Vehicle control system and saddle-type vehicle

A vehicle control system for controlling a saddle-type vehicle, the saddle-type vehicle including a vehicle body frame, a steering device steerably supported by the vehicle body frame, a front wheel as a steering wheel rotatably supported by the steering device, a braking device configured to brake the front wheel according to a braking operation of an occupant, a first sensor configured to detect a roll angle or a roll angular velocity of the vehicle body frame, and a second sensor configured to detect a predetermined parameter related to a braking force of the braking device,

• the vehicle control system
• being capable of controlling the braking force of the braking device, and
• executing limit control for limiting a decrease in the braking force when it is determined that the vehicle body frame is to be changed to or is changed to an inclined state based on the roll angle or the roll angular velocity detected by the first sensor and it is determined that the braking force decreases based on the parameter detected by the second sensor.