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This paper presents a first approach for a haptic human-machine interface combined with a novel lane-keeping and collision-avoidance assistance system approach, as well as the results of a first exploration study with human test drivers. The assistance system approach is based on a potential field predictive path planning algorithm that incorporates the drivers wishes commanded by the steering wheel angle, the brake pedal or throttle, and the intended maneuver. For the design of the haptic human-machine interface the assistance torque characteristic at the handwheel is shaped and the path planning parameters are held constant. In the exploration, both driving data as well as questionnaires are evaluated. The results show good acceptance for the lane-keeping assistance while the collision avoidance assistance needs to be improved.