This paper describes the vehicle experimental system on rough road using automatic driving method with guidance cables. This system is composed of an automatic driving controller with high reliability which enables "human like operation" and traffic ma01 equipments which direct several vehicles not to clash into others. To confm the durability and the reliability of the system, automatic driving tests were c a n i d out on a test course for a long distance. As the result, it was verified that the system was useful for a vehicle durability driving test on rough road.(3) AUainment of compatibility of the on-board units that can be installed on any vehicle (provided that such a vehicle is an automatic transmission vehicle)
Test courseThe test course developed for the automatic driving system is an unpaved rough road with the entire length of 676 m. An outline of the test course is shown in Fig. 1, and the driving speed pattern is shown in Fig.2. The test coutse consists of a main lane and enm/exit lane. Guidance cables are hid on both sides of each lane by 4 m width. Twenty four loop antennas for the road-to-vehicle communication are laid on the main lane, and two such antennas are laid at the enter/exit lane, which are connected to the roadside communication units. that the updated data can be transmitted three times continuously without interval, and if two of such transmitted data agree with each other, the data will be deemed valid. When a vehicle passes above a loop antenna, kinds of information described below are exchanged between the roadside communication unit and the on-board communication unit.From on-board communication unit to roadside communication unit : Vehicle identification number, driving mode, vehicle speed, details of fault, etc.: 80 bits From roadside communication unit to on-board communication unit : Vehicle identification number, roadside communication unit number, block signal, vehicle speed command, etc.: 80 bits I49
