The present invention relates to a technical idea for providing a delivery service on regular roads and irregular roads using autonomous vehicles, and specifically, to a technology for, on regular roads, providing a delivery service on the basis of autonomous driving wherein a lead vehicle and at least one droid vehicle are bound to each other, and, on irregular roads, providing a delivery service by a droid vehicle wherein, after automatically releasing the bond between the lead vehicle and the droid vehicle, the lead vehicle remotely controls the driving of the droid vehicle in a last mile delivery section corresponding to an irregular road, wherein according to one embodiment of the present invention, a delivery service system using autonomous vehicles, for providing a delivery service on irregular roads which ordinary vehicles are not permitted to enter and on regular roads which small and low-speed vehicles are not permitted to enter, may comprise: a droid vehicle that provides a delivery service using limited autonomous driving performance in a last mile delivery section corresponding to the irregular road; and a lead vehicle that provides a delivery service on the basis of autonomous driving on the regular road and is bound to the droid vehicle and transports the droid vehicle on the regular road, and after releasing the bond with the droid vehicle in the last mile delivery section, remotely controls the driving of the droid vehicle.
