AUTONOMOUS DRIVING SYSTEM, AUTONOMOUS DRIVING CONTROL METHOD, AND NON-TRANSITORY STORAGE MEDIUM

An autonomous driving system (10) includes one or more storage devices (120) configured to store specific position information (220) indicating specific positions (PS) at which there is a possibility that remote assistance is required; and one or more processors (110) configured to: determine presence or absence of an abnormality in a remote assistance system (4) configured to provide the remote assistance to an autonomous driving vehicle (1), set, when an abnormality is detected in the remote assistance system (4), any one of the specific positions (PS) on a target route (RT) from a current position (P1) of the autonomous driving vehicle (1) to a destination (DST) as a limit position (PL) based on the specific position information (220); set a target retracting position (PE) such that the target retracting position (PE) is included in the target route (RT) from the current position (P1) to the limit position (PL); and control the autonomous driving vehicle (1) such that the autonomous driving vehicle (1) stops at the target retracting position (PE).