Vehicle control system and vehicle control method

The vehicle control device sets a second driving mode in which the first steering control unit controls the steering of the vehicle without assigning the task to the driver, and sets a state in which the first steering control unit cannot control the steering so as to cause the vehicle to travel in a lane in which the vehicle travels. When the steering of the vehicle is controlled by the first steering control unit, the driving mode is set to a first driving mode in which an operation of an operation amount equal to or greater than a predetermined amount is performed on the driving operation tool for the driver, and when the steering of the vehicle is controlled by the second steering control unit, the driving mode in which the first driving control unit included in the plurality of driving modes controls the vehicle is not set. A state in which the steering is controlled by the second steering control unit is maintained. 车辆控制装置在设定为不对所述驾驶员布置所述任务且第一转向控制部控制所述车辆的转向的第二驾驶模式、且所述第一转向控制部为不能以使所述车辆在所述车辆行驶的车道内行驶的方式控制所述转