Control Authority Transfer Method for Automated-to-Manual Driving Via a Shared Authority Mode

Although automation-initiated and driver-initiated control transfers from automated to manual driving may yield unstable steering activity even when the drivers are focused on the road environment ahead, there are few studies on the development of control transfer methods at an operational level after a request to intervene. Therefore, we propose a shared authority mode connecting the automated and manual driving modes and a method for transferring control authority using haptic shared control to achieve smooth transfer. The results of driving simulation experiments demonstrate that the instability in the steering angular velocity originally present during control transfer is significantly improved by introducing our proposed method.