| 摘要 |
There is provided a vehicle control system capable of ensuring stability even if an ego vehicle runs off a travel path. According to the invention, when yaw moment control is carried out to reduce a formed angle between a travel-path defining line of the travel path, which is recognized from information about an area located in a traveling direction of the ego vehicle, and a traveling-direction virtual line extending from the ego vehicle in the traveling direction, if it is judged that the ego vehicle has departed from the travel-path defining line, the yaw moment control is suspended. |
