The setup of the experiment on autonomous hando-vers. In a critical event which the car could not address, a handover to the driver was enforced (a). In non-critical events, a handover to the driver was requested (b),(c). When in au-tonomous mode (d), drivers were playing a tablet game (e). See also http://youtu.be/ni048BpTDG8 for a video of the ex-perimental setup