| 摘要 |
The present invention relates to an apparatus for controlling switching of traveling mode of an autonomous vehicle, and is intended to provide an apparatus for controlling switching of traveling mode of an autonomous vehicle, which, when an error occurs between autonomous traveling torque and steering column torque, controls speed increasing or decreasing the autonomous traveling torque based on yaw rate or acceleration, thereby minimizing a sense of difference that is felt by a driver. For this purpose, the apparatus for controlling switching of traveling mode of an autonomous vehicle according to the present invention comprises: an autonomous traveling torque detection unit which measures autonomous traveling torque; a column torque detection unit which measures torque applied to a steering column (hereinafter column torque); a yaw rate measurement unit which measures yaw rate of a vehicle; and a control unit which, when there is intervention of a driver in autonomous traveling mode, increases mode switching completion time by gradually decreasing the autonomous traveling torque when the measured yaw rate exceeds a first threshold value, and decreases mode switching completion time by rapidly decreasing the autonomous traveling torque when the measured yaw rate does not exceed the first threshold value. |
