In this paper, we aim to develop a shared control framework wherein the control authority is dynamically allocated between the human operator and the automation system. To this end, we have defined a shared control paradigm wherein the blending mechanism uses the confidence between a human and co-robot to allocate the control authority. To capture the confidence between the human and robot, qualitatively, a simple-but-generic model is presented wherein the confidence of human-to-robot and robot-to-human is a function of the human’s performance and robot’s performance. The computed confidence will then be used to adjust the level of autonomy between the two agents dynamically. To validate our novel framework, we propose case studies in which the steering control of a semi-automated system is shared between the human and onboard automation systems. The numerical simulations demonstrate the effectiveness of the proposed shared control paradigms.