Driver behavior and the use of automation in real-world driving

•While partial-automation is widely used, drivers frequently takeover control.•Driver-initiated TOCs are not necessarily related to immediate risk mitigation.•Driver-initiated TOCs follow the hierarchical model of driver behavior.•TOCs are part of the Strategic, Maneuver, and Control levels of decision making.•Strategic, Maneuver, and Control TOCs have distinct kinematics, modality, and duration.