Transitioning steering control from an autonomous vehicle to a driver

A system comprising a computer that includes a processor and a memory comprising stored instructions that upon execution configure the processor to:

• perform a first determination, by the computer located in a vehicle, that each torque value in a set of torque values is past one or more threshold values, wherein the set of torque values indicate torque applied over time to a steering wheel of a steering system of the vehicle;
• perform a second determination that a period of time over which the set of torque values were measured is greater than a certain amount of time, wherein the period of time is determined based on a number of torque values in the set of torque values;
• and
• cause, in response to the first determination and the second determination, the vehicle to transition from a first mode where the computer is configured to control the steering system to a second mode where the steering system is operated under manual control.

A non-transitory computer readable program storage medium having code stored thereon, the code, when executed by a processor, causing the processor to implement a method comprising:

• performing a first determination, by a computer located in a vehicle, that each torque value in a set of torque values is past one or more threshold values, wherein the set of torque values indicate torque applied over time to a steering wheel of a steering system of the vehicle;
• performing a second determination that a period of time over which the set of torque values were measured is greater than a certain amount of time, wherein the period of time is determined based on a number of torque values in the set of torque values;
• and
• causing, in response to the first determination and the second determination, the vehicle to transition from a first mode where the computer is configured to control the steering system to a second mode where the steering system is operated under manual control.