In this paper a new negotiation model is introduced for the design of Advanced Driver Assistance Systems (ADAS). The objective is to establish an emancipated ADAS capable of cooperative decision making. This can be seen as a step from Shared Control to Cooperative Control. Due to the descriptive nature of negotiation theory of cooperative human decision processes, a high human user acceptance is expected if the ADAS is designed accordingly. However, conventional negotiation theory requires adaptation towards the ADAS context. The first extension enables the necessary consideration of a dynamical environment. The second extension is a new asynchronous negotiation protocol, allowing a more realistic human-machine interaction model. Furthermore a new opponent model is introduced to identify human negotiation behavior. This enables the ADAS to adapt itself during the interaction with the human driver, leading to potentially faster negotiations. Our simulation results show that a successful negotiation is possible with the proposed model, motivating further investigations in real applications.