Techniques for switching between manual and autonomous control for a movable object

A method for controlling an autonomous vehicle, comprising:

• receiving a request to switch driving modes from a first mode to a second mode in an autonomous vehicle, the autonomous vehicle including a plurality of sensors and a plurality of vehicle controls;
• obtaining a driving state using the plurality of sensors;
• determining that the driving state meets a switching standard;
• entering a pending switching state, the pending switching state in which the autonomous vehicle being a temporary driving mode between the first mode and the second mode, a length of time in the pending switching state varies depending on current driving conditions, wherein the length of time the pending switching state in smooth traffic conditions is shorter than that in congested traffic conditions, wherein in the pending switching state, a control input received for the first mode applied with a first weight value is combined with a control input received for the second mode applied with a second weight value to generate a vehicle control output to control one function of the autonomous vehicle;
• sending a message indicating that the driving mode is to switch from the first mode to the second mode, the message including an option to cancel, if a driver cancels change, then the driving mode reverts back to the first mode, if, at the end of the pending switching state, the change has not been canceled, then the driving mode is updated to the second mode;
• and
• switching driving modes from the pending switching state temporary driving mode to the second mode,
• wherein as time in the pending switching state continues, the first weight value decreases while the second weight value increases.

A non-transitory computer readable storage medium including instructions stored thereon which, when executed by one or more processors, cause the one or more processors to:

• receive a request to switch driving modes from a first mode to a second mode in an autonomous vehicle, the autonomous vehicle including a plurality of sensors and a plurality of vehicle controls;
• obtain a driving state using the plurality of sensors;
• determine that the driving state meets a switching standard;
• enter a pending switching state, the pending switching state in which the autonomous vehicle being a temporary driving mode between the first mode and the second mode, a length of time in the pending switching state varies depending on current driving conditions, wherein the length of time the pending switching state in smooth traffic conditions is shorter than that in congested traffic conditions, wherein in the pending switching state, a control input received for the first mode applied with a first weight value is combined with a control input received for the second mode applied with a second weight value to generate a vehicle control output to control one function of the autonomous vehicle;
• send a message indicating that the driving mode is to switch from the first mode to the second mode, the message including an option to cancel, if a driver cancels change, then the driving mode reverts back to the first mode, if, at the end of the pending switching state, the change has not been canceled, then the driving mode is updated to the second mode;
• and
• switch driving modes from the pending switching state temporary driving mode to the second mode,
• wherein as time in the pending switching state continues, the first weight value decreases while the second weight value increases.