CPC B60W 30/182 (2013.01) [B60W 50/10 (2013.01); G05D 1/0061 (2013.01); G05D 1/0088 (2013.01); G05D 1/0278 (2013.01); B60W 2540/10 (2013.01); B60W 2540/12 (2013.01); B60W 2540/18 (2013.01); B60W 2540/215 (2020.02); B60W 2900/00 (2013.01); G05D 2201/0213 (2013.01)] | 20 Claims |
10. A method of switching a driving state of a vehicle having autonomous driving vehicle control, the method comprising:
switching a driving state among (i) an autonomous driving state where traveling of the vehicle is controlled using a traveling plan, (ii) a cooperative driving state where the vehicle is controlled to travel in cooperation between the autonomous driving state, based on the traveling plan, and a manual driving operation of a driver, and (iii) a manual driving state,
wherein the switching the driving state comprises:
switching the driving state to the cooperative driving state when the driving state is the autonomous driving state and when an operation amount of the driving operation is equal to or greater than an intervention determination threshold value and less than a manual driving start threshold value, or when a duration count of the driving operation is equal to or greater than a first threshold value and less than a second threshold value, and
switching the driving state, when the driving state is the cooperative driving state, to the autonomous driving state when the operation amount is less than the intervention determination threshold value or the duration count is less than the first threshold value, and switching the driving state, when the driving state is the cooperative driving state, to the manual driving state when the operation amount is equal to or greater than the manual driving start threshold value or the duration count is equal to or greater than the second threshold value,
wherein, for a particular trip corresponding to the traveling plan, the switch from the autonomous driving state to the cooperative driving state is a reversible transition and the switch from the cooperative driving state to the manual driving state is an irreversible transition.
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