TRANSITIONING TO AN UNSUPERVISED AUTONOMOUS DRIVING MODE OF AN ADS

A driving mode transitioning system and method for supporting transitioning to an unsupervised autonomous driving mode of an Automated Driving System, ADS, of a vehicle. The driving mode transitioning system obtains vehicle situational data indicating a state of vehicle surroundings along with position and heading of the vehicle; determines based on the obtained vehicle situational data, that unsupervised driving conditions of an unsupervised driving mode-related driving policy pertinent an unsupervised autonomous driving mode of the ADS, are complied with; determines that the ADS has active a supervised driving mode; implements the unsupervised driving mode-related driving policy to govern the supervised driving mode; and enables the unsupervised autonomous driving mode to be activated for the ADS, when positioning and/or velocity of the vehicle has reached compliance with unsupervised dynamic driving conditions of the unsupervised driving mode-related driving policy.