Transition Management Between an Autonomous Vehicle and a Real Human Driver, in a Context of Take-Over Request

This paper presents a new shared lateral control approach to deal with the transition management between human driver and autonomous system. The objective of this is realize smooth safe switching two agents steering inputs during lane keeping maneuver. different driving modes including system are detailed. Two defined. acts on vehicle's control. consists longitudinal controller developed based Super Twisting Sliding Mode (STSM) approach. Then, authority allocation performed using mixing that permits fusion via parameter. To do that, coordinator decision algorithm for parameter determination. Finally, validation proposed done “SCANeR Studio” (OKtal) professional simulator in-the-loop through “Logitech G29” wheel scenarios.