Self-learning-based interpretation of driver's intent for evasive steering

An evasive steering assist (ESA) system for a vehicle, the ESA system comprising:

• a vehicle perception system configured to detect an object in a path of the vehicle;
• a steering system configured to receive steering input from a driver of the vehicle;
• one or more steering sensors configured to measure one or more steering parameters;
• and
• a controller configured to:
• determine one or more driver-specific threshold values for each of the one or more steering parameters;
• compare the measured one or more steering parameters to the one or more driver-specific threshold values;
• determine whether to enable an ESA feature of the vehicle based on the comparison of the measured one or more steering parameters to the one or more driver-specific threshold values;
• in response to enabling the ESA feature of the vehicle, command the steering system to overtake the detected object with the vehicle;
• and
• in response to the vehicle overtaking the detected object, update the one or more driver-specific threshold values.