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, when a time differentiation value of a lateral deviation of the vehicle with respect to the target path is referred to as a lateral deviation speed, an allowable upper limit lateral deviation of the lateral deviation during the path-following control is set as amplitude, and a sine wave with an allowable upper limit frequency of a traveling trajectory of the vehicle during the path-following control is referred to as an allowable limit sine wave, whether or not the lateral deviation speed when the vehicle intersects the target path falls within a speed range to be defined by a maximum value and a minimum value of a cosine function to be obtained by time-differentiating a function of the allowable limit sine wave, or whether or not a coordinate point with a current lateral deviation speed and a current lateral deviation as an X coordinate and a Y coordinate, respectively, falls within an ellipse to be specified on an X-Y plane with a time as a parameter, a value of the cosine function on an X axis, and a value of the function of the allowable limit sine wave on a Y axis.