Autonomous driving apparatus

An autonomous driving apparatus that executes an autonomous driving control of a vehicle,

• the autonomous driving apparatus comprising a controller configure to:
• determine whether or not an override occurs during the autonomous driving control, the override being defined as a condition that an operation amount of a driving operation by a driver becomes equal to or more than a first threshold;
• execute, when the override is determined to occur, switching from the autonomous driving control to manual driving;
• estimate whether or not the driver has a continued operation intention that is an intention to continue the manual driving;
• and
• manage a determination condition used for determining whether or not the autonomous driving control can be resumed after the manual driving continues for a certain period of time after the operation amount of the driving operation by the driver becomes less than the first threshold,
• wherein a first determination condition is the determination condition for determining that the autonomous driving control can be resumed, when the driver is estimated to have the continued operation intention after the switching from the autonomous driving control to the manual driving is executed,
• a second determination condition is the determination condition for determining that the autonomous driving control can be resumed, when the driver is estimated not to have the continued operation intention after the switching from the autonomous driving control to the manual driving is executed, and
• the first determination condition is less likely to be met than the second determination condition.