A method of providing a scenario-based overlay torque request signal in a steer torque manager during driver-override of an auxiliary steering assistance system function in a road vehicle having an electrical power assisted steering system, the steer torque manager having: a wheel angle controller for providing an assistance torque request related signal from an auxiliary steering assistance system function overlay torque request and a torque request from the electrical power assisted steering; a driver-in-the-loop functionality for determining driver-override of the auxiliary steering assistance system function through considering both a current steering wheel torque and a weighted average of a measured steering wheel torque over the last couple of seconds and providing a driver-override related signal, the method comprising: receiving the assistance torque request related signal; receiving the driver-override related signal; receiving a road vehicle velocity related signal; receiving a steering pinion angle related signal; receiving a signal representative of a distance to an adjacent lane marker; receiving a signal representative of a distance to an adjacent potential threat object; producing from the received signals, when the driver-override related signal indicates ongoing driver-override, a signal representative of a resistance torque request corresponding to one of a finite number of pre-defined scenarios for different signal combinations; producing, by the steer torque manager, the scenario-based steering wheel overlay torque request signal through combining the assistance torque request signal and the resistance torque request signal. the steer torque manager having: a wheel angle controller for providing an assistance torque request related signal from an auxiliary steering assistance system function overlay torque request and a torque request from the electrical power assisted steering; a driver-in-the-loop functionality for determining driver-override of the auxiliary steering assistance system function through considering both a current steering wheel torque and a weighted average of a measured steering wheel torque over the last couple of seconds and providing a driver-override related signal, a wheel angle controller for providing an assistance torque request related signal from an auxiliary steering assistance system function overlay torque request and a torque request from the electrical power assisted steering; a driver-in-the-loop functionality for determining driver-override of the auxiliary steering assistance system function through considering both a current steering wheel torque and a weighted average of a measured steering wheel torque over the last couple of seconds and providing a driver-override related signal, the method comprising: receiving the assistance torque request related signal; receiving the driver-override related signal; receiving a road vehicle velocity related signal; receiving a steering pinion angle related signal; receiving a signal representative of a distance to an adjacent lane marker; receiving a signal representative of a distance to an adjacent potential threat object; producing from the received signals, when the driver-override related signal indicates ongoing driver-override, a signal representative of a resistance torque request corresponding to one of a finite number of pre-defined scenarios for different signal combinations; producing, by the steer torque manager, the scenario-based steering wheel overlay torque request signal through combining the assistance torque request signal and the resistance torque request signal. receiving the assistance torque request related signal; receiving the driver-override related signal; receiving a road vehicle velocity related signal; receiving a steering pinion angle related signal; receiving a signal representative of a distance to an adjacent lane marker; receiving a signal representative of a distance to an adjacent potential threat object; producing from the received signals, when the driver-override related signal indicates ongoing driver-override, a signal representative of a resistance torque request corresponding to one of a finite number of pre-defined scenarios for different signal combinations; producing, by the steer torque manager, the scenario-based steering wheel overlay torque request signal through combining the assistance torque request signal and the resistance torque request signal.