FIELD: traffic control methods.
SUBSTANCE: invention relates to a motion control method. The method for controlling the movement of a vehicle comprises setting a plurality of cancellation thresholds corresponding to respective motion scenes, wherein the cancellation thresholds are used to cancel autonomous steering control and switch to manual driver control, detecting a vehicle motion scene during autonomous steering, extracting a cancellation threshold , corresponding to the detected motion scene, from the plurality of set cancellation thresholds, and determining, based on the retrieved cancellation threshold, whether to cancel autonomous steering control and proceed to driver manual control. Autonomous steering control is canceled and shifts to manual control by the driver when the torque of the steering wheel controlled by the driver exceeds the standard cancellation threshold, the motion scene includes the first motion scene from the area under autonomous steering control, out of the area and the first threshold cancellation less than the standard cancellation threshold is set for the first motion scene.
EFFECT: timely transition from autonomous steering control to manual control is achieved in accordance with the vehicle driving scene.
6 cl, 8 dwg
