An automatic driving system comprising: a vehicle position recognizing unit configured to recognize a position of a vehicle on a map; a vehicle state recognizing unit configured to recognize a vehicle state of the vehicle; an external environment recognizing unit configured to recognize an external environment of the vehicle; a traveling plan creating unit configured to create a traveling plan including a control target value of automatic driving control of the vehicle based on the position of the vehicle on the map, the vehicle state, and the external environment; a vehicle control unit configured to execute the automatic driving control by transmitting, based on the control target value of the traveling plan, a command value to an actuator of the vehicle; an abnormality value calculating unit configured to calculate, during execution of the automatic driving control, an abnormality value based on the command value and the vehicle state corresponding to the command value; and a determination unit configured to determine, based on the abnormality value, whether the vehicle is in a normal state, an abnormal state, or an intermediate state, the intermediate state being a state between the normal state and the abnormal state, wherein the traveling plan creating unit is configured to create a normal traveling plan as the traveling plan when the determination unit has determined that the vehicle is in the normal state, create an abnormal traveling plan as the traveling plan when the determination unit has determined that the vehicle is in the abnormal state, and continue to create a previously created traveling plan as the traveling plan, the previously created traveling plan being the normal traveling plan or the abnormal traveling plan, when the determination unit has determined (S12, S16) that the vehicle is in the intermediate state, wherein the abnormal traveling plan, at least one of the control target value, a maximum allowable value of the control target value, and a maximum allowable value of a temporal variation of the control target value is less than that in the normal traveling plan. a vehicle position recognizing unit configured to recognize a position of a vehicle on a map; a vehicle state recognizing unit configured to recognize a vehicle state of the vehicle; an external environment recognizing unit configured to recognize an external environment of the vehicle; a traveling plan creating unit configured to create a traveling plan including a control target value of automatic driving control of the vehicle based on the position of the vehicle on the map, the vehicle state, and the external environment; a vehicle control unit configured to execute the automatic driving control by transmitting, based on the control target value of the traveling plan, a command value to an actuator of the vehicle; an abnormality value calculating unit configured to calculate, during execution of the automatic driving control, an abnormality value based on the command value and the vehicle state corresponding to the command value; and a determination unit configured to determine, based on the abnormality value, whether the vehicle is in a normal state, an abnormal state, or an intermediate state, the intermediate state being a state between the normal state and the abnormal state, wherein the traveling plan creating unit is configured to create a normal traveling plan as the traveling plan when the determination unit has determined that the vehicle is in the normal state, create an abnormal traveling plan as the traveling plan when the determination unit has determined that the vehicle is in the abnormal state, and continue to create a previously created traveling plan as the traveling plan, the previously created traveling plan being the normal traveling plan or the abnormal traveling plan, when the determination unit has determined (S12, S16) that the vehicle is in the intermediate state, wherein the abnormal traveling plan, at least one of the control target value, a maximum allowable value of the control target value, and a maximum allowable value of a temporal variation of the control target value is less than that in the normal traveling plan.