Transferring From Automated to Manual Driving When Traversing a Curve via Haptic Shared Control

Under certain scenarios, an automated driving system (ADS) might need to transfer steering control to the human driver. Even if the driver is ready to take over, an abrupt control transition when traversing a curve can lead to unstable steering. This is because the steering wheel is balanced by both the self-aligning torque and ADS torque; if the latter suddenly disappears, the balance is lost. In this study, we developed a method for transferring control when traversing a curve via haptic shared control. A driving simulator experiment was conducted to verify the effectiveness of the proposed method. The results demonstrated that the proposed method exhibits better steering and vehicle motion stability than a non-shared control method.