An action plan system for a vehicle, comprising: a vehicle control system, comprising: a trajectory generation determination unit that has an emergency trajectory generating unit configured to calculate an emergency trajectory until driving is switched from a system to a driver in the event of a failure; and a motion control unit that has a trajectory retaining unit configured to retain the emergency trajectory, and a trajectory switching unit configured to switch to running in the emergency trajectory retained by the trajectory retaining unit based on the state of the failure detected by a recognition determination unit failure detection unit; and an output device configured to notify the driver; wherein the output device is configured to notify the occurrence of a failure to the driver in the event of the failure; wherein the motion control unit includes a safety state determination unit that is configured to calculate a trajectory section in a safe state, during which the driver can take over the driving in safety, in trajectory information retained in the trajectory retaining unit during operation in the emergency trajectory or in a normal trajectory; wherein the trajectory retaining unit is configured to transmit the trajectory information on the emergency trajectory to the output device; wherein the safety state determination unit is configured to transmit the trajectory section in the safe state to the output device; wherein the output device is configured to display a position of the subject vehicle and the trajectory in which the subject vehicle moves; wherein the trajectory in which the subject vehicle moves includes a trajectory section in the safe state during which the user can take over the driving in safety and a trajectory section not in the safe state; and wherein the trajectory section in the safe state is emphasized. a vehicle control system, comprising: a trajectory generation determination unit that has an emergency trajectory generating unit configured to calculate an emergency trajectory until driving is switched from a system to a driver in the event of a failure; and a motion control unit that has a trajectory retaining unit configured to retain the emergency trajectory, and a trajectory switching unit configured to switch to running in the emergency trajectory retained by the trajectory retaining unit based on the state of the failure detected by a recognition determination unit failure detection unit; and a trajectory generation determination unit that has an emergency trajectory generating unit configured to calculate an emergency trajectory until driving is switched from a system to a driver in the event of a failure; and a motion control unit that has a trajectory retaining unit configured to retain the emergency trajectory, and a trajectory switching unit configured to switch to running in the emergency trajectory retained by the trajectory retaining unit based on the state of the failure detected by a recognition determination unit failure detection unit; and an output device configured to notify the driver; wherein the output device is configured to notify the occurrence of a failure to the driver in the event of the failure; wherein the motion control unit includes a safety state determination unit that is configured to calculate a trajectory section in a safe state, during which the driver can take over the driving in safety, in trajectory information retained in the trajectory retaining unit during operation in the emergency trajectory or in a normal trajectory; wherein the trajectory retaining unit is configured to transmit the trajectory information on the emergency trajectory to the output device; wherein the safety state determination unit is configured to transmit the trajectory section in the safe state to the output device; wherein the output device is configured to display a position of the subject vehicle and the trajectory in which the subject vehicle moves; wherein the trajectory in which the subject vehicle moves includes a trajectory section in the safe state during which the user can take over the driving in safety and a trajectory section not in the safe state; and wherein the trajectory section in the safe state is emphasized.