Abstract: A control device for controlling a controlled system, such as steering, braking or accelerating when driving a car, as well other operations for other vehicles or systems, includes an automatic control system that generates automatically generated control signals, a haptic control command input device generates manual control command inputs, and an arbitration unit which resolves disputes between the automatically generated signals and the manual control command inputs. The haptic control generates control signals that depend on both the automatically generated control signals and the manual control command inputs, and adjustments are made continuously therebetween using rule based feed back control signals. Arbitration is performed in the dead spaced of the controlled system or the haptic control command input device.

Abstract: A control device (1) has an automatic control command system (2) for the automatic generation of control signals (SA), a haptic control command input device (3) which is connected to the automatic control command system (2) and has at least one actuator (5) for operating the control command input device (3) in dependence on the automatically generated control signals (SA) and at least one sensor (6) for detecting manual control command inputs (SM) by manual operation of the control command input device (3), an arbitration unit (4) for generating control signals (SR) which are conducted to a controlled system (7) following the arbitration unit (4), in dependence on the automatically generated control signals (SA) and the manual control command inputs (SM), The arbitration unit (4) is set up in order, in the case of mutually contradictory or overriding manual control command inputs (SM) and automatically generated control signals (SA), to continuously adjust to one another, within an arbitration phase sel