2 into the automatic travel lane L is completed, an entry notification indicating that the vehicle 2 has entered the automatic travel lane L is made. In step S5, it is determined whether there is an entry notification from the vehicle 2.

  If there is an entry notification from vehicle 2 (Yes in step S5), this process ends. On the other hand, when the entry permission signal is transmitted from the management center 3 to the vehicle 2 but there is no entry notification from the vehicle 2 (No in step S5), or determination information is transmitted to the vehicle 2. If the determination information is not transmitted from the vehicle 2 even though the request signal is transmitted (No in step S3), it is determined in step S6 that some abnormality has occurred in the vehicle 2, for example, management Dispatch patrol car etc. of the person side and confirm the field.

  The flowchart in FIG. 4 schematically shows a processing procedure in the vehicle 2 traveling in the automatic travel lane L. That is, in step S11, it is determined whether or not a diagnosis code is periodically transmitted from each in-vehicle ECU to the vehicle information acquisition device 14. If the diagnosis code is periodically transmitted (Yes in step S11), it is determined in step S12 whether the diagnosis code is normal. If the diagnosis code is normal (Yes in step S12), the process ends. Although not shown, the latest diagnostic code determination information is periodically transmitted from the vehicle 2 to the management center 3.

  On the other hand, if an abnormality has occurred in the diagnosis code (No in step S12), or if the diagnosis code is not transmitted from each in-vehicle ECU (No in step S11), an abnormality is detected in step S13. A notification that an abnormality has occurred by the corresponding device 16, that is, a notification by voice and display (a notification that prompts the user to leave the automatic driving lane L) is performed. In step S14, it is determined whether or not the host vehicle 2 has left the automatic travel lane L. Unless the vehicle 2 leaves the automatic travel lane L (No in step S14), the abnormality notification in step S13 is continued.

  In the vehicle 2, the vehicle is switched to manual operation by the driver's operation (or automatically) and then exits (transfers) from the automatic driving lane L to the general lane L 0. If the vehicle 2 has left the automatic travel lane L (Yes in step S14), the management center 3 is notified that the vehicle 2 has left the automatic travel lane L in step S15, and the process ends. Although not shown in the figure, in the management center 3, the entry permission to the automatic travel lane L for the vehicle 2 is canceled and the registration of the database 10 is deleted.

  The flowchart of FIG. 5 schematically shows the procedure for monitoring the automatic driving lane in the management center 3. That is, in step S21, the management center 3 receives the vehicle number information read by the vehicle recognition system 4 (automobile number automatic reading device 5). In step S <b> 22, it is determined whether or not the vehicle 2 with the vehicle number information is a vehicle 2 registered in the database 10. If it is the permitted vehicle 2 registered in the database 10 (Yes in step S22), it is determined whether or not the vehicle is in the automatic travel lane L in the next step S23. If the permitted vehicle 2 is traveling on the automatic travel lane L (Yes in step S23), there is no problem and the process ends.

  On the other hand, if the vehicle 2 recognized by the vehicle recognition system 4 is an unpermitted vehicle 2 that is not registered in the database 10 (No in step S22), the automatic travel lane L is entered in step S24. It is judged whether or not. If the unauthorized vehicle 2 is not traveling in the automatic travel lane L (traveling in the general lane L0) (No in step S24), there is no problem, and the process ends. However, when the unauthorized vehicle 2 is traveling in the automatic traveling lane L (Yes in step S24), it is determined in step S25 that the unauthorized vehicle 2 is traveling illegally in the automatic traveling lane L. In order to ensure safety, for example, a patrol car on the manager's side is dispatched, and an exit recommendation for the unauthorized vehicle 2 is made. At this time, although not shown, the information (vehicle number information) of the unauthorized vehicle 2 is notified to the other permitted vehicles 2 traveling in the vicinity of the unauthorized vehicle 2.

  Moreover, although the vehicle 2 recognized by the vehicle recognition system 4 is the permitted vehicle 2 registered in the database 10, it does not travel on the automatic travel lane L (travels on the general lane L0). ) (No in step S23), it is determined in step S26 that some abnormality has occurred in the vehicle 2, and for example, a patrol car on the manager side is dispatched to check the site.

  As described above, according to the automatic traveling vehicle control system 1 of this embodiment, the management center 3 can manage entry and exit of the vehicle 2 by exchanging wireless communication between the management center 3 and the vehicle 2. It comprised so that it might become. In this case, the vehicle 2 is allowed to enter the automatic driving lane L on the condition that all the diagnosis codes of the vehicle 2 are normal. It is possible to prevent the low vehicle 2 from entering the automatic travel lane L.

  Therefore, according to the present embodiment, there is no need for a dedicated gate for managing entry / exit as in the past, a physical section for partitioning the automatic lane L and the general lane L0, etc. Even in a road environment where the lane L and the general lane L0 are provided side by side, it is possible to obtain an excellent effect that the entry and exit of the autonomous driving vehicle 2 can be appropriately managed. .

  Further, in the present embodiment, the diagnosis code of the permitted vehicle 2 is diagnosed even when traveling in the automatic lane L, and if an abnormality occurs, the vehicle is regarded as an unpermitted vehicle 2 and exited from the automatic lane L. The system is configured so that a notification for prompting is performed. As a result, the vehicle 2 whose quality of automatic driving has deteriorated due to the occurrence of a failure during traveling can be promptly withdrawn from the automatic traveling lane L.

