# A Workload Adaptive Haptic Shared Control Scheme for Semi-Autonomous Driving

arXiv: https://arxiv.org/abs/2004.00167 · HTML: https://mlsanity.com/paper/2004.00167/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 31 Mar 2020.

## Built on by (most cited first, 1 of 1)

- [Toward Informed AV Decision-Making: Computational Model of Well-being and Trust in Mobility](https://mlsanity.com/paper/2505.14983/) (2025)

## Abstract (arXiv)

Haptic shared control is used to manage the control authority allocation between a human and an autonomous agent in semi-autonomous driving. Existing haptic shared control schemes, however, do not take full consideration of the human agent. To fill this research gap, this study presents a haptic shared control scheme that adapts to a human operator's workload, eyes on road and input torque in real-time. We conducted human-in-the-loop experiments with 24 participants. In the experiment, a human operator and an autonomy module for navigation shared the control of a simulated notional High Mobility Multipurpose Wheeled Vehicle (HMMWV) at a fixed speed. At the same time, the human operator performed a target detection task for surveillance. The autonomy could be either adaptive or non-adaptive to the above-mentioned human factors. Results indicate that the adaptive haptic control scheme resulted in significantly lower workload, higher trust in autonomy, better driving task performance and smaller control effort.