SYSTEMS AND METHODS FOR SAFE CONTROLLER SWITCHING DURING MODE TRANSITION FOR COMMERCIAL VEHICLES

A method for safe controller switching of a steering column of an autonomous vehicle is provided. The method comprises controlling the steering column using a first steering controller, wherein the first steering controller comprises a first fault detector, detecting a fault in the first steering controller using the first fault detector, communicating the detected fault of the first steering controller to the second steering controller, determining a transition time, within which control of the steering column is completely transferred from the first steering controller to a second steering controller. The method gradually transfers control of the steering column from the first steering controller to the second steering controller, wherein during the transition time control of the steering column is shared by the first steering controller and the second steering controller, and wherein after the transition time is expired, the steering controller is completely controlled by the second steering column.