A controller can include an electronic processor unit configured to control the driving direction of a vehicle within a lane based on a first trajectory. The controller can be operable to receive a user input for directing the vehicle along a second trajectory that is different from the first trajectory, determine third trajectory data by at least comparing data associated with the first trajectory to data associated with the second trajectory, and output a control signal for controlling, using the electronic processor unit, the driving direction of the vehicle. The control signal can be based at least on the third trajectory data.