An autonomous driving system includes: an information acquisition device that acquires surrounding situation information indicating a surrounding situation around a vehicle; and a lane change control device that controls lane change of the vehicle. An influence degree represents influence of the lane change on traffic flow around the vehicle. The lane change control device performs: acceptable range setting processing that sets an acceptable upper limit of the influence degree as a function of a position along a travel lane in which the vehicle travels; influence degree calculation processing that calculates the influence degree based on the surrounding situation information; and lane change determination processing that prohibits the lane change when the influence degree is greater than the acceptable upper limit while executes the lane change when the influence degree is equal to or less than the acceptable upper limit.