A method for controlling autonomous driving in an autonomous vehicle includes: determining whether a human driver is in a forward gaze state under an autonomous driving mode, setting a first steering wheel torque threshold and a first torque holding time, based on a result of determining whether the human driver is in the forward gaze state, determining whether human driver intervention has occurred, based on the first steering wheel torque threshold and the first torque holding time, and switching the autonomous driving mode to a manual driving mode when the human driver intervention has occurred.

A vehicle steering assist device includes a first detector to detect steering torque by a driver's steering wheel operation, a first calculator to calculate assist steering torque for the detected steering torque, a second calculator to calculate target steering torque to perform steering control, a controller to switch the first calculator from an active state to an inactive state to limit an output of the assist steering torque when the second calculator is in an active state, an EPS torque setter to set EPS torque to drive an EPS motor based on outputs from the second calculator and the controller, and a second detector to detect a driver's holding state of a steering wheel. Even when the second calculator is in the active state, when the second detector detects that a driver holds the steering wheel, the controller switches the first calculator from the inactive state to the active state.

A method for controlling a steering system of a vehicle during an autonomous steering development mode may include performing, by one or more computing devices, high-authority autonomous steering control of a steering system of the vehicle. The method may further include receiving, by the one or more computing devices, an input from at least one sensor of the steering system indicative of manual operation of the steering system by an operator of the vehicle. Additionally, the method may include transitioning, by the one or more computing devices, from the high-authority autonomous steering control to a low-authority autonomous steering control of the steering system for a predetermined time period in response to receiving the input from the at least one sensor.

The autonomous LC control is started in response to receiving a start instruction of autonomous lane change. When the driver performs a steering intervention in a same direction as a direction of steering requested by the autonomous LC control, and establishment of a stop condition of lane change is not recognized, during execution of the autonomous LC control, the autonomous driving control is continued. When the steering intervention in the same direction is performed, and establishment of the stop condition is recognized, during execution of the autonomous LC control, termination of the autonomous driving control is announced.

A method is for operating a vehicle. The vehicle includes a steering system with at least one steering handle and at least one steering sensor operatively connected to the steering handle and configured to at least detect a driver intervention in an automated drive operating mode. In at least one faulty operating state, in which the vehicle is in the automated drive operating mode and a malfunction and/or a disturbance of the steering sensor is ascertained and/or a steering sensor signal of the steering sensor is ascertained, the steering sensor signal correlating in particular to the driver intervention, an interruption process is initiated in order to discontinue the automated drive operating mode. During the interruption process, at least one wheel steering angle characteristic variable of at least one vehicle wheel of the vehicle is ascertained and taken into consideration while discontinuing the automated drive operating mode.

Disclosed embodiments include systems, vehicles, and computer-implemented methods to adjust a threshold level of force to be applied to a steering wheel to disengage an autosteering system. In an illustrative embodiment, a system includes a computing device operably coupled with a vehicle that includes a processor and a computer-readable media configured to store computer-executable instructions configured to cause the processor to: detect that an autosteering system of the vehicle is engaged; detect a level of force applied by an operator to a steering wheel of the vehicle; and disengage the autosteering system when the level of force surpasses a threshold chosen from a default threshold and an adjusted threshold, wherein the adjusted threshold is applied upon detecting a predetermined condition..

A steering control device is configured to control a motor, the motor being a generation source of a driving force that is given to a steering mechanism of a vehicle. The steering control device includes a controller configured to compute a controlled variable depending on a steering state, the controlled variable being used in the control of the motor. The controller is configured to alter a control parameter for the controller, based on a command that is generated by a host control device depending on a purpose of an intervention in a steering control, the host control device being mounted on the vehicle.

A vehicle is capable of disabling autonomous driving by identifying whether an intervention of a user has occurred during autonomous driving. The vehicle includes a steering wheel, a first sensor device configured to detect a steering torque of the steering wheel, a steering angle of the steering wheel, and a steering angular velocity of the steering wheel, and a second sensor device configured to detect a touch of a user applied to the steering wheel. When the vehicle travels in an emergency control state in which a deceleration/acceleration speed of the vehicle is greater than a predetermined first value during autonomous driving, if the touch of the user on the steering wheel is detected through the second sensor device, the emergency control state is disabled under certain conditions, and if the steering torque is greater than or equal to a predetermined torque value, autonomous driving is disabled.

Techniques are described for transitioning control of a steering system from an autonomous mode in a vehicle to a driver-controlled mode where the driver can control the steering wheel of the steering system. A method includes receiving values that describe an amount of torque and a direction of torque in response to a torque applied to a steering wheel of a steering system operated in an autonomous mode, determining that the values are either greater than or equal to a threshold value or are less than or equal to a negative of the threshold value, determining that the values are measured over a period of time greater than or equal to a pre-determined amount of time, and transitioning the steering system from being operated in the autonomous mode to being operated in a driver-controlled mode in which the steering system is under manual control.

A number of illustrative variations may include a method or product for sensing driver intervention in an autonomous steering system.