US 12,246,754 B2
Method of controlling switching to manual driving mode of autonomous vehicle
In Su Kim, Anyang-Si (KR); and Myung Ki Yeom, Incheon (KR)
Assigned to Hyundai Motor Company, Seoul (KR); and Kia Corporation, Seoul (KR)
Filed by Hyundai Motor Company, Seoul (KR); and Kia Corporation, Seoul (KR)
Filed on Dec. 20, 2022, as Appl. No. 18/085,028.
Claims priority of application No. 10-2022-0108047 (KR), filed on Aug. 29, 2022.
Prior Publication US 2024/0067228 A1, Feb. 29, 2024
Int. Cl. B60W 60/00 (2020.01); B60W 10/188 (2012.01); B60W 30/045 (2012.01); B60W 30/095 (2012.01); B60W 30/18 (2012.01); B60W 40/114 (2012.01)
CPC B60W 60/0053 (2020.02) [B60W 10/188 (2013.01); B60W 30/045 (2013.01); B60W 30/0956 (2013.01); B60W 30/18127 (2013.01); B60W 40/114 (2013.01); B60W 60/0059 (2020.02); B60W 2520/14 (2013.01); B60W 2540/18 (2013.01); B60W 2720/30 (2013.01)] 21 Claims
OG exemplary drawing
 
1. A method of controlling switching to a manual driving mode of an autonomous vehicle, the method comprising:
determining, by an autonomous driving controller, whether there is a request for switching to the manual driving mode during turning of the autonomous vehicle;
determining, by the autonomous driving controller, whether a difference occurs between a target yaw rate and an actual yaw rate in a transition section in which an autonomous driving mode is changed to the manual driving mode;
determining, by the autonomous driving controller, whether there is a risk of collision on a vehicle movement path on which the autonomous vehicle turns based on the actual yaw rate;
determining, by the autonomous driving controller, a yaw rate compensation torque for compensating for the difference between the target yaw rate and the actual yaw rate upon concluding that there is the risk of the collision; and
determining, by the autonomous driving controller, driving torque and regenerative braking torque of each in-wheel motor in the autonomous vehicle for collision prevention and turning stability, or determining whether to apply hydraulic braking torque of a hydraulic braking device according to a magnitude of the yaw rate compensation torque,
wherein the autonomous driving controller is configured to perform a control operation to selectively apply the driving torque or the regenerative braking torque to each in-wheel motor using the yaw rate compensation torque when the difference between the target yaw rate and the actual yaw rate occurs due to generation of a steering angle according to steering wheel operation of a driver while the autonomous driving mode is switched to the manual driving mode during turning of the autonomous vehicle.