Vehicle control system

1 . A vehicle control system mounted on a vehicle including an automated driving system configured to execute automated driving, comprising:

at least one processor; and

at least one memory storing computer program code, wherein the at least one memory and the computer program code are configured, with the at least one processor, to cause the vehicle control system to carry out:

adjusting a behavior of the vehicle during execution of the automated driving, the behavior including at least one of a traveling position in a width direction in a traveling lane, a vehicle speed, or an acceleration;

acquiring behavior request information related to a behavior request for the behavior from an occupant of the vehicle;

receiving a request value of a left-right adjustment amount which is an adjustment amount of the traveling position in the width direction;

receiving a request value of a vehicle speed adjustment amount which is an adjustment amount of at least one of the vehicle speed and the acceleration;

storing, in the memory, the request value of the left-right adjustment amount and the request value of the vehicle speed adjustment amount;

storing, in the memory, map data used for the automated driving by the automated driving system and the request value of the left-right adjustment amount at each point in the map data in association with the map data;

storing, in the memory, the map data and the request value of the vehicle speed adjustment amount at each point in the map data in association with the map data, wherein

the acquiring includes:

acquiring, as the behavior request information, at least one of the request value of the left-right adjustment amount or the request value of the vehicle speed adjustment amount stored in the memory; and

acquiring, during continuation of the automated driving, the request value of the left-right adjustment amount and the request value of the vehicle speed adjustment amount, which are stored in the memory and associated with a current traveling position, and

the adjusting includes:

adjusting the behavior determined by the automated driving system based on the behavior request information;

based on the request value of the left-right adjustment amount acquired by the acquiring, adjusting in real time the traveling position in the width direction while continuing execution of the automated driving; and

based on the request value of the vehicle speed adjustment amount acquired by the acquiring, adjusting in real time the vehicle speed while continuing execution of the automated driving.

2 . The vehicle control system according to claim 1 , wherein,

the at least one memory and the computer program code are further configured, with the at least one processor, to cause the vehicle control system to carry out:

determining the occupant of the vehicle; and

storing the request value of the left-right adjustment amount in association with the occupant, and the request value of the vehicle speed adjustment amount in association with the occupant, and

the acquiring includes acquiring at least one of the request value of the left-right adjustment amount associated with the occupant determined by the determining among request values in the at least one memory and a request value of the vehicle speed adjustment amount associated with the occupant determined by the determining among request values in the at least one memory.

3 . The vehicle control system according to claim 2 , wherein

the at least one memory and the computer program code are further configured, with the at least one processor, to cause the vehicle control system to carry out:

storing, in the memory for each occupant of a plurality of occupants including the occupant, the request value of the left-right adjustment amount and the request value of the vehicle speed adjustment amount,

wherein the occupant is determined from among the plurality of occupants,

wherein the request value of the left-right adjustment amount and the request value of the vehicle speed adjustment amount utilized by the adjusting correspond to the occupant which is determined and the associated point in the map data.

4 . The vehicle control system according to claim 1 , wherein

the at least one memory and the computer program code are further configured, with the at least one processor, to cause the vehicle control system to carry out:

outputting a reference left-right adjustment amount and a reference vehicle speed adjustment amount,

the reference left-right adjustment amount is a reference of the request value of the left-right adjustment amount determined based on a difference between the traveling position in the width direction in manual driving by the occupant and the traveling position in the width direction in the automated driving by the automated driving system,

the reference vehicle speed adjustment amount is a reference of the request value of the vehicle speed adjustment amount determined based on a difference between at least one of the vehicle speed and the acceleration in the manual driving and at least one of the vehicle speed and the acceleration in the automated driving,

the storing includes storing the reference left-right adjustment amount and the reference vehicle speed adjustment amount, and

the acquiring includes acquiring, as the behavior request information, at least one of the reference left-right adjustment amount and the reference vehicle speed adjustment amount stored in the at least one memory.

5 . The vehicle control system according to claim 4 , wherein

the storing includes storing the map data and the reference vehicle speed adjustment amount at each point in the map data in association with each other.

6 . The vehicle control system according to claim 5 , wherein

the reference vehicle speed adjustment amount is an average value of the difference between the at least one of the vehicle speed and the acceleration in the manual driving and at least one of a specified speed and a specified acceleration.

7 . The vehicle control system according to claim 1 , wherein

the at least one memory and the computer program code are further configured, with the at least one processor, to cause the vehicle control system to carry out:

displaying at least one of the request value of the left-right adjustment amount or the request value of the vehicle speed adjustment amount acquired by the acquiring.

8 . The vehicle control system according to claim 1 , wherein

the acquiring of the behavior request information is performed in response to an input received from the occupant during the continuation of the automated driving, and the adjusting of the behavior is performed in response to the acquiring of the behavior request information during the continuation of the automated driving.

9 . The vehicle control system according to claim 1 , wherein the adjusting the behavior further includes transmitting information to a steering device of the vehicle, a driving device of the vehicle, a braking device of the vehicle, or the automated driving system.

10 . The vehicle control system according to claim 1 , wherein the adjusting the width direction adjusts the vehicle in the traveling lane.