关键词：人为干涉控制系统；半自治控制器；汽车驾驶员
摘 要：In this paper, we present a formalism for human-in-the-loop control systems.Particularly, we focus on the problem of synthesizing a semi-autonomous controller from high-level temporal specifications that expect occasional human intervention for correct operation. We present an algorithm for this problem, and demonstrate its operation on problems related to driver assistance in automobiles.