Methods and systems for a unified driver override for path based automated driving assist under external threat

A system for controlling steering of an autonomous vehicle, comprising:

• a non-transitory computer readable medium comprising computer instructions configured to perform a process;
• and
• a processor, configured to perform the process, the process comprising:
• operating, by the processor, the autonomous vehicle in a path-based automated driving assist mode;
• receiving, by the processor:
• driver input data including a driver steering torque direction, and a turn switch direction;
• and
• threat data;
• classifying, by the processor, an operation mode based on a type of the path-based automated driving assist mode, the turn switch direction, the driver steering torque direction, and a lateral side location of a threat, indicated by the threat data;
• determining, by the processor, an override threshold for overriding the path-based automated driving assist mode for a first lateral side of the autonomous vehicle based on the classified operation mode;
• determining, by the processor, a driver override status based on the override threshold;
• and
• generating, by the processor, control signals to control the steering of the autonomous vehicle based on the driver override status and the driver steering torque direction.