A vehicle control system comprising: a motor configured to provide a driving force to a wheel ; a wheel sensor configured to detect a rotational speed of the wheel ; and a controller configured to control the motor to generate a first regenerative braking torque during coasting, and to control the motor to generate a second regenerative braking torque lower than the first regenerative braking torque when a wheel slip of the wheel detected based on an output of the wheel sensor is out of a target control region corresponding to a maximum value of a braking efficiency, characterized in that , the controller is configured to: receive a regenerative braking level from among a plurality of regenerative braking levels (LV1, LV2, LV3) from a driver; determine a magnitude of the first regenerative braking torque based on the received regenerative braking level; determine whether the wheel slip of the wheel is out of a target control region by comparing the wheel slip of the wheel with a predetermined reference value determined based on a vehicle speed, the received regenerative braking level, and a state of a road surface; and determine a magnitude of the second regenerative braking torque based on the received regenerative braking level and a difference between the detected wheel slip and a wheel slip of the target control region. a motor configured to provide a driving force to a wheel ; a wheel sensor configured to detect a rotational speed of the wheel ; and a controller configured to control the motor to generate a first regenerative braking torque during coasting, and to control the motor to generate a second regenerative braking torque lower than the first regenerative braking torque when a wheel slip of the wheel detected based on an output of the wheel sensor is out of a target control region corresponding to a maximum value of a braking efficiency, characterized in that , the controller is configured to: receive a regenerative braking level from among a plurality of regenerative braking levels (LV1, LV2, LV3) from a driver; determine a magnitude of the first regenerative braking torque based on the received regenerative braking level; determine whether the wheel slip of the wheel is out of a target control region by comparing the wheel slip of the wheel with a predetermined reference value determined based on a vehicle speed, the received regenerative braking level, and a state of a road surface; and determine a magnitude of the second regenerative braking torque based on the received regenerative braking level and a difference between the detected wheel slip and a wheel slip of the target control region. receive a regenerative braking level from among a plurality of regenerative braking levels (LV1, LV2, LV3) from a driver; determine a magnitude of the first regenerative braking torque based on the received regenerative braking level; determine whether the wheel slip of the wheel is out of a target control region by comparing the wheel slip of the wheel with a predetermined reference value determined based on a vehicle speed, the received regenerative braking level, and a state of a road surface; and determine a magnitude of the second regenerative braking torque based on the received regenerative braking level and a difference between the detected wheel slip and a wheel slip of the target control region. <EOS>