Vehicle control device

A vehicle control system comprising:

• an automatic driving control device configured to plan a behavior of a vehicle based on a behavior model of the vehicle;
• actuators formed as a group, each of the actuators included in the vehicle;
• and
• actuator control devices formed as a group, each of the actuator control devices configured to determine a method to drive a corresponding one of the actuators based on the behavior of the vehicle planned by the automatic driving control device,
• the vehicle control system comprising the steps of:
• when a failure is detected in each of the actuators and/or each of the actuator control devices, updating a spot in the vehicle model, the spot corresponding to a spot of the failure detected, to a fixed value based on failure information regarding the spot of the failure detected;
• and
• transmitting a command value to cause the spot of the failure detected to be in a state corresponding to the fixed value.