Patent 9821801 was granted and assigned to Mitsubishi Electric Research Laboratories on November, 2017 by the United States Patent and Trademark Office.
A method for controlling a semi-autonomous vehicle modifies a current path for the vehicle desired by a driver of the vehicle. The current path starts at a current position of the vehicle and ends in a target position of the vehicle and the method modifies the current path while preserving the current position and the target position of the vehicle in the modified path. The method overrides the actions of the driver to control a movement of the vehicle according to the modified path.