Vehicle control system

A vehicle control system configured to control a vehicle, the vehicle control system comprising:

• a plurality of target trajectory generation devices configured to generate and output a first target trajectory and a second target trajectory, the first target trajectory and the second target trajectory each including a target position and a target speed of the vehicle, the first target trajectory is a trajectory for performing at least one of steering, acceleration, and deceleration of the vehicle, and the second target trajectory is a trajectory for decelerating and stopping the vehicle, the second target trajectory is updated continuously;
• and
• a vehicle traveling control device configured to:
• receive the first target trajectory and the second target trajectory from the plurality of target trajectory generation devices;
• determine whether one or more of the target trajectory generation devices are malfunctioning;
• upon determination that none of the target trajectory generation devices are malfunctioning, execute vehicle traveling control based on the first target trajectory output from the plurality of trajectory generation devices;
• and
• upon determination that one or more of the target trajectory generation devices are malfunctioning, cause the vehicle to stop by executing vehicle traveling control based on the latest second target trajectory output from the plurality of target trajectory generation devices before the malfunction occurs, or based on the second target trajectory output from a target trajectory generation device other than the malfunctioning device among the plurality of target trajectory generation devices.