Systems and methods for transitioning a vehicle from an autonomous driving mode to a manual driving mode

A non-transitory computer-readable medium for transitioning a vehicle from an autonomous driving mode to a manual driving mode and storing instructions that when executed by one or more processors cause the one or more processors to:

• analyze data from one or more vehicle sensors to detect, at a current position of the vehicle, features ahead of the vehicle in a first detection region and a second detection region, wherein the second detection region extends farther ahead of the vehicle along a direction of travel than the first detection region;
• determine, for each of a plurality of hypothetical positions ahead of the current position along a planned route, which features detected at the current position, if any, lie within the first detection region at that hypothetical position, wherein the plurality of hypothetical positions are at least one of randomly selected, spaced at regular intervals, and selected to coincide with a change in features of a roadway along the planned route, the change in features including one of an intersection, a change in a number of lanes, a beginning of a grade, and an end of a grade;
• identify, among the plurality of hypothetical positions, at least one localization-failure position at which localization of the vehicle will fail due to insufficient features being detected within the first detection region at the at least one localization-failure position;
• and
• initiate a transition from the autonomous driving mode to the manual driving mode based, at least in part, on the at least one localization-failure position.

A method of transitioning a vehicle from an autonomous driving mode to a manual driving mode, the method comprising:

• analyzing data from one or more vehicle sensors to detect, at a current position of the vehicle, features ahead of the vehicle in a first detection region and a second detection region, wherein the second detection region extends farther ahead of the vehicle along a direction of travel than the first detection region;
• determining, for each of a plurality of hypothetical positions ahead of the current position along a planned route, which features detected at the current position, if any, lie within the first detection region at that hypothetical position, wherein the plurality of hypothetical positions are at least one of randomly selected, spaced at regular intervals, and selected to coincide with a change in features of a roadway along the planned route, the change in features including one of an intersection, a change in a number of lanes, a beginning of a grade, and an end of a grade;
• identifying, among the plurality of hypothetical positions, at least one localization-failure position at which localization of the vehicle will fail due to insufficient features being detected within the first detection region at the at least one localization-failure position;
• and
• initiating a transition from the autonomous driving mode to the manual driving mode based, at least in part, on the at least one localization-failure position.