In the case that the automated driving system 2 is of Level 2 to perform accelerating and steering, when a driver selects an unscheduled travel behavior such as lane change, accelerating operations and steering operations are performed thereby excepting that the driver performs braking operations as required. Similarly, with the automated driving system 2 of Level 2 to perform accelerating and braking, an unscheduled travel behavior selected by a driver is performed while accelerating operations and braking operations are performed thereby excepting that the driver performs steering operations as required. With the automated driving system 2 of Level 2 to perform steering and braking, an unscheduled travel behavior selected by a driver is performed while steering operations and braking operations are performed thereby excepting that the driver performs accelerating operations as required.