Simultaneous Achievement of Supporting Human Drivers and Improving Driving Skills by Shared and Cooperative Control

Advanced driver assistance systems (ADASs) have successfully reduced drivers' workload and increased safety. However, the excessive use of such assistance systems might reduce the chances of developing drivers' skill. Haptic-shared and cooperative controls are methods in which the automated system shares a single operation with human operators and provides partial assistance, respectively. Effective collaboration between a human operator and an automated system can be achieved by the tuning controller, which is introduced to facilitate the improvement of human operators' skills. We discuss a methodology to decrease drivers' workload and improve their driving skills by using haptic shared and cooperative control methods. Backward parking assist by haptic shared control is presented to increase performance during assistance and skill improvement after assistance.