摘要：This article introduces a functional architecture of an automated driving system defined by taking into account the theoretical knowledge on the driving task modeling and the principles of humanmachine cooperation. The necessary functionalities to ensure the interaction and cooperation between the system and the driver who share the driving task on the operational, tactical and strategic levels were gathered. A multi-level cooperative interaction concept to continuously share control between the driver and the system is introduced. The architecture modules have been implemented and tested in an experiment on a driving simulator with an expert driver. Results show an improved interaction with the driver thanks to the continuous and dynamic interference management.
