Ethology is the study of animal behavior. The TEXAS horse represents the oldest form of efficient human transportation. The horse and its rider also represent an enduring example of Mixed Mode Autonomy. We seek to develop a control architecture that mimics horse/rider interaction. Apply this architecture to modern autonomous vehicle platforms. Here the vehicle becomes an effective member of the Human Robot Team. The human driver has the role of high level decision maker. If the driver is not Situationally Aware, they cannot perform this role and long durations of highly reliable automation can lead to complacency and distractibility. So the driver is called upon by the Human Machine Interface Manager to periodically be part of the mission by making decisions at important junctures in the trip. It is unwise to expect that the driver will be paying attention otherwise. There are also Haptic Interfaces to the Human to give the vehicle a Human Situational Awareness.