Validation of Critical Maneuvers Based on Shared Control

This paper presents the test and validation of a shared control strategy for automated driving systems. Shared control involves collaboration between the driver and automation, allowing both parties to actively engage and cooperate at different levels of the driving task. The involvement of the driver adds complexity to the control loop, necessitating comprehensive validation methodologies. The proposed approach focuses on two critical maneuvers: overtaking in low-visibility scenarios and lateral evasive actions. These maneuvers represent scenarios where striking a balance between safety and comfort is essential for driver acceptance. A modular architecture that integrates an arbitration module and the shared control algorithm is presented, primarily focusing on the lateral control of the vehicle. The validation is conducted using a dynamic simulator, involving 8 real drivers interacting with a virtual environment. The results demonstrate improved safety and user acceptance, indicating the effectiveness of the shared control strategies in comparison with no shared-control support. Future work involves implementing shared control in drive-by-wire systems to enhance both safety and driver comfort during critical maneuvers. Overall, this research contributes to the development and validation of shared control approaches in automated driving systems.