The present disclosure relates to a vehicle control system. The vehicle control system includes an autonomous driving control system that controls autonomous driving of the vehicle, and a safety control system that communicates with the autonomous driving control system and stops the vehicle when the autonomous driving control system fails or when communication is abnormal. The safety control system notifies the autonomous driving control system of the contents of the failure when a failure of a part of the function of the safety control system occurs. The autonomous driving control system sets a traveling route to a destination during the autonomous driving in accordance with the contents of the failure.