Conflict Simulation for Shared Autonomy in Autonomous Driving

We present a tool for modeling conflict situations that enables simulation and testing of situation awareness in shared autonomy, in this case in an autonomous driving scenario. The flexibility of the tool allows definition of new conflict situations, integration with various control and conflict detection systems, as well as customization of Takeover Request (TOR) signals and different means of communication to the human operator. We start with one particular conflict situation - loss of lane markings, for which we demonstrate a simple conflict detection system. We conduct a preliminary user evaluation, which provides useful insights about the usability of the tool. The feedback from the participants indicates that TORs without indication feel uncomfortable and providing explicit information about the conflict situation is necessary when switching to manual control is required.