Patent attributes
An autonomous driving vehicle system includes a travel plan generation unit configured to generate a travel plan and a control width of a target control value, a travel control unit configured to calculate an instruction control value, and a behavior determination unit configured to determine whether or not a behavior change which is opposite to the most recent behavior change is performed. In a case where it is determined that the opposite behavior change is performed, the travel control unit is configured to calculate the instruction control value such that a behavior change amount of the most recent behavior change is smaller and becomes in the restricted vehicle state corresponding to the state within the control width compared to the case where the current vehicle state is caused to follow the target vehicle state when it is determined that the opposite behavior change is not performed.
