VEHICLE CONTROL SYSTEM, AND VEHICLE CONTROL METHOD

To provide a vehicle control system that is capable of planning a trajectory that can ensure more visibility and enables safe traveling when an invisible range of a sensor exists. A vehicle control system that plans a target trajectory of a vehicle based on recognition information from an external environment sensor, the vehicle control system including a recognizing unit that recognizes an object at a periphery of the vehicle based on the recognition information; and a trajectory planning unit that plans the target trajectory such that an actual detection range of the external environment sensor becomes wide when the recognizing unit recognizes the object.