Autonomous driving system

An autonomous driving system comprising:

• a driver information acquisition device configured to acquire driver information indicating an action and a state of a driver of a vehicle;
• and
• a control device configured to perform autonomous driving control that controls autonomous driving of the vehicle,
• wherein the control device is further configured to execute:
• deactivating action detection processing that determines, based on the driver information, whether or not a deactivating action of the driver to deactivate the autonomous driving is detected during execution of the autonomous driving control;
• ready state detection processing that determines, based on the driver information, whether or not a ready state indicating that the driver is ready for manual driving is detected after the deactivating action is detected;
• deactivation standby control that repeatedly executes the ready state detection processing while continuing at least part of the autonomous driving control, until the ready state is detected after the deactivating action is detected;
• and
• deactivation processing that deactivates the autonomous driving when the ready state is detected after the deactivating action is detected,
• the autonomous driving control includes at least one of steering control, acceleration control, and deceleration control, and
• in the deactivation standby control, the control device continues a first control among the steering control, the acceleration control, and the deceleration control included in the autonomous driving control while a second control other than the first control included in the autonomous driving control is terminated.