A vehicle control system (100) that controls a vehicle (10) acquires a mental fatigue degree (M) of a driver of the vehicle (10) using a sensor (70) that is equipped in the vehicle (10). When an actuation condition including at least a condition that the mental fatigue degree (M) exceeds a first threshold (Mth1) is satisfied, the vehicle control system (100) outputs a relaxation sound that reduces the mental fatigue degree (M), through a speaker (2) that is equipped in the vehicle (10).
