Safe transition from autonomous driving mode to manual driving mode with the assistance of autonomous driving system

摘要

PROBLEM TO BE SOLVED: To provide a method for shifting from an autonomous driving mode to a manual driving mode for an autonomous driving vehicle. An autonomous driving vehicle (ADV) determines whether a transition from autonomous driving (AD) mode to manual driving (MD) mode is allowed at the current location 510, and the current driving scenario is described above. Determine if it is safe for the migration 520 and enable the migration in response to the determination that the migration is allowed at the current location and the current driving scenario is safe for the migration. [Selection diagram] Fig. 5