Effect of human-machine cooperation on driving comfort in highly automated steering maneuvers

Automated driving technology is being developed to reduce driver workloads and improve driving safety. However, how connected drivers feel to the control of their vehicles can be a critical factor in driving comfort. In this paper, we discuss a highly automated and human-machine cooperative steering system. Our prototype system regulates driver's steering maneuvers under supervision by automation and also applies guidance torque for physical interaction between a driver and the automation. To evaluate driving comfort and driver behaviors during the cooperation, experiments were conducted with a driving simulator. The results from 20 participants show that drivers who assertively participated in cooperative steering tended to feel safer and more pleasure than in fully automated-like steering.