Vehicle control system and vehicle control method

A vehicle control system comprising:

• an acquirer configured to acquire environmental information including information of a reference speed preset on a scheduled route on which an own-vehicle travels;
• and
• a travel controller configured to perform speed control and steering control of the own-vehicle on the basis of the environmental information acquired by the acquirer,
• wherein the travel controller is configured to perform the speed control with the reference speed as a target speed of the own-vehicle if a control index value regarding the steering control is equal to or less than an upper limit value when the own-vehicle travels on the scheduled route at the reference speed and to perform the speed control with a speed at which the control index value regarding the steering control is equal to or less than the upper limit value as the target speed of the own-vehicle if the control index value exceeds the upper limit value,
• the vehicle control system further comprising:
• a monitor configured to monitor an occupant of the own-vehicle based on an image of the occupant captured by a vehicle interior camera of the own-vehicle;
• and
• a detector configured to detect a state in which the occupant of the own-vehicle is operating an operator,
• wherein the travel controller is configured to determine the target speed of the own-vehicle based on both a monitoring result by the monitor and a detection result by the detector when the control index value exceeds the upper limit value.