A method for efficiently manage traveling planning in automated driving is provided. The method includes large-area planning of planning driving control of a vehicle in a predetermined management area including a vehicle traffic environment having a certain size, and small-area planning of planning driving control of the vehicle in a limited area or for a range of a limited period in the management area in a more detailed manner than the planning by the large-area planning, in which in at least one of the large-area planning and the small-area planning, information for determining planning is received from a plurality of traffic participants, and management of a combination of the received information and mediation thereof are performed, and the vehicle travels according to planning determined in each of the large-area planning and the small-area planning.