Abstract: An autonomous driving assistance apparatus includes: a status recognition unit that outputs status recognition information, including status information about a status of a vehicle and a peripheral status of the vehicle; a manual control unit that outputs operation information by manual operation; an experience information database that stores the status information belonging to the status recognition information and experience information about a control method for the vehicle to travel along a route by associating the status information with the experience information; an experience information registration unit that manages the experience information database; an experience information search unit that extracts the experience information corresponding to a search key from the experience information database by using the status information as the search key; and a control judgment unit that: judges whether autonomous driving traveling is possible or not, based on the experience information extracted by the