As the number of advanced driving assistance systems grows, there is an increasing number of interactions between the driver and the automated system of the vehicle. Requests to transfer control from the automated system to the driver, new information sources increasing driver workload, and safety-critical situations imply new challenges in the communication between the driver and the automated system. In this context, haptic feedback for steering-wheel control has proven to be a valuable strategy. This work aims to propose a novel description of the requirements needed for a driver-in-the-loop system capable of ensuring safety while providing haptic feedback to the driver. Furthermore, a set of haptic patterns for the steering wheel are proposed based on the described requirements, to be evaluated in future studies. As future steps of this study, a continuation of this study will be published focused on human centered factors of the driver.