Abstract
This is a concept paper on a paradigm for how we share control when using a haptic shared control (HSC). This manuscript proposes a classification of the haptic shared control into two types; a direct haptic shared control (D-HSC) and an indirect haptic shared control (I-HSC). This study defines the conventional HSC as the D-HSC, such as a lane keeping assist system which shares one interface, a steering wheel, among a driver and a system. Moreover, it also proposes the I-HSC which equips an additional interface to prompt the driver to perform a proper driving maneuver. The haptic stimulus transmitted from the I-HSC system to the driver does not force his/her operation, just increases his/her readiness to avoid a collision. The driver can operate the interface against the suggested torque or force provided via another interface. This manuscript explains the features of the two types of HSCs by using some examples and discusses an ideal image of the driver-vehicle system to realize a better relationship.
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