A vehicle control system has a detection section, a vehicle control unit, and a function section. The vehicle control unit has a memory section, a user condition determination section, a intention determination section, a function selection section, and a function control section. The user condition determination section determines movements and conditions of a user based on outputs of the detection section. The intention determination section determines intentions of the user based on results of the user condition determination performed by the user condition determination section and intention map data read from the memory section. The function selection section selects a function from a function section that includes multiple functions based on a result of the intention determination.