  Lateral assistance systems are a significant part of the currently existing
Advanced Driving Assistance System (ADAS). In most cases, such systems provide
intermittent audio and haptic feedback rather than continuous feedback, making
it difficult for drivers to form a clear mental model. In this paper, we
propose continuous visual feedback for the lateral assistance system by
leveraging the Head-Up Display (HUD) alongside haptic feedback through the
steering wheel. The HUD provides visualization of the risk profile underlying
the haptic feedback. We hypothesize that our proposed visualization helps form
a clear mental model and improves the system's acceptance. We conduct a user
study on a simulated version of a car driving on a two-lane freeway and compare
the haptic lateral assistance system with and without the visualization on the
HUD. While both conditions received high acceptance scores, there was no
significant gain or deterioration in acceptance between them. We discuss
potential improvements in the visualization based on anticipation performance
and qualitative feedback from users.
