A method for delivering a steering intention of an autonomous driving module or a driver to a steering apparatus of a subject vehicle more accurately by using a reference map which is a rule-set generated by referring to past driving records of the subject vehicle, comprising steps of: (a) a computing device , if a subject intended steering signal included in a subject control signal inputted by the autonomous driving module or the driver at a current timing is acquired, instructing a signal adjustment module to select, by referring to the reference map generated by using past adjusted steering signals and past actual steered angles included in the past driving records, one or more specific reference steering guide values, among reference steering guide values of the reference map, corresponding to the subject intended steering signal (S02); and (b) the computing device (i) adjusting the subject intended steering signal by referring to the specific reference steering guide values, in order to generate a subject adjusted steering signal, and (ii) transmitting the subject adjusted steering signal to the steering apparatus, to thereby support the steering apparatus to rotate the subject vehicle by a specific steering angle corresponding to the subject intended steering signal, which has been intended by the autonomous driving module or the driver (S03), characterized in that before the step of (a), further comprising a step of: (a0) the computing device (i) generating a first vector including information on the past adjusted steering signals, a second vector including information on the past actual steered angles, and a third vector including information on prescribed reference actual steering angles, (ii) performing a regression operation by using the first, the second, and the third vectors, and (iii) generating the reference map including information on (iii-1) the reference steering guide values generated by the regression operation, (iii-2) the reference actual steering angles and (iii-3) a relationship between the reference steering guide values and the reference actual steering angles (S01). (a) a computing device , if a subject intended steering signal included in a subject control signal inputted by the autonomous driving module or the driver at a current timing is acquired, instructing a signal adjustment module to select, by referring to the reference map generated by using past adjusted steering signals and past actual steered angles included in the past driving records, one or more specific reference steering guide values, among reference steering guide values of the reference map, corresponding to the subject intended steering signal (S02); and (b) the computing device (i) adjusting the subject intended steering signal by referring to the specific reference steering guide values, in order to generate a subject adjusted steering signal, and (ii) transmitting the subject adjusted steering signal to the steering apparatus, to thereby support the steering apparatus to rotate the subject vehicle by a specific steering angle corresponding to the subject intended steering signal, which has been intended by the autonomous driving module or the driver (S03), <EOS>