VEHICLE CONTROL SYSTEM

A vehicle control system includes a central ECU (10) configured to calculate target outputs of actuators, and relay devices each disposed in a communication path between the central ECU (10) and a corresponding actuator among the actuators. The relay devices include a specific relay device capable of communicating with a specific actuator related to driving control, braking control, or steering control of a vehicle (1). The specific relay device among the relay devices includes a specific abnormality diagnosis unit (31a) configured to diagnose an abnormality in the specific relay device, and a backup calculation unit (31b) capable of calculating a control amount of the specific actuator coupled to the specific relay device. A relay device other than the specific relay device among the relay devices does not have a self-diagnosis function.