US 12,291,244 B2
System and method for controlling switching to manual driving mode of autonomous vehicle
Myung Ki Yeom, Incheon (KR); and In Su Kim, Anyang-si (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 Feb. 24, 2023, as Appl. No. 18/174,112.
Claims priority of application No. 10-2022-0144850 (KR), filed on Nov. 3, 2022.
Prior Publication US 2024/0149922 A1, May 9, 2024
Int. Cl. B60W 60/00 (2020.01); B60W 10/08 (2006.01); B60W 10/184 (2012.01); B60W 10/20 (2006.01); B60W 30/18 (2012.01); B60W 50/00 (2006.01); B60W 50/10 (2012.01)
CPC B60W 60/0053 (2020.02) [B60W 10/08 (2013.01); B60W 10/184 (2013.01); B60W 10/20 (2013.01); B60W 30/18127 (2013.01); B60W 50/0098 (2013.01); B60W 50/10 (2013.01); B60W 2050/0012 (2013.01); B60W 2050/0026 (2013.01); B60W 2520/10 (2013.01); B60W 2520/14 (2013.01); B60W 2540/18 (2013.01); B60W 2710/083 (2013.01); B60W 2710/18 (2013.01); B60W 2710/20 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A system for controlling switching to a manual driving mode of an autonomous vehicle, the system comprising:
a steering controller configured to determine whether a steering angle is changed according to operation of a steering wheel by a driver;
a braking controller configured to apply braking torque to a braking device of each wheel;
a motor controller configured to apply individual regenerative braking torque and driving torque to each wheel; and
an autonomous driving controller configured to determine a control torque for maintaining straight-ahead driving and to issue an instruction using a feedforward control scheme when a steering angle change signal according to the operation of the steering wheel by the driver is received from the steering controller in a transition section in which an autonomous driving mode is switched to the manual driving mode during the straight-ahead driving of the autonomous vehicle,
wherein the autonomous driving controller is configured to:
determine feedforward torque control for maintaining the straight-ahead driving to be first-stage torque control and execute the first-stage torque control when the control torque for maintaining the straight-ahead driving is less than or equal to a first reference control torque; and
determine the feedforward torque control for maintaining the straight-ahead driving to be second-stage torque control including the first-stage torque control and execute the second-stage torque control when the control torque for maintaining the straight-ahead driving exceeds the first reference control torque and is less than or equal to a second reference control torque.