Shared Control Framework Applied for Vehicle Longitudinal Control in Highway Merging Scenarios

This paper describes the design of a shared control framework for vehicle longitudinal control applied in Automated Driving (AD) systems. Due to the complexity of automation design, highway merging scenario is firstly selected as the use case for system´s functional design. Besides the distance control functionality, the framework is capable of managing merging situation thanks to the proposed situation assessment function. In order to provide the driver a mean to override the operating automated system, shared control logics are designed for accelerator and brake pedal respectively. In case of driver´s override on accelerator, hap tic feedback is rendered aiming to communicate the system´s activity and situation´s criticality. Preliminary simulation results are presented to demonstrate the design concepts of the framework.