A vehicle control system (1, 2, 3) for controlling a travel service of a first vehicle which travels on a first track, the vehicle control system comprising: a first sensor mounted on the first vehicle, and capable of performing a monitoring operation for detecting presence or non-presence of an obstacle at a predetermined point of the first track when the predetermined point falls within a detection range; one or more second sensors (30, 402) mounted at a predetermined place other than the first vehicle, and capable of performing a monitoring operation for detecting presence or non-presence of an obstacle at the predetermined point at a predetermined timing; a monitoring result collecting part for collecting and storing a monitoring result of the monitoring operation by the second sensor; a speed determination part for determining a target speed of the first vehicle based on the monitoring result stored in the monitoring result collecting part or a monitoring result of the monitoring operation by the first sensor; and a speed control part for controlling a traveling speed of the first vehicle based on a target speed determined by the speed determination part, characterized in that the speed determination part includes a risk evaluation part for determining a final risk rate by: calculating a first risk rate defined in plural degrees of danger based on a detection result of the presence or the non-presence of the obstacle at the predetermined point by the monitoring operations by the first and the second (30, 402) sensors, calculating a second risk rate defined in plural degrees of danger based on a lapsed time from a point of time that the most recent of the monitoring operations by the first and the second (30, 402) sensors is performed, and determining the risk rate showing a higher degree of danger out of the calculated first and second risk rates as the final risk rate; and in that the speed determination part further includes a speed command arithmetic operation part for determining the target speed to be instructed to the speed control part corresponding to the final risk rate determined by the risk evaluation part. a first sensor mounted on the first vehicle, and capable of performing a monitoring operation for detecting presence or non-presence of an obstacle at a predetermined point of the first track when the predetermined point falls within a detection range; one or more second sensors (30, 402) mounted at a predetermined place other than the first vehicle, and capable of performing a monitoring operation for detecting presence or non-presence of an obstacle at the predetermined point at a predetermined timing; a monitoring result collecting part for collecting and storing a monitoring result of the monitoring operation by the second sensor; a speed determination part for determining a target speed of the first vehicle based on the monitoring result stored in the monitoring result collecting part or a monitoring result of the monitoring operation by the first sensor; and a speed control part for controlling a traveling speed of the first vehicle based on a target speed determined by the speed determination part, characterized in that the speed determination part includes a risk evaluation part for determining a final risk rate by: calculating a first risk rate defined in plural degrees of danger based on a detection result of the presence or the non-presence of the obstacle at the predetermined point by the monitoring operations by the first and the second (30, 402) sensors, calculating a second risk rate defined in plural degrees of danger based on a lapsed time from a point of time that the most recent of the monitoring operations by the first and the second (30, 402) sensors is performed, and determining the risk rate showing a higher degree of danger out of the calculated first and second risk rates as the final risk rate; and in that the speed determination part further includes a speed command arithmetic operation part for determining the target speed to be instructed to the speed control part corresponding to the final risk rate determined by the risk evaluation part. calculating a first risk rate defined in plural degrees of danger based on a detection result of the presence or the non-presence of the obstacle at the predetermined point by the monitoring operations by the first and the second (30, 402) sensors, calculating a second risk rate defined in plural degrees of danger based on a lapsed time from a point of time that the most recent of the monitoring operations by the first and the second (30, 402) sensors is performed, and determining the risk rate showing a higher degree of danger out of the calculated first and second risk rates as the final risk rate; and in that the speed determination part further includes a speed command arithmetic operation part for determining the target speed to be instructed to the speed control part corresponding to the final risk rate determined by the risk evaluation part.