Recent research efforts on automated driving reveal the need to address driver’s interaction with vehicle automation. This paper focuses on the design of an override mode for automated driving systems, a topic little studied in literature. In this paper, a shared control framework for driver’s override of automatic steering control is proposed. This framework formulates the control transfer between the driver and the system as a constrained optimization problem which is solved online by a model predictive controller. At a higher level in the framework, the system detects driver’s lane-change intention so that the low-level controller can actively assist the driver in a lane-change maneuver. The whole framework was evaluated in a user test based on a driving simulator. The test results show that the proposed shared control framework has the advantage of allowing the driver to regain control with ease while ensuring the smoothness of control transition.