VEHICLE CONTROL SYSTEM, VEHICLE CONTROL METHOD, AND NON-TRANSITORY COMPUTER-READABLE RECORDING MEDIUM

A vehicle control system controls a vehicle that potentially requests remote support in a predetermined area. The vehicle control system acquires surrounding situation information including at least one of object information regarding an object around the vehicle and signal indication information indicating signal indication around the vehicle. The vehicle control system determines whether or not an exit passable condition is satisfied based on the surrounding situation information, the exit passable condition being a condition under which the vehicle is able to pass through a target exit from the predetermined area without waiting. When the exit passable condition is not satisfied, the vehicle control system withholds requesting the remote support in the predetermined area until a lifting condition is satisfied.