Driver-Automation Collaboration for Automated Vehicles: A Review of Human-Centered Shared Control

The automated driving vehicles are experiencing a rapid development in worldwide recently. It is commonly believed that before the achievement of fully autonomous driving, the driver will always need to remain within the vehicle control loop. Hence, intelligent interaction and collaboration between the human driver and the automation will be an efficient solution for the improvement of road safety, traffic efficiency, and social acceptance to the automated vehicles. As a popular collaboration method, shared control has been widely studied in the past two decades. While it is still a challenging task to involve rich human factors into the shared control system to increase the driving experience and acceptance of the automation. In this study, a literature review on human-centered shared control is proposed towards solid research on driver-vehicle collaboration. First, the basic background and literature surveys on the human-machine collaboration (HMC) is proposed, and the important factors for efficient multi-agent collaboration and teaming are discussed. Then, different driver behavior and state modeling methods are reviewed. Based on the HMC schemes and driver behavior recognition techniques, literature surveys on human-centered shared control are proposed. Finally, challenges and future works on human-centered shared control are analyzed.