Driving support control system

A driving support control system that is mounted in a vehicle, the driving support control system comprising:

• a steering device configured to adjust a steering angle of the vehicle;
• and
• a control device including a processor programmed to control the steering device so that the vehicle travels to follow a target path,
• wherein the control device is programmed to:
• calculate a target value of a lateral acceleration or a yaw rate as a target value of a vehicle motion parameter that causes the vehicle to travel to follow the target path;
• calculate a first steering angle that causes the vehicle motion parameter to coincide with the target value;
• calculate an actual value of the vehicle motion parameter;
• calculate a second steering angle based on a difference value between the actual value and the target value, wherein the second steering angle cancels out an external force acting on the vehicle from an outside;
• calculate a target steering angle based on a summed value of the first steering angle and the second steering angle;
• control the steering device so that the steering angle of the vehicle coincides with the target steering angle;
• limit acceleration of the vehicle when the difference value is equal to or greater than a first prescribed determination value;
• detect a vehicle speed of the vehicle and calculate a deceleration of the vehicle based on the vehicle speed and the difference value.