Conflicts between the driver and systems for automated steering are important issues that affect the safety of the driver and the acceptability of the system. This paper presents a new framework for shared lateral control on highway driving using trajectory planning. The core idea of this work is to account for the driver’s steering torque in the trajectory planning level in order to adjust the system’s desired trajectory in a way that better suits the driver intention. By doing so, the system would strive towards the position aimed by the driver thus helping him to swerve within the lane with reduced effort and conflicting torques. The advantage of the proposed approach is demonstrated on a driving simulator study with a scenario of avoiding obstacles undetected by the system.