An automatic driving controlling system includes: a speed sensor; and a yaw rate sensor that detects a vehicle yaw rate. A controller is configured: to calculate a target yaw rate required to drive the vehicle to a target point and calculates a real-time target yaw rate by comparing a yaw rate detected in real time with the target yaw rate; to calculate a target lateral acceleration by using a vehicle speed and the target yaw rate, and calculates a real-time target lateral acceleration; and to determine whether the real-time target lateral acceleration-is out of a range between an upper limit threshold value and a lower limit threshold value of the target lateral acceleration while an automatic driving mode is in progress. The controller terminates the automatic driving mode so that the driver takes control of the vehicle to drive.