Autonomous Vehicle and Method of Controlling the Same

Disclosed herein are an autonomous vehicle and a method of controlling the same. The autonomous vehicle controller may determine a lane on which a first vehicle is currently travelling, determine a second vehicle that is ahead of the first vehicle, determine, based on receiving from a steering wheel an indication of changing a travelling direction of the first vehicle and while the first vehicle is in an autonomous driving mode, whether the first vehicle is travelling along a predetermined route at an entry point of a ramp, and control, based on determining whether the first vehicle is travelling along the predetermined route at the entry point of the ramp, a route and a speed of the first vehicle.