A vehicle control system includes an acceleration generating device (engine, T/M) that generates an acceleration applied to a vehicle, and a vehicle control device that controls the acceleration generating device, based on an accelerator pedal stroke representing an operation of an accelerator pedal by a driver, and a vehicle speed of the vehicle. In the vehicle control system or method, the vehicle control device controls the acceleration generating device, based on a required acceleration that is determined based on a relationship between the accelerator pedal stroke and the required acceleration, including, as a condition, an acceleration corresponding to a given accelerator pedal stroke, which is specified by a relationship between the vehicle speed and the acceleration when the accelerator pedal stroke is held at the given value.