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Automated vehicles will still remain the form of human-vehicle cooperation in the foreseeable future. Switched cooperative driving mode makes improvements on preventing drivers from being out-of-the-loop by having them assume manual control at periodic intervals. This paper studies driving mode switching strategy under different communication topologies, which could be applied to different situations within the current traffic infrastructure, and proposes new switching strategies considering predecessor-following topology, leader-following topology, and leader-predecessor-following topology. The strategies could guarantee the driver's driving time, then avoid fatigue and distraction caused by excessive automatic driving time.

CPS-Based Human-Vehicle Co-Pilot Switching Strategy Under Different Information Flow Topologies