An autonomous driving assistance system is a system for assisting driving of vehicles, and includes a service server that provides services relating to the vehicles to operation terminals, a vehicle connection server connected to the vehicles via wireless communication routes, and a plurality of control servers each communicating with the vehicles by handover and respectively controlling travel of the vehicles in different areas. When calling a vehicle parked in a predetermined area in accordance with the service provided by the service server, a control server that is associated with the predetermined area among the control servers causes the vehicle connection server connected to the vehicle to notify the vehicle of an end point, the end point being information indicating the location of the control server as a connection destination.