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Method and system for controlling autonomous driving vehicle reentering autonomous driving mode

  • US 10,452,074 B2
  • Filed: 03/10/2017
  • Issued: 10/22/2019
  • Est. Priority Date: 03/10/2017
  • Status: Active Grant
First Claim
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1. A computer-implemented method for operating an autonomous driving vehicle, the method comprising:

  • detecting that the autonomous driving vehicle (ADV) transitions from a manual driving mode to an autonomous driving mode;

    determining a first pedal value corresponding to a speed of the ADV in response to a speed control command issued at a previous command cycle during which the ADV was operating in the manual driving mode;

    determining a second pedal value based on a target speed of the ADV at a current command cycle during which the ADV is operating in the autonomous driving mode; and

    issuing a speed control command to the ADV based on the first pedal value and the second pedal value, wherein the speed control command results in a substantially gradual speed change of the ADV between the manual driving mode and the autonomous driving mode.

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