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The research presented in this paper focuses on the design of a driver support system for the manual longitudinal control of a car during car-following. The aim of the design was to develop a system that would cooperate with the driver in comfortably maintaining (safe) separation with a lead vehicle. Three important design issues for a haptic gas pedal feedback system can be distinguished: 1) quantification of intervehicle separation parameters; 2) the type of haptic feedback; and 3) the relation between haptic feedback and intervehicle separation. Because of the inverse relationship between time-to-contact (TTC) and time-headway (THW)-the smaller the THW, the more important the avoidance of high TTC-THW should act as an amplifier for the haptic gas pedal feedback based on TTC. Using gas pedal stiffness feedback is expected to better facilitate the manual control of intervehicle separation changes, quantified …