A vehicle autonomous driving system comprising: a surroundings information determination unit configured to determine surroundings information concerning surroundings of a vehicle; a travel plan generation unit configured to generate a target travel plan along a pre-set target route based on the surroundings information of the vehicle and generate a control width of target control values of the vehicle constituting the target travel plan; a vehicle state determination unit configured to determine a vehicle state of the vehicle; a calculation unit configured to calculate control values for controlling the vehicle such that the vehicle state becomes a target vehicle state corresponding to the target control values based on the target travel plan, the control width, and the vehicle state; an actuator configured to control the vehicle based on the control values; characterised in that the system further comprises: a behavior determination unit configured to determine whether or not an opposite behavior change of the vehicle which is opposite to a first behavior change of the vehicle is to be performed, according to the target travel plan, wherein the calculation unit is configured to calculate the control values such that, in a case where it is determined by the behavior determination unit that said opposite behavior change is to be performed, the vehicle follows a restricted travel plan wherein: - the vehicle follows the target travel plan until a first restricted behavior change, which is smaller than the first behavior change; - after the first restricted behavior change and until an opposite restricted behavior change, the vehicle is brought into a restricted state which corresponds to a control value within the control width; and - after the opposite restricted behavior change, the vehicle follows the target travel plan. a surroundings information determination unit configured to determine surroundings information concerning surroundings of a vehicle; a travel plan generation unit configured to generate a target travel plan along a pre-set target route based on the surroundings information of the vehicle and generate a control width of target control values of the vehicle constituting the target travel plan; a vehicle state determination unit configured to determine a vehicle state of the vehicle; a calculation unit configured to calculate control values for controlling the vehicle such that the vehicle state becomes a target vehicle state corresponding to the target control values based on the target travel plan, the control width, and the vehicle state; an actuator configured to control the vehicle based on the control values; characterised in that the system further comprises: a behavior determination unit configured to determine whether or not an opposite behavior change of the vehicle which is opposite to a first behavior change of the vehicle is to be performed, according to the target travel plan, wherein the calculation unit is configured to calculate the control values such that, in a case where it is determined by the behavior determination unit that said opposite behavior change is to be performed, the vehicle follows a restricted travel plan wherein: - the vehicle follows the target travel plan until a first restricted behavior change, which is smaller than the first behavior change; - after the first restricted behavior change and until an opposite restricted behavior change, the vehicle is brought into a restricted state which corresponds to a control value within the control width; and - after the opposite restricted behavior change, the vehicle follows the target travel plan. a behavior determination unit configured to determine whether or not an opposite behavior change of the vehicle which is opposite to a first behavior change of the vehicle is to be performed, according to the target travel plan, wherein the calculation unit is configured to calculate the control values such that, in a case where it is determined by the behavior determination unit that said opposite behavior change is to be performed, the vehicle follows a restricted travel plan wherein: - the vehicle follows the target travel plan until a first restricted behavior change, which is smaller than the first behavior change; - after the first restricted behavior change and until an opposite restricted behavior change, the vehicle is brought into a restricted state which corresponds to a control value within the control width; and - after the opposite restricted behavior change, the vehicle follows the target travel plan. - the vehicle follows the target travel plan until a first restricted behavior change, which is smaller than the first behavior change; - after the first restricted behavior change and until an opposite restricted behavior change, the vehicle is brought into a restricted state which corresponds to a control value within the control width; and - after the opposite restricted behavior change, the vehicle follows the target travel plan.