A vehicle remote instruction system includes a remote instruction point situation recognition unit configured to recognize a remote instruction point situation on a target route preset for an autonomous vehicle, based on the target route, location information of the autonomous vehicle, and map information; a time prediction unit configured to predict monitoring start and end times of a remote commander for the remote instruction point situation on the target route, from a preset vehicle speed or a vehicle speed plan of the autonomous vehicle, based on the target route, the location information, the map information, and the remote instruction point situation; and a monitoring time allocation unit configured to allocate a monitoring time to a plurality of remote commanders based on the monitoring start and end times of the remote instruction point situation in a plurality of autonomous vehicles.