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An advanced driving assistance system (ADAS) becomes more and more important since it can improve driving safety. It is composed of a human driver and an automated system called co-pilot. To make it effective, the driver and co-pilot should properly cooperate. Hence, it is very important to define and model their cooperation behavior such that an ADAS can be effectively designed and realized. This paper presents a colored hybrid Petri net model to describe it. The model is shown to be deadlock-and-conflict-free. Therefore, it is useful for ADAS design, analysis, and simulation.