A method comprising: determining that an evasive steering assist, ESA, of a host vehicle is providing an ESA steering input to the host vehicle to avoid a collision with a target; determining a manual steering input to the host vehicle provided by a driver of the host vehicle; determining an expected steering angle provided by the ESA steering input to the host vehicle; determining a manual steering torque applied by the driver to a steering column of the host vehicle; determining an additional steering angle provided by the driver relative to the ESA steering input based on a difference between the manual steering input and the expected steering angle; calculating a score based on the additional steering angle and the manual steering torque, the score quantifying an amount of additional steering input provided by the manual steering input relative to the ESA steering input; determining whether the score meets a first threshold for modifying the ESA steering input; determining whether the score meets a second threshold that is higher than the first threshold for cancelling the ESA steering input; responsive to the score not meeting the first threshold, maintaining the ESA steering input; responsive to the score meeting the first threshold but not meeting the second threshold, adjusting, based on the additional steering angle, of the ESA steering input to provide a different ESA steering input than the ESA steering input prior to adjustment; and responsive to the score meeting the second threshold, cancelling the ESA steering input and allowing the driver to manually steer the host vehicle. determining that an evasive steering assist, ESA, of a host vehicle is providing an ESA steering input to the host vehicle to avoid a collision with a target; determining a manual steering input to the host vehicle provided by a driver of the host vehicle; determining an expected steering angle provided by the ESA steering input to the host vehicle; determining a manual steering torque applied by the driver to a steering column of the host vehicle; determining an additional steering angle provided by the driver relative to the ESA steering input based on a difference between the manual steering input and the expected steering angle; calculating a score based on the additional steering angle and the manual steering torque, the score quantifying an amount of additional steering input provided by the manual steering input relative to the ESA steering input; determining whether the score meets a first threshold for modifying the ESA steering input; determining whether the score meets a second threshold that is higher than the first threshold for cancelling the ESA steering input; responsive to the score not meeting the first threshold, maintaining the ESA steering input; responsive to the score meeting the first threshold but not meeting the second threshold, adjusting, based on the additional steering angle, of the ESA steering input to provide a different ESA steering input than the ESA steering input prior to adjustment; and responsive to the score meeting the second threshold, cancelling the ESA steering input and allowing the driver to manually steer the host vehicle.