Toward Trustworthy and Comfortable Lane Keeping Assistance System: An Empirical Study of the Level of Haptic Authority

A shared control system has received steady attention as it can mitigate or avoid potential weaknesses of autonomous driving. According to the preliminary study, the drivers' experience was found to change significantly depending on the system's intervention strategy. In particular, driver satisfaction was found to decrease significantly due to the feeling of disturbance or interference. In this study, a strategy was suggested to adjust the haptic authority according to human torque to minimize the feeling of disturbance. Twelve control strategies were designed as a prototype to investigate their effects on the driver's experience. As a result, a positive effect on the driving experience was observed by providing adequate torque reduction. Based on the regression model of satisfaction, optimal design parameters were derived. The results of this study are expected to contribute to designing more favorable control strategy of a shared steering control system.