A radio control system for controlling a vehicle includes a transmission node for transmitting vehicle control data, the vehicle control data including at least one of a measured value of a vehicle state or a driver's manipulated variable and a control target value of a control actuator in the vehicle, a reception node for receiving the vehicle control data, and a plurality of radio communication routes between the transmission node and the reception node. A radio communication route that satisfies communication limit time of transmission data including the vehicle control data and satisfies lowest required reliability of the transmission data is selected from among the radio communication routes.