Disclosed are methods and apparatuses for automated control of a movingvehicle. An alarm condition is detected,and in response to the alarm condition, the current radius of curvature of thevehicle is maintained. The radius of curvature maybe calculated by using data received from sensors. The alarm condition may bea result of the vehicle becoming unstable or theautomated navigation system malfunctioning. In response to operator controlinput, the vehicle is placed into a manual control state.
