US 12,240,503 B2
Method for controlling vehicle, electronic device, storage medium and vehicle
Yuan Wang, Beijing (CN); Liantao Li, Beijing (CN); and Shenglin Qin, Beijing (CN)
Assigned to Apollo Intelligent Connectivity (Beijing) Technology Co., Ltd., Beijing (CN)
Filed by Apollo Intelligent Connectivity (Beijing) Technology Co., Ltd., Beijing (CN)
Filed on Sep. 23, 2022, as Appl. No. 17/951,449.
Claims priority of application No. 202111125672.1 (CN), filed on Sep. 24, 2021.
Prior Publication US 2023/0010007 A1, Jan. 12, 2023
Int. Cl. B60W 50/00 (2006.01); B60W 60/00 (2020.01)
CPC B60W 60/0051 (2020.02) [B60W 50/0098 (2013.01); B60W 60/001 (2020.02); B60W 2520/10 (2013.01); B60W 2540/18 (2013.01); B60W 2552/05 (2020.02)] 17 Claims
OG exemplary drawing
 
1. A method for controlling a vehicle, comprising:
determining, in response to a request of switching to an autonomous driving mode, whether the vehicle is in a safe state;
controlling, in response to the vehicle being in the safe state, the vehicle to switch from a manual driving mode to the autonomous driving mode during travelling;
storing, in response to the vehicle switching from the autonomous driving mode to the manual driving mode, a route planning information based on which the vehicle is travelling; and
controlling, in response to the vehicle switching from the manual driving mode to the autonomous driving mode, the vehicle to travel based on the stored route planning information, wherein
the controlling, in response to the vehicle being in the safe state, the vehicle to switch from a manual driving mode to the autonomous driving mode during driving includes:
determining, based on a location information of the vehicle, whether an angle of a steering wheel of the vehicle is matched with the stored route planning information;
adjusting, in response to the angle of the steering wheel of the vehicle being not matched with the stored route planning information, the angle of the steering wheel until the angle of the steering wheel is matched with the stored route planning information; and
switching, in response to the angle of the steering wheel of the vehicle being matched with the stored route planning information, the vehicle from the manual driving mode to the autonomous driving mode.