This paper proposes a Linear Parameter Varying (LPV) based steering control design method, which contains data aided control elements, e.g., learning-based agents. The framework is based on a supervisory control structure, which contains a supervisor, a LPV controller and the data aided control element. The goal of this paper is to provide a safe steering control, with which the human steering intervention can be effectively imitated. Moreover, in the proposed framework the data aided control can be adapted to the actual requirements on driving style, without re-designing the LPV control. Thus, a general control structure with performance guarantees on path following constraints is provided, in which the data aided steering control element can be varied. The effectiveness of the proposed method through driver-in-the-loop scenarios is illustrated, in which different settings on the control system are analyzed.