Method for transition between driving modes

The present disclosure relates to a method for transition between driving modes of a vehicle (2), the driving modes comprising an autonomous driving (AD) mode, a partly autonomous driving (PAD) mode and a manual driving (MD) mode, wherein (i) a transition from the partly autonomous driving (PAD) mode to the autonomous driving (AD) mode is performed by enabling the autonomous driving (AD) mode, (ii) a transition from the autonomous driving (AD) mode to the partly autonomous driving (PAD) mode is performed by releasing a steering wheel lock when the partly autonomous driving (PAD) mode is in an enabled state, (iii) a transition from the manual driving (MD) mode to the autonomous driving (AD) mode is performed by enabling the autonomous driving (AD) mode, and (iv) a transition from the autonomous driving (AD) mode to the manual driving (MD) mode is performed by releasing the steering wheel lock when the partly autonomous driving (PAD) mode is in a disabled state. [0002] The disclosure further relates to a system (4) for performing the method and a vehicle (2) comprising the system.