VEHICLE NAVIGATION CONTROL SYSTEM

A vehicle navigation control system has primary prediction error width calculating means for calculating a primary near-distance error width between a forward extending line of the vehicle and a target path at a predetermined near-distance observing location and for calculating a primary far-distance error width between the forward extending line and the target path at a predetermined far-distance observing location. A secondary near-distance error width between a predicted path and the target path at the predetermined near-distance observing location, and a secondary far-distance error width between the predicted path and the target path at the predetermined far-distance observing location, are calculated by a secondary prediction error width calculation means. Steering angle calculating formula selecting means determines whether the target path is a straight path or a curved path with a large curvature, a constantly curved path, or other curved path in accordance with the error widths calculated by the primary and secondary prediction error width calculating means and selects an optimum formula from predetermined model formulas. Steering angle determining means substitutes the corresponding error widths into the selected model formula so as to determine a steering angle.