Vehicle control system

A vehicle control system provided in a vehicle, comprising:

• an obstacle detection sensor configured to detect an object;
• and
• a vehicle control device configured to, when the vehicle travels around the object, set, in at least a part of a region between the vehicle and the object, a speed distribution area in which an upper-limit relative speed of the vehicle with respect to the object is set lower while approaching the object, and execute a vehicle speed control and/or a steering control of the vehicle so as to prevent a relative speed of the vehicle with respect to the object from exceeding the upper-limit relative speed in the speed distribution area, wherein
• the vehicle control system further comprises an external state detection sensor configured to acquire external information regarding a state of an outside of the vehicle which exerts an influence on visibility of a driver of the vehicle, and
• the vehicle control device is configured to estimate a degree of the visibility of the driver of the vehicle, based on the external information acquired by the external state detection sensor, and change the upper-limit relative speed in the speed distribution area, according to the estimated degree of the visibility.