Vehicle and method for controlling the same

A method performed by an apparatus of a vehicle, the method comprising:

• determining:
• a current steering angle of the vehicle, and
• a target steering angle for an autonomous driving system of the vehicle;
• determining, based on whether a difference between the current steering angle and the target steering angle is less than or equal to a threshold value, whether to activate the autonomous driving system or to restrict activation of the autonomous driving system;
• and
• controlling, based on the determination of whether to activate or restrict activation of the autonomous driving system, an operation of the vehicle.

A vehicle comprising:

• a steering sensor;
• at least one sensor configured to detect a surrounding environment of the vehicle;
• a processor;
• and
• a memory storing at least one instruction that is configured, when executed by the processor, to cause the vehicle to:
• determine, using the steering sensor, a current steering angle of a steering wheel of the vehicle;
• determine, based on the detected surrounding environment, a target steering angle of the steering wheel for an autonomous driving system of the vehicle;
• determine, based on whether a difference between the current steering parameter and the target steering parameter is less than or equal to a threshold value, whether to activate the autonomous driving system or to restrict activation of the autonomous driving system;
• and
• control, based on the determination of whether to activate or restrict activation of the autonomous driving system, an operation of the vehicle.