TECHNIQUES FOR SWITCHING BETWEEN MANUAL AND AUTONOMOUS CONTROL FOR A MOVABLE OBJECT

Techniques are disclosed for switching between a manual driving mode and an autonomous driving mode. A system for switching driving modes can include a vehicle control unit in communication with a plurality of sensors and a plurality of vehicle controls of an autonomous vehicle. The vehicle control unit can include a control manager configured to receive a request to switch driving modes from a first mode to a second mode, obtain a driving state using the plurality of sensors, determine the driving state meets a switching standard, enter a pending switching state in which a control input received for the first mode is combined with a control input received for the second mode to generate a vehicle control output, send a message indicating that the driving mode is to switch from the first mode to the second mode, and switch driving modes from the first mode to the second mode.