… will be required to intervene in automated driving. Human … I also present a method to
estimate rack force due to the driver’s … Likewise, the automation system was free to apply torque …

… are beginning to emerge in various interventions, automating … , eg tremor reduction and
movement scaling). Apparently, this … environment, eg the position and torque of the joint along a …

… for a steering based semi-autonomous collision avoidance system on a 1/10 th scale model
is … The semi-autonomous collision avoidance software is fully contained onboard a single-…

… systems for people with severe motor disabilities can be found in (Pinheiro et al., 2011). In
this section, we will discuss methods … It combines robot intelligence with human intelligence. …

… , requiring operator intervention only in emergency situations… gains were scaled in accordance
with the torque capabilities … Manual and SemiAutonomous—and four Interface Methods (…

… If the LKA requests intervention in a curve on the inner side of … a scaling factor α and a
scaled torque overlay request Tr,… , “Intelligent scaling of torque overlay for semi-autonomous …

… mechanisms or slight steering torque overlay when the vehicle … are scaled accordingly. Fig.
1 shows a block diagram of this … Semi-autonomous intervention was successfully shown to …

… has focused on intelligent vehicle navigation. Many warning, … mechanisms or slight steering
torque overlay when the vehicle … This “scaled intervention” allows for a smooth transition in …

… face is deciding when to intervene and how to cooperate with the … a full-scale driving simulator
on a VTT. The configuration of the full-… Borrelli, “Semi-autonomous vehicle control for road …

… a new approach to semi-autonomous vehicle hazard … haptic alerts [14] and steering torque
overlays [15] to help the … Questions were posed on a 5-point Likert scale and included, “How …