Driver attention based predictive vehicle motion control

A vehicle comprising:

• a steering input;
• a driver monitoring system;
• a controlled electro-mechanical actuator;
• at least one external sensor in communication with the controller, wherein the external sensor is configured to identify at least one parameter extrinsic to the vehicle wherein the at least one parameter extrinsic to the vehicle includes at least one of an object, a road condition and a road direction;
• a controller in communication with the steering input and the driver monitoring system, the controller including a memory and a processor, the memory storing a driver command interpreter module and a vehicle motion control module;
• wherein the controller is configured to identify an intersection of a position of the at least on parameter extrinsic to the vehicle and the driver viewing direction, and wherein the controller is configured to identify a distracted condition when the intersection is not along a trajectory of the estimated upcoming vehicle maneuver;
• wherein the driver command interpreter module is configured to estimate an upcoming vehicle maneuver based at least in part on a commanded steering operation from the steering input and a driver viewing direction from the driver monitoring system;
• and
• determining a steering assist operation based on the estimated upcoming vehicle maneuver and the distracted condition and implementing the steering assist operation using the controlled electromechanical actuator.