Vehicle control system

A vehicle control system comprising:

• at least one sensor configured to acquire vehicle surrounding information containing information related to a right lane marking line and a left lane marking line defining a traveling lane where a vehicle is traveling;
• and
• a controller configured to:
• set a target traveling line based on the vehicle surrounding information;
• and
• execute driving assistance control including at least steering control for changing a steered angle of the vehicle to cause the vehicle to travel along the target traveling line, wherein
• the controller is configured such that, when an operation status of the driving assistance control is ON, a first line connecting first positions in a width direction of the traveling lane defined based on the right lane marking line and the left lane marking line is set as the target traveling line,
• the controller is configured such that, when a driving switching request is made to request a change of the operation status of the driving assistance control from ON to OFF in a case where the operation status of the driving assistance control is ON, the target traveling line after a requested timing that is a timing when the driving switching request is made is set to cause the vehicle to travel along a second line displaced from the first line in a displacement direction that is a rightward direction or a leftward direction of the vehicle by a predetermined displacement amount after a specific timing that is a timing when a predetermined time has elapsed from the requested timing,
• the controller is configured to continue the driving assistance control in a period from the requested timing to a timing when a predetermined termination condition is satisfied, and
• the controller is configured such that, when the driving switching request is made, the target traveling line is set to cause the vehicle to:
• travel through a position spaced away from the first line in the displacement direction by a first displacement amount at a first timing when a first time has elapsed from the requested timing;
• travel through a position spaced away from the first line in the displacement direction by a second displacement amount at a second timing when a second time has elapsed from the first timing;
• and
• travel through a position spaced away from the first line in the displacement direction by a third displacement amount at a third timing when a third time has elapsed from the second timing, and
• the second displacement amount is smaller than the first displacement amount and the third displacement amount, and the first displacement amount is equal to or smaller than the third displacement amount.