A vehicle control system comprising: an autonomous traveling vehicle configured to autonomously travel in a mine; and a manned vehicle, wherein the autonomous traveling vehicle and the manned vehicle each include an own position estimating device and a vehicle mounted communication terminal, wherein the vehicle control system comprises a plurality of wireless lines for wirelessly connecting a plurality of the vehicle mounted communication terminals, wherein the manned vehicle is configured to transmit manned vehicle location information using a first modulation scheme at a first location information granularity, characterised in that one wireless frame constituted of a plurality of subframes by time division multiplexing scheme is configured to be communicatively connected via one wireless channel, and the plurality of subframes are configured for assigning same location information to each of the wireless lines, wherein the first modulation scheme is obtained from a vehicle-to-vehicle distance or a propagation loss corresponding to a communication distance, and wherein when a distance from the manned vehicle is determined to be a first inter-vehicular distance threshold or less based on the manned vehicle location information transmitted by the first modulation scheme, the autonomous traveling vehicle is configured to instruct the manned vehicle to transmit the manned vehicle location information by a second modulation scheme different from the first modulation scheme at a second location information granularity smaller than the first location information granularity, and when the manned vehicle receives the instruction to transmit the manned vehicle location information using the second modulation scheme at the second location information granularity from the autonomous traveling vehicle, the manned vehicle is configured to transmit the manned vehicle location information using the second modulation scheme at the second location information granularity. an autonomous traveling vehicle configured to autonomously travel in a mine; and a manned vehicle, wherein the autonomous traveling vehicle and the manned vehicle each include an own position estimating device and a vehicle mounted communication terminal, wherein the vehicle control system comprises a plurality of wireless lines for wirelessly connecting a plurality of the vehicle mounted communication terminals, wherein the manned vehicle is configured to transmit manned vehicle location information using a first modulation scheme at a first location information granularity, characterised in that one wireless frame constituted of a plurality of subframes by time division multiplexing scheme is configured to be communicatively connected via one wireless channel, and the plurality of subframes are configured for assigning same location information to each of the wireless lines, wherein the first modulation scheme is obtained from a vehicle-to-vehicle distance or a propagation loss corresponding to a communication distance, and wherein when a distance from the manned vehicle is determined to be a first inter-vehicular distance threshold or less based on the manned vehicle location information transmitted by the first modulation scheme, the autonomous traveling vehicle is configured to instruct the manned vehicle to transmit the manned vehicle location information by a second modulation scheme different from the first modulation scheme at a second location information granularity smaller than the first location information granularity, and when the manned vehicle receives the instruction to transmit the manned vehicle location information using the second modulation scheme at the second location information granularity from the autonomous traveling vehicle, the manned vehicle is configured to transmit the manned vehicle location information using the second modulation scheme at the second location information granularity.