The present invention provides an autonomous vehicle, comprising: a housing； a driving module, mounted on the housing； a limit detecting module, mounted on the housing and detecting a distance between the autonomous vehicle and a limit； an energy module, mounted on the housing and providing energy for the autonomous vehicle； a control module, electrically connected to the driving module and the limit detecting module, the control module enables to the driving module to execute steering according to a signal representing an angle relationship between the autonomous vehicle and the limit and sent by the limit detecting module, such that an acute angle or right angle is always formed between the central axis of the autonomous vehicle and one lateral side of the limit when the steering is finished, and an acute angle or right angle is formed between the central axis of the autonomous vehicle and another lateral side of the limit when the steering begins； and if judging that the driving of the autonomous vehicle meets a preset condition, then the control module reduces an upper limit of an angle value range of an acute angle or right angle formed between the central axis of the autonomous vehicle and one lateral side of the limit when the steering is finished. The efficiency of passing by a narrow passage is higher.
