A vehicle control system generates a target trajectory and controls a vehicle to follow the target trajectory. Blind spot information indicates a blind spot region present in front of the vehicle. Under assumption that a first object appears at a first position in front of the vehicle, decelerating the vehicle with a first deceleration cannot avoid a collision between the first object and the vehicle. A deceleration map, which is prepared in advance, indicates at least a collision region consisting of the first position. The vehicle control system recognizes, based on the deceleration map, the collision region under assumption that the vehicle reaches a future position on the target trajectory. When the collision region and the blind spot region overlap each other, the vehicle control system modifies the target trajectory so that the collision region and the blind spot region do not overlap each other.