Method of controlling switching to manual driving mode of autonomous vehicle

A method of controlling switching to a manual driving mode of an autonomous vehicle, the method comprising:

• verifying, by an autonomous driving controller, whether a driver requests switching to the manual driving mode;
• determining, by the autonomous driving controller, whether the driver selects a first option or a second option;
• controlling, by the autonomous driving controller, switching to the manual driving mode after moving the autonomous vehicle to a safe lane including an agreed lane provided from a control center upon concluding that the driver selects the first option;
• and
• controlling, by the autonomous driving controller, switching to the manual driving mode after moving the autonomous vehicle to a safe place including an agreed place provided from the control center upon concluding that the driver selects the second option,
• wherein the controlling of switching to the manual driving mode after moving the autonomous vehicle to the safe lane includes:
• determining whether the autonomous vehicle is capable of arriving at the agreed lane within a predetermined time period;
• determining a safety level of a following vehicle for each of all lanes in a road, which is a value obtained by dividing a distance from the following vehicle by a speed of the following vehicle, upon concluding that the autonomous vehicle is incapable of arriving at the agreed lane within the predetermined time period;
• determining whether there is a lane satisfying that the safety level of the following vehicle is greater than a threshold value among all the lanes;
• verifying whether a safety level of a following vehicle in a present lane, which is a current driving lane, is greater than a preset threshold value when there is the lane satisfying that the safety level of the following vehicle is greater than the threshold value among all the lanes;
• determining a lane minimizing lane change among other lanes in the road satisfying that the safety level of the following vehicle is greater than the threshold value when the safety level of the following vehicle in the present lane is less than the preset threshold value;
• and
• switching, by the autonomous driving controller, the driving mode from the autonomous driving mode to the manual driving mode after the autonomous vehicle changes lanes to another lane capable of minimizing lane change.