In an autonomous driving
system in which a plurality of autonomous driving vehicles drive under the control by
occlusion control, such a situation is prevented that a vehicle is disabled to drive by a failure of an external world sensor for recognizing an obstacle and stops in an
occlusion region thereby to obstruct advancement of overall succeeding vehicles to remarkably degrade the efficiency of the overall transportation work. In the autonomous driving
system of the present invention, an autonomous driving vehicle which detects an obstacle or a driving road by a sensor and performs autonomous driving includes sensor state evaluation means configured to evaluate a state of performance degradation of the sensor, speed and
steering angle control value setting means configured to provide limit values to the driving speed and the
steering angle based on a state of performance degradation of the sensor, and movement obstacle evaluation means configured to evaluate an influence on movement of other vehicles when the vehicle stops at a position at present. When the sensor suffers from performance degradation, the vehicle stops after it drives within the set limit values to the speed and the
steering angle to a point at which the vehicle does not obstruct movement of other vehicles.