公开(公告)号：US10996673B1

公开(公告)日：2021-05-04

申请号：US17015711

申请日：2020-09-09

申请人： Diomidis Katzourakis ,  Ioannis N. Tzortzis

发明人： Diomidis Katzourakis ,  Ioannis N. Tzortzis

IPC分类号： G05D1/00 ,  G05D1/02

摘要： A method of control includes operating in autonomous mode and steering according to a tracking angle. The method also includes receiving a torque signal indicating a measured torque being applied to a steering control device and determining a difference between an expected torque and the measured torque, and based on a direction of the expected torque, the direction of the measured torque, and the difference between the two, switching from autonomous mode of operation to manual mode operation.