A vehicle control system comprises: a state detection unit that detects the state of an occupant in a vehicle; and an autonomous driving control unit that executes autonomous driving that automatically controls acceleration/deceleration and/or steering of the vehicle, wherein on the basis of the detection result of the state detection unit, when the occupant is in a first state that is an abnormal posture differing from a normal posture, or a second state in which a prescribed safety device is not attached on the body of the occupant, the control state of the vehicle is changed from a first control state when not in the first state or the second state, to a second control state.