Vehicle control system

A vehicle control system that executes path-following control for controlling traveling of a vehicle to follow a target path, the vehicle control system comprising a controller configured to:

• determine whether or not the path-following control is to be continued based on whether or not a lateral deviation speed of the vehicle when the vehicle intersects the target path falls within a speed range between a maximum value and a minimum value of a cosine function that is a time-differentiation of a function of an allowable limit sine wave,
• wherein the lateral deviation speed is a time differentiation value of a lateral deviation of the vehicle with respect to the target path, an amplitude is an allowable upper limit lateral deviation during the path-following control, and the allowable limit sine wave is a sine wave of an allowable upper limit frequency of a traveling trajectory of the vehicle during the path-following, or
• determine whether or not the path-following control is to be continued based on whether or not a coordinate point with a current lateral deviation speed and a current lateral deviation as an X axis coordinate and a Y axis coordinate, respectively, on an X-Y plane is positioned within an ellipse on the X-Y plane with a time as a parameter, a value of the cosine function as the X axis coordinate, and a value of the function of the allowable limit sine wave as the Y axis coordinate.