This vehicle control system (1) is configured from a vehicle control device (2) installed in a vehicle and a server (40) connected to the vehicle control device (2) via a network. The server (40) is equipped with: a virtual lane generation section which generates virtual lane information relating to a virtual lane virtually set on a road on the basis of at least the travelling locus of another vehicle other than the vehicle; and a server communication section (42) which transmits, to the vehicle control device, the virtual lane information generated by the virtual lane generation section. The vehicle control device (2) is equipped with: a vehicle communication section (14) which receives the virtual lane information from the server (40); a target course generation section (28) which generates a target course of the vehicle on the basis of the virtual lane information; a vehicle control section (39) which causes the vehicle to move along the target course generated by the target track generation section (28).