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SAFE TRANSITION FROM AUTONOMOUS-TO-MANUAL DRIVING MODE WITH ASSISTANCE OF AUTONOMOUS DRIVING SYSTEM
SAFE TRANSITION FROM AUTONOMOUS-TO-MANUAL DRIVING MODE WITH ASSISTANCE OF AUTONOMOUS DRIVING SYSTEM
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机译:在自主驱动系统的帮助下,自主到手动驾驶模式安全转换
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摘要
In one embodiment, a method of transitioning from autonomous driving (AD) to manual driving (MD) mode for an autonomous driving vehicle (ADV) is disclosed. The method includes determining whether AD-to-MD transition is allowed in a current location of the ADV. The method further includes determining whether a current driving scenario is safe for the AD-to-MD transition. The method further includes 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. The method further includes determining whether there is a request for the AD-to-MD transition. The method further includes in response to determining there is the request, computing a current vehicle motion trajectory of the ADV. The method further includes comparing the current vehicle motion trajectory with a motion trajectory derived from inputs of a driver of the ADV. The method further includes determining whether to confirm the AD-to-MD transition based on the comparison.
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