“…MBIs include lateral control, longitudinal control, stopping the vehicle at a designated area [ 12 , 17 , 53 ], and rerouting the navigation [ 18 ]. NMBIs include requesting information (e.g., about an interesting building or available parking near the final destination) [ 12 , 17 , 53 ] which is then shown on the head-up display, the most preferred display [ 25 , 54 ], and controlling in-vehicle features, such as playing a video using the in-vehicle infotainment system [ 11 , 21 ], ( Table 2 ). Our proposed scenarios were parameterized in the perspective of driver intervention in the FAV to control vehicle movement (MBI) or for entertainment (NMBI).…”