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.

翻译：横向辅助系统是当前高级驾驶辅助系统（ADAS）的重要组成部分。通常情况下，此类系统提供间歇性的音频和触觉反馈，而非持续反馈，这使得驾驶员难以形成清晰的认知模型。本文提出利用抬头显示器（HUD）提供持续视觉反馈，并结合方向盘触觉反馈，用于横向辅助系统。HUD将触觉反馈背后的风险分布进行可视化呈现。我们假设，所提出的可视化方案有助于形成清晰的认知模型，并提升系统接受度。我们开展了一项用户研究，在模拟的双车道高速公路上进行车辆驾驶实验，比较了带HUD可视化与不带可视化的触觉横向辅助系统。两种条件下的接受度得分均较高，但两者之间的接受度并无显著提高或降低。我们基于预期表现和用户的定性反馈，讨论了可视化方案的潜在改进方向。