A control system and method of operating a vehicle having an active driver assistance system includes receiving, from a steering wheel torque sensor, a measured torque applied to a steering wheel of the vehicle by a driver of the vehicle, obtaining a steering torque request for an active steering feature of the active driver assistance system, determining a steering torque request limit for the active steering feature based on the measured steering wheel torque, wherein an increase in the steering wheel torque corresponds to a decrease in the steering torque request limit and vice-versa, limiting the steering torque request based on the steering torque request limit, wherein the limited steering torque request is greater than zero, and commanding a steering actuator as part of the active steering feature based on the limited steering torque request, the steering actuator being configured to control steering of the vehicle.