It seems like there is a need to merge control loops. Humans have sensory input, a model of the situation, and react to all that. So also automated driving or driving assistance machines have input, a model, and reactions. Instead of having these systems compete, they could interact. Instead of simply slamming on the brakes or beeping loudly the automated system could display its current inputs and model of the world so that it would be easy to see if the issue were in front, to the side, or in the rear and what physical objects may be involved. Instead of competing for control of the vehicle cooperate to present the best sensory input, analysis, and modeling and have the driver and vehicle negotiate all that in order to control the vehicle in the best way.