This paper considers the integrated control for driver assistance during lane keeping and obstacle avoidance maneuver. The proposed approach handles the driver activity, namely the torque, in order to provide progressive assistance intrusion. The design method allows addressing both underloaded and obverloaded situations. The model formulation uses the Takagi-Sugeno formalism which allows a design procedure ensuring stability performance for the whole nonlinear system. The obtained controller is successfully tested on lane keeping maneuvers.