US 12,227,210 B1
Disengagement of an autonomous driving mode based on vehicle operating conditions
Aaron Carroll, Mountain View, CA (US); Justin Erickson, San Francisco, CA (US); Mario Delgado, San Francisco, CA (US); John Hayes, Mountain View, CA (US); and Volkmar Uhlig, Cupertino, CA (US)
Assigned to APPLIED INTUITION, INC., Mountain View, CA (US)
Filed by GHOST AUTONOMY INC., Mountain View, CA (US)
Filed on Oct. 13, 2022, as Appl. No. 18/046,164.
Application 18/046,164 is a continuation of application No. 17/079,431, filed on Oct. 24, 2020, granted, now 11,548,535.
Int. Cl. B60W 60/00 (2020.01); B60W 40/09 (2012.01)
CPC B60W 60/0053 (2020.02) [B60W 40/09 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A method comprising:
receiving, from a steering torque sensor, torque sensor data indicating an amount of torque applied to a steering system of an autonomous vehicle;
determining a predicted torque based on one or more motion attributes of the steering system of the autonomous vehicle;
determining an estimated operator-provided torque as a differential between the predicted torque and the amount of torque;
selecting, from a plurality of thresholds, a magnitude threshold and a time threshold, wherein the magnitude threshold and the time threshold each correspond to a different possible operating condition of the autonomous vehicle; and
disengaging an autonomous driving mode of the autonomous vehicle based on the differential exceeding the magnitude threshold for a duration exceeding the time threshold, wherein the magnitude threshold and the time threshold are user-defined.