US Patent 11364868 Vehicle control system and vehicle control method

As described above, in a vehicle control system, in a predetermined condition where a vehicle peripheral condition recognizing unit recognizes a condition where a first user who has been in a vehicle leaves the vehicle and where an in-vehicle condition recognizing unit recognizes a condition where a second user is present in the vehicle, an alarm control unit performs alarm processing on at least one of inside the vehicle and outside the vehicle by using a notification function of the vehicle according to a detection result of a door open/close detection unit.