  This paper presents the validation of shared control strategies for critical
maneuvers in automated driving systems. Shared control involves collaboration
between the driver and automation, allowing both parties to actively engage and
cooperate at different levels of the driving task. The involvement of the
driver adds complexity to the control loop, necessitating comprehensive
validation methodologies. The proposed approach focuses on two critical
maneuvers: overtaking in low visibility scenarios and lateral evasive actions.
A modular architecture with an arbitration module and shared control algorithms
is implemented, primarily focusing on the lateral control of the vehicle. The
validation is conducted using a dynamic simulator, involving 8 real drivers
interacting with a virtual environment. The results demonstrate improved safety
and user acceptance, indicating the effectiveness of the shared control
strategies in comparison with no shared-control support. Future work involves
implementing shared control in drive-by-wire systems to enhance safety and
driver comfort during critical maneuvers. Overall, this research contributes to
the development and validation of shared control approaches in automated
driving systems.
