US 12,145,611 B2
System and method for switching control of autonomous vehicle
YongWoon Cho, Hwaseong-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 Apr. 15, 2022, as Appl. No. 17/721,955.
Claims priority of application No. 10-2021-0104510 (KR), filed on Aug. 9, 2021.
Prior Publication US 2023/0044145 A1, Feb. 9, 2023
Int. Cl. B60W 50/08 (2020.01); B60W 60/00 (2020.01)
CPC B60W 50/082 (2013.01) [B60W 60/0053 (2020.02); B60W 2540/10 (2013.01); B60W 2540/12 (2013.01); B60W 2540/18 (2013.01); B60W 2710/202 (2013.01)] 15 Claims
OG exemplary drawing
 
1. A method of switching a control right according to a driving mode of a vehicle in a control right switching system operated by at least one processor, the method comprising:
receiving, by the at least one processor, a command to switch the driving mode of the vehicle being in one of a manual driving mode or an autonomous driving mode;
initializing, by the at least one processor, a torque value of a control unit that controls the vehicle according to a current driving mode of the vehicle;
transferring, by the at least one processor, a driving mode control right of the vehicle from the vehicle to a driver or from the driver to the vehicle by increasing or reducing a vehicle control right to control the vehicle; and
monitoring, by the at least one processor, information obtained by the control unit in the vehicle whose driving mode was switched during a predetermined time period, and determining, by the at least one processor, whether to switch the driving mode,
wherein the initializing the torque value includes:
determining whether the current driving mode of the vehicle is the autonomous driving mode,
initializing a manual driving control unit that controls driving of the vehicle in the manual driving mode when the at least one processor concludes that the current driving mode is the autonomous driving mode, wherein the manual driving control unit includes a motor driven power steering (MDPS), an accelerator position sensor (APS) and a brake position sensor (BPS), and
initializing a torque of the MDPS to a heaviest torque and initializing a torque of the APS and the BPS to a torque of a state where the driver does not press down a pedal, when it is determined that the current driving mode is the manual driving mode.