Method for controlling a switchover between an automatic driving mode and a manual driving mode of a vehicle, wherein the method comprises the following method steps: - in the automatic driving mode of the vehicle detecting a signal for switching over into the manual driving mode of the vehicle, and - initiating the manual driving mode depending on the detected signal for switching over into the manual driving mode of the vehicle, and - in the manual driving mode of the vehicle continuously determining an optimal trajectory of the vehicle depending on the switchover into the manual driving mode of the vehicle, and - in the manual driving mode of the vehicle continuously determining a manually driven trajectory of the vehicle, and - continuously comparing the determined, manually driven trajectory of the vehicle with the determined, optimal trajectory, and - continuously determining a deviation (350a, 350b) of the determined, manually driven trajectory from the determined, optimal trajectory depending on the performed comparison of the determined, manually driven trajectory of the vehicle with the determined, optimal trajectory, and - switching over into the automatic driving mode of the vehicle, or - ending the continuous determination of the manually driven trajectory and the continuous determination of the optimal trajectory of the vehicle in the manual driving mode depending on the determined deviation (350a, 350b), wherein the continuous determination of the manually driven trajectory and the continuous determination of the optimal trajectory of the vehicle in the manual driving mode are ended if the determined deviation (350a, 350b) remains below a defined threshold value, characterized in that the defined threshold value is divided into a first defined threshold value and a second defined threshold value, wherein the second defined threshold value is greater than the first defined threshold value, wherein depending on a comparison of the determined deviation (350a, 350b) with the first defined threshold value and the second defined threshold value - a switchover is made into the automatic driving mode of the vehicle or - the continuous determination of the manually driven trajectory and the continuous determination of the optimal trajectory of the vehicle in the manual driving mode are ended or - the continuous determination of the manually driven trajectory and the continuous determination of the optimal trajectory of the vehicle in the manual driving mode are continued. - in the automatic driving mode of the vehicle detecting a signal for switching over into the manual driving mode of the vehicle, and - initiating the manual driving mode depending on the detected signal for switching over into the manual driving mode of the vehicle, and - in the manual driving mode of the vehicle continuously determining an optimal trajectory of the vehicle depending on the switchover into the manual driving mode of the vehicle, and - in the manual driving mode of the vehicle continuously determining a manually driven trajectory of the vehicle, and - continuously comparing the determined, manually driven trajectory of the vehicle with the determined, optimal trajectory, and - continuously determining a deviation (350a, 350b) of the determined, manually driven trajectory from the determined, optimal trajectory depending on the performed comparison of the determined, manually driven trajectory of the vehicle with the determined, optimal trajectory, and - switching over into the automatic driving mode of the vehicle, or - ending the continuous determination of the manually driven trajectory and the continuous determination of the optimal trajectory of the vehicle in the manual driving mode - switching over into the automatic driving mode of the vehicle, or - ending the continuous determination of the manually driven trajectory and the continuous determination of the optimal trajectory of the vehicle in the manual driving mode depending on the determined deviation (350a, 350b), wherein the continuous determination of the manually driven trajectory and the continuous determination of the optimal trajectory of the vehicle in the manual driving mode are ended if the determined deviation (350a, 350b) remains below a defined threshold value, characterized in that the defined threshold value is divided into a first defined threshold value and a second defined threshold value, wherein the second defined threshold value is greater than the first defined threshold value, wherein depending on a comparison of the determined deviation (350a, 350b) with the first defined threshold value and the second defined threshold value - a switchover is made into the automatic driving mode of the vehicle or - the continuous determination of the manually driven trajectory and the continuous determination of the optimal trajectory of the vehicle in the manual driving mode are ended or - the continuous determination of the manually driven trajectory and the continuous determination of the optimal trajectory of the vehicle in the manual driving mode are continued. - a switchover is made into the automatic driving mode of the vehicle or - the continuous determination of the manually driven trajectory and the continuous determination of the optimal trajectory of the vehicle in the manual driving mode are ended or - the continuous determination of the manually driven trajectory and the continuous determination of the optimal trajectory of the vehicle in the manual driving mode are continued.