An imaging device of the present disclosure includes a pixel array part in which pixels including photoelectric conversion units are disposed, an image processing unit for imaging that acquires captured image information on the basis of a pixel signal output from each pixel of the pixel array part, and an object recognition processing unit that acquires object recognition information on the basis of the pixel signal output from each pixel of the pixel array part. Further, a vehicle control system of the present disclosure has the imaging device having the aforementioned configuration.