The present invention relates to a vehicle control system (100) for controlling a vehicle (1) capable of autonomous driving. When an operation condition is satisfied, the vehicle control system (100) performs driving support control that controls at least one of steering, acceleration, and deceleration of the vehicle (1) for improving travel safety of the vehicle (1) or for stabilizing behavior of the vehicle (1). When receiving an autonomous driving start request to start the autonomous driving during operation of the driving support control, the vehicle control system (100) unexceptionally prohibits starting the autonomous driving or permits starting the autonomous driving only when a permission condition is satisfied.