A Conceptual Framework for Coordination in Human-Automated Vehicle (AV) Teaming: Structural Dimensions and Implications

Human-automated vehicle (AV) interaction can be understood as a form of teaming because safe driving often depends on coordinated contributions from both the driver and automation. Although AVs are often framed as reducing human involvement, many dynamic scenarios still require drivers and automated systems to coordinate roles, exchange situation-relevant information, and adapt actions over time. This paper introduces a conceptual framework for understanding coordination in human-AV teaming. The framework identifies five structural conditions that shape coordination during automated driving: task interdependence, role clarity and fluidity, mutual awareness, information timing and alignment, and conflict detection and resolution. These dimensions are illustrated using an AV takeover scenario in which the automated system reaches its operational limit and the driver must resume control. The framework highlights that safe transitions require more than a warning or control handoff; they depend on timely information, clear responsibilities, mutual awareness, and conflict management.