The control system of a vehicle comprises: a driver monitor camera capturing an face of a driver of a vehicle to generate a facial image of the driver; a driver condition detection part configured to detect a condition of the driver based on the facial image; a steering system operating wheels and a steering wheel of the vehicle; and a steering control part configured to set a target turning angle of the wheels and a target steering angle of the steering wheel to control the steering system. The steering control part is configured to make an upper limit value of the target steering angle a value up to a maximum angle when one eye of the driver is not hidden by the steering wheel in the facial image generated when the driver is facing the front.