  At this time, since the diagnosis code is used for the diagnosis of the automatic driving quality, the existing diagnosis function of the vehicle 2 can be used effectively, and a simple configuration can be achieved. Further, since the diagnosis can be made promptly in the vehicle 2, it is possible to notify the exit immediately. Furthermore, since the management center 3 is configured to alert the permitted vehicle 2 that is traveling in the vicinity of the unauthorized vehicle 2 whose permission has been revoked in the automatic traveling lane L, the permission during automatic traveling is determined. In the vehicle 2, the effect of preventing the occurrence of confusion caused by the unauthorized vehicle 2 can be obtained.

  And in this embodiment, when the vehicle recognition system 4 which recognizes the vehicle 2 which is drive | working the automatic driving lane L is provided, and it detects that the unauthorized vehicle 2 corresponds to the automatic driving lane L, Notification is made to the permitted vehicle 2 traveling in the vicinity of the unpermitted vehicle 2. Therefore, in the permitted vehicle 2 traveling in the vicinity, an effect of preventing the occurrence of confusion caused by the unpermitted vehicle 2 can be obtained.

  In the above embodiment, the vehicle 2 is configured to be provided with the diagnostic device 15 as quality determination means, but it is also possible to provide quality determination means on the management center 3 side. In this case, the vehicle information acquisition device 14 of the vehicle 2 collects control information of a plurality of ECUs, transmits the information to the management center 3 side, and determines whether or not the automatic driving quality is higher than the permission level on the management center 3 side. It can be set as the structure determined. According to this, the control information can be transmitted simultaneously with the transmission of the entry request from the vehicle 2, the communication becomes simple, and the quality determination can be objectively performed on the management center 3 side.

  Moreover, in the said embodiment, although the apparatus of the system which tracks and follows it is detected as the automatic traveling apparatus 13 provided in the vehicle 2, the system for implement | achieving automatic traveling (automatic driving function) As such, various methods such as road following by image recognition and automatic tracking of a preceding vehicle may be used. In addition, the present invention is not limited to the above-described embodiments, such as various changes in the configuration of the vehicle 2 and the management center 3. Is.

  In the drawings, 1 is an automatic traveling vehicle control system, 2 is a vehicle, 3 is a management center (notification means), 4 is a vehicle recognition system (vehicle recognition means), 6 is a communication device, 7 is a communication device, and 8 is a request processing device. (Entrance permitting means), 9 is a diagnostic device (attention information transmitting means), 10 is a database, 11 is a communication device, 12 is a request processing device (entry request transmitting means), 13 is an automatic travel device, and 14 is vehicle information acquisition An apparatus (collecting means), 15 is a diagnostic apparatus (quality judging means), 16 is an abnormality handling apparatus (exit promoting means), and L is an automatic traveling lane (automatic traveling road).

Claims (7)

An automatic traveling vehicle control system configured by connecting wirelessly between a vehicle (2) having an automatic driving function and a management center (3) that manages entry and exit of the vehicle (2) to and from an automatic traveling road In (1),
The vehicle (2) collects control information of an entry request transmission means (12) for transmitting an entry request to the automatic traveling road to the management center (3) and a plurality of ECUs mounted on the own vehicle. Collecting means (14),
Provided with a quality determination means (15) for determining the quality of automatic driving of the vehicle (2) based on the information collected by the collection means (14);
When the management center (3) receives an entry request from the vehicle (2), the automatic operation quality of the vehicle (2) determined by the quality determination means (15) is equal to or higher than a permission level. An automatic traveling vehicle control system comprising: an entry permitting means (8) for transmitting an entry permission to the vehicle (2), wherein the vehicle (2) is an allowed vehicle. The collecting means (14) collects control information of a plurality of ECUs mounted on the host vehicle (2) even during traveling on the automatic traveling road,
The quality determination means (15) determines the quality of automatic driving for the permitted vehicle (2) traveling on the automatic traveling road based on the information collected by the collecting means (14),
When it is determined by the quality determination means (15) that the quality has deteriorated to a low level quality that does not satisfy the permission level, an exit promoting means that prompts the driver of the vehicle (2) to exit the automatic traveling road ( 16)
When it is determined by the quality determination means (15) that the quality has deteriorated to a low level quality that does not satisfy the permission level, the management center (3) cancels the permission of the vehicle (2) and determines that the vehicle is not permitted. The automatic traveling vehicle control system according to claim 1, wherein:   The management center (3) alerts the permitted vehicle (2) traveling in the vicinity of the unauthorized vehicle (2) whose permission has been revoked on the automatic traveling road. 9. The automatic traveling vehicle control system according to claim 2, further comprising 9). Vehicle recognition means (4) for recognizing a vehicle (2) traveling on the automatic traveling road;
When the unauthorized vehicle (2) that is not permitted to enter the automatic traveling road is detected by the recognition of the vehicle recognizing means (4), the management center (3) 4. The apparatus according to claim 1, further comprising a notification unit configured to notify the other permitted vehicle (2) traveling in the vicinity of the vehicle) information of the unauthorized vehicle (2). The automatic traveling vehicle control system described.   The automatic traveling vehicle control system according to any one of claims 1 to 4, wherein the control information collected by the collecting means (14) includes diagnosis information.   The quality determination means (15) is provided in the vehicle (2), and is transmitted to the management center (3) together with transmission of an entry request by the entry request transmission means (12). The automatic traveling vehicle control system according to any one of claims 1 to 5, wherein determination information on the quality of automatic driving is transmitted.   The quality judging means is provided in the management center (3), and is configured to judge quality based on transmission of control information collected from the vehicle (2). The automatic traveling vehicle control system according to any one of claims 1 to 5.

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