VEHICLE CONTROL SYSTEM AND VEHICLE CONTROL METHOD

A processor (26a; 34a) of a vehicle (2) determines whether remote assistance from a remote facility (3) is necessary during autonomous driving control. When a determination is made that the remote assistance is necessary, the processor (26a; 34a) generates a target trajectory (TR21; TR22; TR23; TR24; TR25; TR26; TR27) of the vehicle (2) that includes an expected waiting position (WP). The expected waiting position (WP) is a position where the vehicle (2) is expected to wait for reception of an assistance signal from the remote facility (3). The processor (26a; 34a) calculates a traveling efficiency level (EL) indicating a level of traveling efficiency required in the vehicle (2), and calculates, based on the traveling efficiency level (EL), a request timing (RT) to transmit a request signal (RS) for the remote assistance to the remote facility (3). When the traveling efficiency level (EL) is low in a calculation of the request timing (RT), the processor (26a; 34a) outputs a late timing.