A system and method of transitioning control of a vehicle from an autonomous control state to a manual control state is provided. A transition point is determined at which control of the vehicle changes from the autonomous control state to the manual control state. At least one task is presented to a driver in advance of the transition point. Whether the response of the driver to the at least one task indicates preparedness of the driver is determined. Control of the vehicle is transitioned from the autonomous control state to the manual control state when the driver is determined to be prepared. The transition from the autonomous control state to the manual control state is prevented when the driver is determined to not be prepared.