— Automated functions for real scenarios have been increasing in last years in the automotive industry. Many research contributions have been done in this field. However, other problems have come to the drivers: When should they (the drivers or the new automated systems) be able to take control of the vehicle? This question has not a simple answer; it de-pends on different conditions, such as: the environment, driver condition, vehicle capabilities, fault tolerance, among others. For this reason, in this work we will analyze the acceptability to the ADAS functions available in the market, and its relation with the different control actions. In this paper a survey on arbitration and control solutions in ADAS is presented. It will allow to create the basis for future development of a generic ADAS control (the lateral and longitudinal behavior), based on the integration of the application request, the driver behavior and driving conditions in the framework of the DESERVE project (DEvelopment platform for Safe and Efficient dRiVE 1 , a ARTEMIS project 2012-2105). The main aim of this work is to allow the development of a new generation of ADAS solutions where the control could be effectively shared between the vehicle and the driver. Different solutions of shared control have been analyzed. A first approach is proposed, based on the presented solutions.