US Patent 11364929 Systems and methods for shared control of a vehicle

System, methods, and other embodiments described herein relate to selectively intervening in manual control of a vehicle by a driver. In one embodiment, a method includes predicting a future state of the vehicle according to at least a current state and a control input. The current state defines at least one attribute of a current trajectory of the vehicle, and the control input defines at least one driver input for controlling the vehicle. The method includes comparing the future state with a state constraint indicating a range within which a target path of the vehicle is acceptable. The target path defines a subsequent trajectory for the vehicle. The method includes selectively modifying the target path according to whether the future state violates the state constraint. The method includes controlling the vehicle according to the target path.