An autonomous driving system configured to perform an autonomous driving of a vehicle, comprising: a trigger input request unit configured to perform a trigger input request for requesting a driver of the vehicle to perform a trigger input for causing the vehicle to pass through a target point if the autonomously driving vehicle approaches the target point set in advance and positioned on a traveling route of the vehicle; a trigger input detection unit configured to detect the driver's trigger input; a vehicle control unit configured to cause the vehicle to pass through the target point if the trigger input is detected, and to cause the vehicle to decelerate and stop without passing through the target point if the trigger input is not detected; and a traffic signal recognition unit configured to recognize a lighting state of the traffic signal which is installed at the target point and is corresponding to a traveling route of the vehicle, wherein the trigger input request unit is configured to notify the driver that the traffic signal is recognized as not being in a passing permitted state and to perform a trigger input re-request if the traffic signal is recognized as not being in the passing permitted state and the trigger input is detected and to not to notify the driver or perform the trigger input re-request if the trigger input to the trigger input request is not detected, wherein the vehicle control unit is configured to cause the vehicle to pass through the target point if the trigger input is detected after the trigger input re-request, and is configured to cause the autonomously driving vehicle to decelerate and stop without passing through the target point if the trigger input is not detected after the trigger input re-request. a trigger input request unit configured to perform a trigger input request for requesting a driver of the vehicle to perform a trigger input for causing the vehicle to pass through a target point if the autonomously driving vehicle approaches the target point set in advance and positioned on a traveling route of the vehicle; a trigger input detection unit configured to detect the driver's trigger input; a vehicle control unit configured to cause the vehicle to pass through the target point if the trigger input is detected, and to cause the vehicle to decelerate and stop without passing through the target point if the trigger input is not detected; and a traffic signal recognition unit configured to recognize a lighting state of the traffic signal which is installed at the target point and is corresponding to a traveling route of the vehicle, wherein the trigger input request unit is configured to notify the driver that the traffic signal is recognized as not being in a passing permitted state and to perform a trigger input re-request if the traffic signal is recognized as not being in the passing permitted state and the trigger input is detected and to not to notify the driver or perform the trigger input re-request if the trigger input to the trigger input request is not detected, wherein the vehicle control unit is configured to cause the vehicle to pass through the target point if the trigger input is detected after the trigger input re-request, and is configured to cause the autonomously driving vehicle to decelerate and stop without passing through the target point if the trigger input is not detected after the trigger input re-request.