d=LETransitions of control between automated driving systems and human drivers remain safety-relevant and cognitively demanding moments in human–automation interaction. Recent studies show that transition performance depends not only on takeover timing or response speed but also on traffic complexity, driver readiness, automation limitations, trust calibration, and situational-awareness recovery. As in-vehicle interaction evolves toward conversational and agentic AI assistance, takeover support also becomes a problem of governing how natural-language AI systems communicate with the driver under uncertainty.Transitions of control between automated driving systems and human drivers remain safety-relevant and cognitively demanding moments in human-automation interaction. Recent studies suggest that transition performance should not be assessed only through takeover timing or response speed since control resumption quality also depends on traffic complexity, driver readiness, automation limitations, and situational awareness recovery. d=LEThis paper proposes a digital-twin-mediated framework for human-aware takeover support in automated driving. In this framework, the companion AI is treated as an assumed LLM-based in-vehicle conversational or agentic assistant used as an advisory interaction component. The contribution is defined at the architectural level: human, vehicle, and context/road digital twins provide structured semantic state abstractions through a semantic state interface exposing confidence, freshness, provenance, and consistency metadata, while a trustworthy companion AI (TCAI) layer grounds, constrains, validates, and governs companion AI output proposals before HMI delivery.This paper motivates and defines a trustworthy companion AI (TCAI) layer for human-aware transition support in automated driving. The TCAI is conceived as a bounded, supervised, and explainable advisory agent that supports the driver without entering the safety-critical vehicle-control loop. It reasons over structured semantic state abstractions derived from a human digital twin, a vehicle digital twin, and a context/road digital twin, exposing driver readiness, automation capability, and contextual urgency in a form that supports traceable, uncertainty-aware, and degradation-aware assistance. d=LEBuilding on the research on driver-state monitoring, adaptive HMI, trust calibration, explainability, conversational assistance, and human assistance systems (HASs), the framework coordinates advisory interaction across vigilance support, contextual explanation, trust-calibrating communication, and directive handover guidance. The TCAI layer combines bounded reasoning, human-factor-derived guardrails, state-consistency management, dynamic explanation-depth control, trust-dynamics modeling, graded watchdog veto handling, mandatory access-control assumptions, and deterministic fallback. Safety-critical vehicle-control and minimum risk condition (MRC) functions remain assigned to the deterministic vehicle-control stack, while the authorized output path of the TCAI layer is validated HMI delivery.Building on the research on driver-state monitoring, adaptive HMI, trust calibration, explainability, and conversational assistance, we propose a conceptual architecture in which the TCAI coordinates multimodal assistance across different interaction conditions, including vigilance support, contextual explanation, trust-calibrating communication, and directive handover guidance. The companion does not actuate the vehicle; its outputs are constrained by runtime governance, policy enforcement, and deterministic fallback mechanisms. d=LEThe paper concludes with a validation agenda and technical roadmap covering planned transitions, urgent handovers, degraded or adversarial conditions, temporal fusion of driver-state evidence, phase-sensitive HMI policies, trust-calibration trajectories, driver veto and partial-disabling mechanisms, and staged simulator-to-vehicle evaluation. Although motivated by SAE Level 3 automation, the framework may also inform fallback-related Level 4 scenarios in which human and automated agency must be managed under uncertainty.The paper concludes with a research roadmap for validating the proposed architecture under planned transitions, urgent handovers, and degraded or adversarial conditions. Although motivated by SAE Level 3 automation, the approach may also inform fallback-related Level 4 scenarios.
Presta et al. (Wed,) studied this question.