A variety of methods, systems, devices and arrangements are implemented for automated assistance for a driver. One such method relates to a synergistic combination of automation and human control for a motor vehicle traveling on a lane, thereby allowing human-based decisions to be supplement (or be supplemented by) automated decisions. Specific aspects facilitate maintenance of the vehicle on the lane. The vehicle is automatically steered towards a lateral offset within the vehicle lane. Steering input from the driver results in changes to this lateral offset. This modification of the lateral offset can be used to allow the driver to follow any trajectory parallel to the road, including trajectories where the vehicle is not centered within the lane.