Effect of skill development of haptic shared control in backward parking assist

Advanced driver assistance systems (ADASs), such as parking assist, are widely used. ADASs have successfully reduced driver's workload. On the other hand, it is thought that it is important to improve the skill of the driver. The present study aims to establish a methodology for using an ADAS to achieve compatibility between decreasing the driver's workload and increasing the driver's skill. The present study focused on the assist system by haptic shared control (HSC) for backward parking maneuvers, which are considered to be a demanding task for novice drivers. The purpose of the present study was to investigate the effect of the HSC gain settings on the performance increase during and after the use of the system. First, we proposed a method to assist the driver's parking operation using the HSC. The proposed method displays torque around the steering wheel based on vehicle position feedback to reduce its error from the desired position, and steering angle feedback to reduce its error from the desired steering wheel angle, as determined by the preview driver model. Driving simulator experiments with various combinations of feedback gains demonstrated that skill improvements were achieved after and during the intervention when a higher gain is employed in the steering angle feedback term.