Vehicle control system and vehicle control method

A vehicle control system for controlling a vehicle traveling in a predetermined area,

• the vehicle control system comprising processing circuitry configured to:
• acquire vehicle information indicating a position of the vehicle;
• set a determination region around the vehicle based on the vehicle information;
• acquire an image captured by an infrastructure camera that is installed outside the vehicle and images a situation of the predetermined area;
• determine whether or not a target is present in the determination region based on the image captured by the infrastructure camera;
• decelerate the vehicle when the target is present in the determination region;
• set a front determination region that is the determination region in front of the vehicle based on the vehicle information;
• and
• update a front end of the front determination region at a frequency lower than an update frequency of the vehicle information.