Driving mode

Hello,

Ever since my last update on my iPhone my driving mode will turn on automatically while driving. I have looked through all my settings and cannot find a way to turn it off. I don’t have it enabled anywhere on my phone. I understand that some people like that you can’t receive calls and texts, but I need to have the calls on for medical emergencies as well as I need my Siri for directions. How do I turn this feature off completely?