Abstract: A vehicle control system (1) that includes a main control unit (2), at least one environment detection sensor (3a, 3b) adapted to detect at least one environment parameter, and a communication unit (4). The vehicle control system (1) is adapted for an ego vehicle (5) travelling on a road (6) that includes the road lane (12). The communication unit (4) is adapted to supply the main control unit (2) with external data of previous vehicle trajectories on the road such that a resulting previous vehicle trajectory (7) is determined. The main control unit (2) is adapted to determine a safety trajectory (8) based on the resulting previous vehicle trajectory (7) and the at least one detected environment parameter, where the safety trajectory (8) constitutes a preferred ego vehicle trajectory.