Vehicle control system

A vehicle control system comprising:

• a sensing unit which is provided on a vehicle and measures three-dimensional shapes of objects;
• a matching unit which performs a process of matching between information on a plurality of structures in which a data group representing three-dimensional shapes of structures provided beforehand adjacent to a track on which the vehicle travels is associated with position information representing positions of the structures and a data group representing three-dimensional shapes of objects measured by the sensing unit and locates positions of the objects;
• and
• an estimated position determination unit which sets a position located by the matching unit as a reference position and determines an estimated position of the vehicle based on the reference position,
• characterized in that:
• the structures provided beforehand are components constituting contact line equipment adjacent to the track including a trolley wire and a catenary and hangers to hang and support the trolley wire;
• and
• the sensing unit is installed in a position shifted from underneath a trolley wire which is one of the components constituting the contact line equipment and measures three-dimensional shapes of the contact line equipment from an oblique direction.