Aspects of the disclosure provide for determining when to provide and providing secondary disengage alerts for a vehicle having autonomous and manual driving modes. For instance, while the vehicle is being controlled in the autonomous driving mode, user input is received at one or more user input devices of the vehicle. In response to receiving the user input, the vehicle may be transitioned from the autonomous driving mode to a manual driving mode and provide a primary disengage alert to an occupant of the vehicle regarding the transition. Whether to provide a secondary disengage alert may be determined based on at least circumstances of the user input. After the transition, the secondary disengage alert may be provided based on the determination.

A vehicle control device executes driving assistance control for assisting driving a host vehicle by a driver. The vehicle control device stops the driving assistance control under execution when a predetermined actuator of the host vehicle is operated. The vehicle control device executes, as the driving assistance control, abnormality countermeasure control for securing safe traveling of the host vehicle when the driver falls into an abnormal state having a problem in driving the host vehicle, and when the predetermined actuator is operated, and when the abnormality countermeasure control is not being executed, stops the driving assistance control, and when the abnormality countermeasure control is being executed, does not stop the driving assistance control including the abnormality countermeasure control.

A drive mode switch control device acquires operation information. The drive mode switch control device switches a drive state among at least an autonomous drive state, a manual drive state, and a coordination drive state. The operation detection unit detects a first operation and a second operation based on the operation information when the drive state is not in the manual drive state. The second operation is the drive operation different from the first operation and input after the input of the first operation. The drive mode switch control device switches the drive state from the autonomous drive state to the coordination drive state based on a detection determination of the first operation. The drive mode switch control device switches the drive state from the coordination drive state to the manual drive state based on a detection determination of the first operation.

Embodiments of the present disclosure are directed to switching a driving mode of a vehicle. A mode change request from one of a plurality of sources to switch the vehicle from a first driving mode to a second driving mode is received. In response to receiving the mode change request, a status of the vehicle is accessed, and a confirmation request is transmitted to the one of the plurality of sources. Verification of the confirmation request is made, and a driving transition mode is initialized from the first driving mode to the second driving mode based on the status of the vehicle. In response to adhering to safety conditions or safety boundaries within a duration of time, a switching signal is sent to the control system of the vehicle to switch the vehicle from the first driving mode to the second driving mode.

A vehicle includes: a driver assistance system; an accelerator configured to perform acceleration of the vehicle; a braking device configured to perform deceleration of the vehicle; a velocity sensor configured to detect a current velocity of the vehicle; a driver status sensor configured to acquire a driver's behavioral data; and a controller. The controller is configured to identify a carelessness status of the driver based on the driver's behavioral data and to activate a velocity control mode when the carelessness status of the driver is detected in the activation status of the driver assistance system.

Examples described herein provide a computer-implemented method that includes receiving, by a processing device, a current state of a vehicle. The method further includes predicting, by the processing device using an output of an artificial intelligence model, a future state of the vehicle based at least in part on the current state of the vehicle. The method further includes calculating, by the processing device using a tunable reward function, a reward associated with the future state of the vehicle, the tunable reward function comprising multiple tunable coefficients. The method further includes training, by the processing device, the artificial intelligence model based at least in part on the reward.

Aspects of the disclosure provide for determining when to provide and providing secondary disengage alerts for a vehicle having autonomous and manual driving modes. For instance, while the vehicle is being controlled in the autonomous driving mode, user input is received at one or more user input devices of the vehicle. In response to receiving the user input, the vehicle may be transitioned from the autonomous driving mode to a manual driving mode and provide a primary disengage alert to an occupant of the vehicle regarding the transition. Whether to provide a secondary disengage alert may be determined based on at least circumstances of the user input. After the transition, the secondary disengage alert may be provided based on the determination.

The vehicle controller includes a processor configured to determine whether a behavior of a driver of the vehicle satisfies a predetermined enabling condition after execution of a function of automatically stopping the vehicle. The function is executed due to not satisfying a driver-related condition for continuing the automated driving control of the vehicle. The enabling condition relates to driving control of the vehicle and is not imposed before the execution of the function. The processor is further configured to perform the automated driving control of the vehicle only when the behavior of the driver satisfies the enabling condition.

A driving handover system according to the present disclosure is configured to execute a detection process of detecting an obstructive article that causes an obstruction of handover to manual driving when the obstructive article is present in a vehicle, and a determination process of determining whether the handover to the manual driving is allowed or disallowed upon receipt of a request for the handover to the manual driving. The driving handover system is configured to, in the determination process, disallow the handover to the manual driving when the obstructive article is detected in the detection process.

Provided are methods for autonomous driving mode engagement. Some systems described receive at least one autonomous vehicle operation task output associated with driving a vehicle in autonomous driving mode in an environment while the vehicle is operated in manual driving mode in the environment. The at least one autonomous vehicle operation task output is compared to a respective threshold, wherein the respective threshold is adaptive based on a current operational state of the vehicle in the manual driving mode. A transition indicator is set based on the comparison, and a transition from the manual driving mode to the autonomous driving mode is rejected in response to the transition indicator indicating a smooth transition from the manual driving mode to the autonomous driving mode is unavailable. Methods and computer program products are also provided.