A vehicle control system includes: a first vehicle including a smell detection unit, a smell determination unit configured to determine whether an intensity of the smell is equal to or larger than a predetermined threshold value, a first acquisition unit configured to acquire first vehicle position information indicating a position of the first vehicle, and a notification unit configured to notify a second vehicle about the first vehicle position information when the smell determination unit determines that the intensity of the smell is equal to or larger than the predetermined threshold value; and a second vehicle configured to communicate with the first vehicle and including an information output processing unit configured to cause an information output unit to output a warning notifying about a presence of the first vehicle when an approach determination unit determines that first vehicle is positioned less than the predetermined distance from the second vehicle.