A vehicle controller sets an upper limit request value related to an upper limit of a longitudinal acceleration of a vehicle, a lower limit request value related to a lower limit of the longitudinal acceleration, and an acceleration request value related to the longitudinal acceleration that corresponds to an amount of the operation of the vehicle. The vehicle controller sets a first arbitration request value to a greater one of the lower limit request value and the acceleration request value. The vehicle controller sets a second arbitration request value to a smaller one of the first arbitration request value and the upper limit request value. The vehicle controller sets, to a value that corresponds to the second arbitration request value, a command value sent to an actuator that operates to adjust the traveling speed.