Self-driving control device

The purpose of this invention is to improve the reliability of a self-driving system. This invention comprises a higher-order control device 1 which outputs a control target value for a group of actuators on the basis of an action plan for a vehicle, and a lower-order control device 2 which controls the actuator group of the vehicle, on the basis of commands from the higher-order control device 1. The invention is constituted in such a manner that that the control target values for the vehicle which extend over a predetermined period of time and which are assigned by the higher order control device 1 are held in the lower-order control device 2, and control is performed such that if the higher-order control device 1 does not satisfy a desired function, the lower-order control device 2 is controlled on the basis of the control target value which it holds, and by determining and correcting for any difference between the actual operation value of the vehicle and the control target value, the action plan for the vehicle is followed.