The present invention provides a control system and a control method for an autonomous driving vehicle that can prevent the driver from having a sense of boredom and enable the driver to start manualdriving more quickly. A control system for an autonomous driving vehicle comprises an operation device configured to be operated by a driver; a notification device configured to give notification to the driver; and an electronic control unit. Autonomous driving is performed. When the driver operates the operation device during autonomous driving, autonomous driving is terminated and vehicle driving is switched to manual driving. Further, when the driver should be requested to terminate autonomous driving during autonomous driving, the notification device is controlled to first notify a requestfor preparing for manual driving to the driver and then notify a request for terminating autonomous driving to the driver.