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Driver-automation indirect shared control of highly automated vehicles with intention-aware authority transition

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conference contribution
posted on 2023-06-09, 11:51 authored by Renjie Li, Yanan LiYanan Li, Shengbo Li, Etienne Burdet, Bo Cheng
Shared control is an important approach to avoid the driver-out-of-the-loop problems brought by imperfect autonomous driving. Steer-by-wire technology allows the mechanical decoupling between the steering wheel and the road wheels. On steer-by-wire vehicles, the automation can join the control loop by correcting the driver steering input, which forms a new paradigm of shared control. The new framework, under which the driver indirectly controls the vehicle through the automation’s input transformation, is called indirect shared control. This paper presents an indirect shared control system, which realizes the dynamic control authority allocation with respect to the driver’s authority intention. The simulation results demonstrate the effectiveness and benefits of the proposed control authority adaptation method.


Publication status

  • Published

File Version

  • Accepted version


2017 IEEE Intelligent Vehicles Symposium (IV)


Institute of Electrical and Electronics Engineers

Event name

Intelligent Vehicles Symposium (IV), 2017 IEEE

Event location

Los Angeles, USA

Event type


Event date

11-14 July 2017



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  • Engineering and Design Publications


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