Method for controlling driving mode transition of autonomous driving vehicle

A method for controlling a driving mode transition of an autonomous driving vehicle, the method comprising:

• checking, by an autonomous driving controller, whether a current driving mode of the autonomous driving vehicle is a manual driving mode;
• determining, by the autonomous driving controller, whether there is a cut-in vehicle in an adjacent lane;
• determining, by the autonomous driving controller, whether to maintain a safety distance from a rear vehicle when the autonomous driving controller concludes that there is the cut-in vehicle;
• checking and setting, by the autonomous driving controller, a lane change space in which a collision with the cut-in vehicle is avoided when the autonomous driving controller concludes that the safety distance from the rear vehicle is not secured;
• and
• executing, by the autonomous driving controller, a rotational steering control of a steering wheel and a partial braking control while switching to an autonomous driving mode from the manual driving mode of the autonomous driving vehicle to move into the set lane change space
• wherein, when the other vehicle in the adjacent lane cuts in while the autonomous driving vehicle is driving in the manual driving mode, the transition from the manual driving mode to the autonomous driving mode is performed to safely perform the lane change to avoid the collision with the other vehicle,
• wherein the performing of the rotational steering control of the steering wheel and the partial braking control include;
• determining an automated steering control amount and a partial control amount for the autonomous driving mode when a steering torque of the steering wheel is less than a reference value,
• wherein, when determining a ratio between the automated steering control amount and the partial control amount, the ratio is determined so that only the partial control amount is reflected at an initial time when the lane change starts according to a reflection rate of a preset control amount for the lane change, and is determined so that the automated steering control amount increases with a predetermined inclination from the initial time to a time when the lane change ends, and at a same time, is determined so that the partial control amount decreases with a same inclination thereof.