Autonomous vehicle and control method for autonomous vehicle

An autonomous vehicle, comprising:

• a steering device configured to automatically control a steering angle of a tire according to a traveling condition, the steering device being provided in an accommodating room that is separated from a passenger compartment by a partition member, and the steering device including
• a steered shaft configured to make a linear motion to change the steering angle of the tire,
• an actuator configured to cause the steered shaft to make the linear motion without any operation by an occupant, and
• a gear mechanism configured to convert rotation of an input shaft to the linear motion of the steered shaft;
• and
• a joint device provided in the accommodating room,
• wherein
• the joint device is configured to mechanically connect the input shaft and a member including a rod-shaped body that is inserted from the passenger compartment into the accommodating room through an opening and closing portion provided in the partition member, and
• in case of a malfunction of the actuator, the rod-shaped body is inserted into the accommodating room and connected to the input shaft by the joint device.