Vehicle control system

A vehicle control system comprising:

• a plurality of sensors;
• a central control device configured to generate control signals for a plurality of devices, based on outputs of the respective sensors;
• and
• a plurality of relay devices each disposed in a communication path between the central control device and a corresponding device among the devices and configured to relay a control signal generated by the central control device, wherein
• the relay devices include a specific relay device configured to output a control signal to a specific device not related to driving control, braking control, and steering control of a vehicle, the specific relay device including a sub-control unit capable of controlling the specific device, based on an output of at least one sensor among the sensors,
• the sub-control unit is configured to output a control signal for setting the specific device in an operating state or a non-operating state in accordance with the output of the at least one sensor, and
• in response to a central control abnormality that is an abnormality related to a control signal from the central control device, the specific relay device controls, with the sub-control unit, the specific device coupled to the specific relay device.