A vehicle control system for a vehicle configured to receive remote assistance from a remote facility during autonomous driving control, the vehicle control system comprising: a memory (26b; 34b) configured to store driving environment data of the vehicle; and a processor (26a; 34a) configured to generate a target trajectory (TR21; TR22; TR23; TR24; TR25; TR26; TR27) of the vehicle based on the driving environment data, and execute the autonomous driving control based on the target trajectory (TR21; TR22; TR23; TR24; TR25; TR26; TR27), wherein the processor (26a; 34a) is configured to, as the autonomous driving control, determine whether the remote assistance is necessary based on at least one of the driving environment data and the target trajectory (TR21; TR22; TR23; TR24; TR25; TR26; TR27), generate, when a determination is made that the remote assistance is necessary, the target trajectory (TR21; TR22; TR23; TR24; TR25; TR26; TR27) including an expected waiting position where the vehicle is expected to wait for reception of an assistance signal from the remote facility, characterised in that the processor is further configured to calculate, based on the driving environment data, a traveling efficiency level indicating a level of traveling efficiency required in the vehicle, the traveling efficiency being defined as the ratio between a waiting period during which the vehicle waits for reception of the assistance signal and a traveling distance of the vehicle during the waiting period, calculate, based on the traveling efficiency level, a request timing to transmit a request signal for the remote assistance to the remote facility, transmit the request signal to the remote facility when the request timing has come, and output a late timing when the traveling efficiency level is low in a calculation of the request timing, the late timing being later than a fast timing, the fast timing being a timing when the traveling efficiency level is high. a memory (26b; 34b) configured to store driving environment data of the vehicle; and a processor (26a; 34a) configured to generate a target trajectory (TR21; TR22; TR23; TR24; TR25; TR26; TR27) of the vehicle based on the driving environment data, and execute the autonomous driving control based on the target trajectory (TR21; TR22; TR23; TR24; TR25; TR26; TR27), wherein the processor (26a; 34a) is configured to, as the autonomous driving control, generate a target trajectory (TR21; TR22; TR23; TR24; TR25; TR26; TR27) of the vehicle based on the driving environment data, and execute the autonomous driving control based on the target trajectory (TR21; TR22; TR23; TR24; TR25; TR26; TR27), wherein the processor (26a; 34a) is configured to, as the autonomous driving control, determine whether the remote assistance is necessary based on at least one of the driving environment data and the target trajectory (TR21; TR22; TR23; TR24; TR25; TR26; TR27), generate, when a determination is made that the remote assistance is necessary, the target trajectory (TR21; TR22; TR23; TR24; TR25; TR26; TR27) including an expected waiting position where the vehicle is expected to wait for reception of an assistance signal from the remote facility, characterised in that the processor is further configured to calculate, based on the driving environment data, a traveling efficiency level indicating a level of traveling efficiency required in the vehicle, the traveling efficiency being defined as the ratio between a waiting period during which the vehicle waits for reception of the assistance signal and a traveling distance of the vehicle during the waiting period, calculate, based on the traveling efficiency level, a request timing to transmit a request signal for the remote assistance to the remote facility, transmit the request signal to the remote facility when the request timing has come, and output a late timing when the traveling efficiency level is low in a calculation of the request timing, the late timing being later than a fast timing, the fast timing being a timing when the traveling efficiency level is high.