Warning is issued depending on a position of a person to whom the warning is to be transmitted. A vehicle control system includes an outside-of-vehicle operation device 50 configured to cause a vehicle to travel operated by an operator from outside of the vehicle, inside of a compartment of the vehicle being isolated from the outside of the vehicle by a vehicle body; an assist instruction device 21 configured to cause the operator to select a travel mode in which the vehicle is allowed to travel by an operation of the outside-of-vehicle operation device; a parking brake switch 62 configured to detect an operation of a parking brake; and a warning device 41 configured to issue warning in a compartment to stimulate sense of hearing or sense of sight at the time the travel mode is selected and the operation of the parking brake is detected.
