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The paper deals with the design of lateral shared vehicle control taking into account the interaction between the driver and the assistance system. The shared control system is designed in such a way to ensure a good transfer of the control authority without generating negative interference. For that a driver model that allows making valid predictions on the driver behaviour is integrated in the design process of the controller. In order to avoid complex conflict situations such as during lane change maneuver, a decision making algorithm for the control authority shifting is also proposed and implemented. Experimental results provided in the paper, using interactive simulator, show the effectiveness of the approach to ensure shared lateral vehicle control.Index Terms-human-machine cooperation, lateral shared control, active safety systems, driver-vehicle interaction, lane keeping assist systems.

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