A vehicle control system configured to cause a vehicle to move to a road edge (E) and stop, the vehicle control system comprising: a camera configured to take an image ahead of the vehicle ; and a controller configured to control a steering device and a braking device of the vehicle so as to cause the vehicle to move to the road edge (E) and stop based on the image ahead of the vehicle taken by the camera , wherein the controller is configured to detect a partitioning line (OL, BL) of a road and the road edge (E) based on the image taken by the camera , characterized in that the controller is further configured to generate a pair of left and right virtual lines (IL L , IL R ) extending from a side of the vehicle to a front of the vehicle along the partitioning line (OL, BL), configured to control the steering device so that the vehicle travels substantially in the middle of the pair of left and right virtual lines (IL L , IL R ), configured to move a virtual line (IL L ) closer to the road edge (E) of the pair of left and right virtual lines (IL L , IL R ) and fix the virtual line (IL L ) closer to the road edge (E), and then move a virtual line (IL R ) farther from the road edge (E) of the pair of left and right virtual lines (IL L , IL R ) to a position separated from the virtual line (IL L ) closer to the road edge (E) by a width of the vehicle and fix the virtual line (IL R ) farther from the road edge (E) to the position separated from the virtual line (IL L ) closer to the road edge (E) by the width of the vehicle , and configured to control the braking device so that the vehicle stops after fixing the pair of left and right virtual lines (IL L , IL R ) . a camera configured to take an image ahead of the vehicle ; and a controller configured to control a steering device and a braking device of the vehicle so as to cause the vehicle to move to the road edge (E) and stop based on the image ahead of the vehicle taken by the camera , wherein the controller is configured to detect a partitioning line (OL, BL) of a road and the road edge (E) based on the image taken by the camera , configured to generate a pair of left and right virtual lines (IL L , IL R ) extending from a side of the vehicle to a front of the vehicle along the partitioning line (OL, BL), configured to control the steering device so that the vehicle travels substantially in the middle of the pair of left and right virtual lines (IL L , IL R ), configured to move a virtual line (IL L ) closer to the road edge (E) of the pair of left and right virtual lines (IL L , IL R ) and fix the virtual line (IL L ) closer to the road edge (E), and then move a virtual line (IL R ) farther from the road edge (E) of the pair of left and right virtual lines (IL L , IL R ) to a position separated from the virtual line (IL L ) closer to the road edge (E) by a width of the vehicle and fix the virtual line (IL R ) farther from the road edge (E) to the position separated from the virtual line (IL L ) closer to the road edge (E) by the width of the vehicle , and configured to control the braking device so that the vehicle stops after fixing the pair of left and right virtual lines (IL L , IL R ) . <EOS>