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.
本申请公开了一种自动驾驶车辆(ADV)的从自动驾驶(AD)模式转变到手动驾驶(MD)模式的方法及装置,以及一种机器可读存储介质及数据处理系统。方法包括确定在ADV的当前位置是否允许AD到MD转变。方法还包括确定当前驾驶场景对于AD到MD转变是否安全。方法还包括响应于确定在当前位置允许AD到MD转变并且当前驾驶场景对于AD到MD转变是安全的,启用AD到MD转变。方法还包括确定是否存在AD到MD转变的请求。方法还包括响应于确定存在请求,计算ADV的当前车辆运动轨迹。方法还包括将当前车辆运动轨迹与从ADV的驾驶员的输入得出的运动轨迹进行比较。方法还包括基于比较确定是否确认AD到MD转变。
A method and apparatus for transitioning autonomous vehicle from automated driving mode to manual driving mode
自动驾驶车辆从自动到手动驾驶模式的转变的方法及装置
2020-12-25
Patent
Electronic Resource
Chinese
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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