Driverless shuttles are becoming one of the most promising applications of automated vehicle technologies in the short term. For a real system deployment, passenger's acceptance on the shuttle performance will play a key role. This paper presents a passenger-centered control algorithm design for increasing passenger's ride quality. Controllers with different performance but properly following the reference are developed for lane-level autonomous navigation. The whole solution has been implemented and tested in a real vehicle, using a roundabout as use-case scenario, providing encouraging results.