Driver-Automation Shared Control: Modeling Driver Behavior by Taking Account of Reliance on Haptic Guidance Steering

This paper presents a driver model in shared control that focuses on driver interaction with haptic guidance steering for a lane-following task. A weight parameter in the driver model was developed to describe driver interaction and reliance on haptic guidance steering. A driving simulator experiment with 5 participants was conducted to identify the model parameters. One experimental condition was driving with the haptic guidance steering system, and another condition of manual driving was conducted as a comparison. The identification results showed the relationship between driver model parameters and characteristics of driver behavior, including the driver interaction with haptic guidance steering and the steering effort. Taking the degree of driver reliance on haptic guidance steering into account improved the fitness of modeling driver steering behavior. The proposed driver model in shared control driving was shown to be appropriate, as the model matched the driver's input torque with a fitness of 68% on average.