This paper presents a vehicle trajectory controller for an automated vehicle with mechanical steering system, capable of continuously switching from fully automated to human controlled driving. When the driver wishes to correct the controller trajectory, the parameters of the P.I. based controller are adapted to ease the maneuver. The driver is kept informed on the planned trajectory via an incentive torque on the driving wheel. Implementation on test vehicle shows that the controller guaranties a rapid and accurate control in fully automated driving mode even on sharp curvature roads, and a quick and safe control transfer to the human when requested.
