The paper proposes the design of a vehicle control system which is able to follow a predefined road trajectory required by the driver with a steering command and a speed command. While the driver reduces the lateral error from the desired path, the control system focuses on the minimization of the yaw rate error. The vehicle maneuvers are supported by two control signals, i.e., the brake yaw moment and the auxiliary steering angle. The interaction between the vehicle and the driver is also built in the control design. The driver models, which describe the driver behaviours and activities, are based on both theoretical considerations and hardware-in-the-loop simulations. The operation of the driver assistance system is illustrated through different vehicle maneuvers.