A method of transitioning from autonomous driving (AD) to manual driving (MD) mode for an autonomous driving vehicle (ADV) are disclosed. The method includes determining whether AD-to-MD transition is allowed in a current location of the ADV; determining whether a current driving scenario is safe for the AD-to-MD transition; in response to determining that the AD-to-MD transition is allowed in the current location and the current driving scenario is safe for the AD-to-MD transition, enabling the AD-to-MD transition; determining whether there is a request for the AD-to-MD transition; in response to determining there is the request, computing a current vehicle motion trajectory of the ADV; comparing the current vehicle motion trajectory with a motion trajectory derived from inputs of a driver of the ADV; determining whether to confirm the AD-to-MD transition based on the comparison.


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    Title :

    SAFE TRANSITION FROM AUTONOMOUS-TO-MANUAL DRIVING MODE WITH ASSISTANCE OF AUTONOMOUS DRIVING SYSTEM


    Additional title:

    SICHERER ÜBERGANG VON AUTONOMEM ZU MANUELLEM FAHRMODUS MITHILFE EINES AUTONOMEN FAHRSYSTEMS
    TRANSITION SÉCURISÉE D'UN MODE DE CONDUITE AUTONOME À MANUELLE AVEC L'AIDE D'UN SYSTÈME DE CONDUITE AUTONOME


    Contributors:
    LIU XIAODONG (author) / QU NING (author)

    Publication date :

    2021-04-14


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    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 / B62D MOTOR VEHICLES , Motorfahrzeuge






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