A method and apparatus for transitioning autonomous vehicle from automated driving mode to manual driving mode

Abstract

The invention discloses a method and apparatus for converting an automatic driving (AD) mode of an automatic driving vehicle (ADV) into a manual driving (MD) mode, a machine readable storage medium and a data processing system. The method includes determining whether an AD-to-MD transition is allowed at a current location of the ADV. The method also includes determining whether the current drivingscenario is safe for AD-to-MD transitions. The method also includes enabling the AD-to-MD transition in response to determining that the AD-to-MD transition is allowed at the current location and that the current driving scenario is safe for the AD-to-MD transition. The method also includes determining whether there is a request for an AD-to-MD transition. The method also includes calculating a current vehicle trajectory of the ADV in response to determining that the request exists. The method also includes comparing the current vehicle motion trajectory with a motion trajectory derived froman input of a driver of the ADV. The method also includes determining whether to confirm the AD-to-MD transition based on the comparison.

Description

technical field [0001] Embodiments of the present disclosure generally relate to operating autonomous vehicles. More particularly, embodiments of the present disclosure relate to safe transitions from an automated driving (AD) mode to a manual driving (MD) mode with the assistance of an automated driving system. Background technique [0002] Vehicles operating in an automated mode (eg, driverless) can relieve the occupants, especially the driver, of some driving-related responsibilities. When operating in autonomous mode, the vehicle can navigate to various locations using on-board sensors, allowing the vehicle to travel with minimal human interaction or in some situations without any passengers. [0003] Generally, there are two approaches for deploying autonomous vehicles. One approach is to deploy vehicles without specific control components (eg, steering wheel, accelerator pedal, brake pedal, etc.). Another approach is to deploy vehicles with these control components,...

AI Technical Summary

Problems solved by technology

However, regarding the latter, AD to MD or MD to AD transitions need to be carefully considered, simply due to unsafe control actions during transitions, which may place the vehicle in dangerous situations

For example, AD and MD (operated by a human driver) may compete for control during transitions, resulting in rough and potentially dangerous transitions

Another example is that AD and MD can assume the other is in control, so neither AD nor MD ends up in control of the vehicle

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