US Patent 10996673 Manual override

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.