Automated driving method performed by articulated vehicle

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. The system satisfies the conditions necessary for a safe control in longitudinal and lateral motions in conformity with wetness of a road surface.