In response to the complexities and dynamically changing nature of modern driving environments, the development of human-vehicle collaboration theories and technologies within intelligent cockpits has garnered significant attention. To achieve natural and efficient completion of driving tasks, this chapter explores human–machine complementarity within collaborative mixed intelligence from the perspective of human-centered AI. First, the concepts, characteristics, and key theoretical models of human-vehicle collaborative driving are systematically reviewed. Next, from the perspective of collaborative perception, understanding, prediction, decision-making, and control-related cognitive activities, the theoretical models and interaction mechanisms of human-vehicle collaborative driving systems are analyzed. Design strategies for effective human-vehicle interaction are refined and supplemented with relevant case studies. Finally, the chapter identifies key challenges, this chapter proposes a conceptual framework of human-centered collaborative automated driving and outlines future research directions for human-vehicle collaborative automated driving, aiming to advance the field’s development.