A vehicle dispatch system provides a vehicle dispatch service of an autonomous driving vehicle in response to a vehicle dispatch request from a user. The vehicle dispatch system includes a dispatch vehicle position estimation unit that estimates a dispatch vehicle position based on comparison of a surrounding environment recognition information, which is acquired by a sensor mounted in a dispatch vehicle, with a surrounding environment storage information, which is stored in advance, a user terminal position estimation unit configured to estimate a user terminal position, a surrounding image generation unit configured to generate a surrounding image of the dispatch vehicle based on the surrounding environment recognition information or the surrounding environment storage information, and a display processing unit configured to display a superimposed image having the dispatch vehicle position and the user terminal position superimposed on the surrounding image on a user terminal.