A Fail-safe System involving Shared Control Strategy for Driver Override

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When the automated vehicle initiates a fail-safe maneuver, the human driver is likely to request for override without getting rid of hazardous conditions. However, most research ignores the potential driver demand in constructing a fail-safe system. This paper proposes a fail-safe system considering the driver override demand. When a request to override is received, the system turns to seek a trajectory suitable for the takeover, which meanwhile guarantees safety. Then a shared control strategy based on the driver controllability is adopted to smoothly transfer driving authority when the vehicle is out of danger. The effectiveness of the proposed system is demonstrated in multi-lane highway scenarios.