Navigating through human crowds is a challenging task for autonomous and semi-autonomous vehicles. In this extended abstract, we propose the exploration of two interaction bridges: 1) between the navigator and user; 2) between the wheelchair (and user) and the public/pedestrians. By further exploring these two bridges we argue that interaction between the user and the wheelchair can become more intuitive, utilizing more efficient feedback strategies. Our preliminary analysis in shared-control wheelchairs could potentially be extended to shared-control robots and semi-autonomous vehicles.