An autonomous driving system has: an information acquisition device configured to acquire driving environment information indicating driving environment for a vehicle; and an autonomous driving control device configured to control autonomous driving of the vehicle based on the driving environment information. A forward event is an event that exists in front of the vehicle and causes the autonomous driving control device to change a travel state of the vehicle. The autonomous driving control device performs: event detection processing that detects the forward event based on the driving environment information; visually-recognizing timing estimation processing that estimates a visually-recognizing timing at which a driver of the vehicle is able to visually-recognize the forward event; and travel control processing that proposes or executes, at or after the visually-recognizing timing, travel control that changes the travel state according to the forward event.