AUTONOMOUS DRIVING DEVICE

Disclosed is an autonomous driving device (100) in which a threshold value for switching to manual driving which is used for switching the driving state from autonomous driving to manual driving with respect to a value indicative of a degree to which of any of a steering operation, an acceleration operation, and a braking operation is carried out by the driver is calculated by a calculation unit (17) of the autonomous driving device (100) according to the surrounding environment of the host vehicle (V) recognized by an environment recognition unit (12). Therefore, the ease of switching the driving state from autonomous driving to manual driving conforms to a surrounding environment of the host vehicle.