Control Transfer Method from Automated Driving to Manual Driving During Curve Travel

In controlling an authority transfer from automated driving to manual driving, there is a danger that an abrupt transition of steering control can cause disruptions to the handling. Furthermore, while paying attention to the run of the curve, the control transition becomes complicated. This is because the torque by the automated driving system is mixed with the torque for correcting the inclination of the vehicle. At such times, deleting the system torque so as to destroy the torque balance will cause the steering control to fall into instability. Therefore, in this research, we propose a control transfer method based on a shared mode during curve travel. As a result, the steering stability and vehicle stability were improved.