A vehicle control system includes a route setting unit for setting a route from a start point to a destination; an information obtaining unit for obtaining from a memory position information of at least one base point and at least one control point existing in the route set by the setting unit; a base point recognition unit for recognizing that a current position of a vehicle reaches a position of the base point obtained by the obtaining unit; a running situation monitoring unit for determining as a predetermined distance a running distance from the base point most lately recognized by the recognition unit; and a control unit for executing an advanced control to the vehicle if the predetermined distance obtained by the monitoring unit is shorter than any of first and second threshold distances, when the current position reaches a position of the control point obtained by the obtaining unit.