  Semi-autonomous vehicles are increasingly serving critical functions in
various settings from mining to logistics to defence. A key characteristic of
such systems is the presence of the human (drivers) in the control loop. To
ensure safety, both the driver needs to be aware of the autonomous aspects of
the vehicle and the automated features of the vehicle built to enable safer
control. In this paper we propose a framework to combine empirical models
describing human behaviour with the environment and system models. We then
analyse, via model checking, interaction between the models for desired safety
properties. The aim is to analyse the design for safe vehicle-driver
interaction. We demonstrate the applicability of our approach using a case
study involving semi-autonomous vehicles where the driver fatigue are factors
critical to a safe journey.
