A vehicle charging system includes a sensor, a traveling control processor, a traveling drive unit, a transmitter provided on a vehicle configured to travel on a traveling road, and a power-feeding facility provided on the traveling road. The sensor detects obstacles present around the vehicle. The traveling control processor performs traveling control of the vehicle based on the result of detection by the sensor. The traveling drive unit drives the vehicle to travel and includes: a power receiver receiving electric power from the traveling road; a battery storing the electric power; a motor; and an inverter driving the motor with the electric power. The transmitter sends a power-feeding control signal when the sensor detects an obstacle. The power-feeding facility includes: a receiver receiving the power-feeding control signal; a power feeder performing a power-feeding operation; and a power-feeding control unit controlling the power-feeding operation based on the power-feeding control signal.