Abstract: Provided is an autonomous driving system that satisfies setting of a driving path shared in common by an articulated bus and a single bus applicable to a bus rapid transit system that allows both an articulated bus and a single bus to travel on the same track in common. A trajectory of a rearmost axle forms a path in path setting irrespective a single vehicle and an articulated vehicle thus enabling the articulated vehicles having different data and sizes and a vehicle weight changes due to riding on or getting off of passengers from a bus can also trace the path. The system includes sensors that detect a change in its own weight, a change in the position of the center of gravity, and a change in axle weights. The system satisfies requested acceleration by detecting a dynamic performance together with the change in its own weight and a change in a gradient of a road.

Abstract: A position capture method for capturing an own vehicle position by using a positioning part that measures a position of a vehicle (4) and a plurality of magnetic markers (5) laid on a traveling path of the vehicle (4) with their laying positions specified includes: upon detection of any of the plurality of magnetic markers (5), selecting, from among the laying positions of the plurality of magnetic markers (5), the laying position located nearest to an actual measured position measured by the positioning part; and capturing, as the own vehicle position, a corrected position based on the laying position, thereby making high-accuracy position capture possible.

Abstract: A position capture method for capturing an own vehicle position by using a positioning part that measures a position of a vehicle (4) and a plurality of magnetic markers (5) laid on a traveling path of the vehicle (4) with their laying positions specified includes: upon detection of any of the plurality of magnetic markers (5), selecting, from among the laying positions of the plurality of magnetic markers (5), the laying position located nearest to an actual measured position measured by the positioning part; and capturing, as the own vehicle position, a corrected position based on the laying position, thereby making high-accuracy position capture possible.