The vehicle assistance system includes an infrastructure sensor installed in a predetermined place to detect an obstacle, an onboard apparatus connected to an onboard sensor which is mounted on the vehicle and which detects an obstacle, and a server installed in a place different from that of the infrastructure sensor. In the infrastructure sensor, the abnormality determination unit compares the first obstacle information related to the obstacle detected by the sensor unit and the second obstacle information related to the obstacle detected by the onboard sensor existing in a location different from that of the sensor unit, and determines whether or not the sensor unit or the onboard sensor is abnormal based on the result of this comparison.