Autonomous driving system

An autonomous driving system comprising:

• an internal vehicle camera capturing a face of a driver of a vehicle and generating a facial image of the driver;
• a vehicle detection device detecting other vehicles in surroundings of the vehicle;
• and
• a processor configured to detect an angle of a facial direction or a line of sight of the driver based on the facial image, judge whether the driver has checked safety of the surroundings of the vehicle based on the angle, and control autonomous driving of the vehicle, wherein
• the processor is configured to start a lane change of the vehicle when it is judged that the driver has checked the safety of the surroundings of the vehicle and the driver has approved the lane change, and
• the processor is configured to judge that the driver has checked the safety of the surroundings of the vehicle when a first condition has been satisfied if the vehicle detection device has not detected another vehicle in a destination lane, and judge that the driver has checked the safety of the surroundings of the vehicle when a second condition more severe than the first condition has been satisfied if the vehicle detection device has detected another vehicle in the destination lane.