Vehicle control system

A vehicle control system that controls a vehicle performing automated driving,

• the vehicle control system comprising at least one processor configured to:
• execute vehicle travel control that controls steering, acceleration, and deceleration of the vehicle such that the vehicle follows a target trajectory;
• generate a first target trajectory as the target trajectory for the automated driving of the vehicle;
• determine whether or not an activation condition of travel assist control is satisfied, wherein the travel assist control controls at least one of the steering, the acceleration, and the deceleration for at least one of improving safety or comfort of travel of the vehicle, reducing a sense of strangeness or insecurity of an occupant of the vehicle, and stabilizing behavior of the vehicle;
• generate a second target trajectory as the target trajectory for the travel assist control when the activation condition is satisfied;
• when the second target trajectory is generated in addition to the first target trajectory during the automated driving, or when the second target trajectory is generated in addition to the first target trajectory during the automated driving and a priority condition for giving priority to the first target trajectory is satisfied, combine the first target trajectory and the second target trajectory to generate a control target trajectory, the combination giving more weight to the first target trajectory than to the second target trajectory;
• and
• execute the vehicle travel control such that the vehicle follows the control target trajectory.