Architectures for Shared Control of Vehicle Steering**The authors wish to acknowledge the financial support of the Automotive Research Center (ARC) under Cooperative Agreement W56HZV-04-2-0001 with the U.S. Army Tank Automotive Research, Development and Engineering Center (TARDEC) Warren, MI. Disclaimer: Reference herein to any specific commercial company, product, process, or service by trade name, trademark, manufacturer, or otherwise, does not necessarily constitute or imply its endorsement, recommendation, or favoring by the United States Government or the Department of the Army (DoA). The opinions of the authors expressed herein do not necessarily state or reect those of the United States Government or the DoA, and shall not be used fo