Autonomous vehicle

An autonomous vehicle comprising:

• a steering device configured to steer steered wheels;
• and
• a control unit configured to perform autonomous driving (i) by calculating a target steering angle for making the autonomous vehicle travel along a target trajectory and (ii) by changing a steered angle of the steered wheels by controlling the steering device so that a steering angle conforms to the target steering angle, wherein:
• the control unit is configured to perform lane change by setting a target trajectory of the lane change to a preset standard trajectory when it is necessary to change a lane by the autonomous driving, and
• the control unit is configured, in a situation where a lane change by the autonomous driving is necessary and steering operation is performed by a driver,
• to obtain an index value that changes in accordance with a steering operation of the driver and represents an intent by the driver regarding a trajectory of the lane change, and
• to change, without terminating the autonomous driving, the target trajectory of the lane change in accordance with a magnitude of the index value when the magnitude of the index value is larger than a standard reference value and is smaller than a first autonomous driving termination reference value.