A vehicle control system comprising a map information output device (4) for outputting road data, a detection device for acquiring the actual vehicle position (8) on a map, a vehicle speed detector (2), a receiver (12) for receiving information from a transmitter resident in another vehicle or on a road. A device is provided for ascertaining information vehicle coming to a lead-in or run-in section to the particular vehicle. An approximation degree determination device (15) determines an approximation degree between the particular vehicle and the approaching vehicle at the lead-in section. A vehicle control device (22) controls the particular vehicle on the basis of the approximation degree.
