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It is widely acknowledged that drivers should remain in the control loop of automated vehicles before they completely meet real-world operational conditions. This paper introduces an 'indirect shared control' scheme for steer-by-wire vehicles, which allows the vehicle control authority to be continuously shared between the driver and automation through unphysical cooperation. This paper first balances the control objectives of the driver and automation in a weighted summation, and then modelsarXiv:1704.00866v1 fatcat:tzp5qp2sqfhs5ny6ircycec5km