A vehicle control system for automated driver-assistance includes a model-based controller that generates a first control signal to alter an operation of a plurality of actuators of a vehicle based on a reference trajectory for the vehicle, and a present state of the vehicle and actuators. The vehicle control system further includes a neural network controller that generates a second control signal to alter the operation of the actuators of the vehicle based on a reference trajectory for the vehicle, and the present state of the vehicle and actuators. The vehicle control system further includes a combination module that combines the first control signal and the second control signal to operate the actuators based on a combined signal.