A method comprising: receiving a transition indication from a processor, to switch a semi-autonomous vehicle from a driving mode to another driving mode while a driver is driving the vehicle on a roadway, wherein the driving modes include an autonomous lane keeping mode, an autonomous lane change mode and a manual mode; using the processor that is configured to in response to receiving the transition indication, using, protocol data to assess (i) a status of the vehicle's environment, (ii) a vehicle state of the vehicle, and (iii) systems of the vehicle; selecting, a set of pre-defined transition conditions from a plurality of pre-defined transition conditions that correspond uniquely to the vehicle's state, based on one or more of the assessments; determining, whether a switch between driving modes has been initiated by the driver, by verifying if the vehicle's state satisfies the set of pre-defined transition conditions, in order to validate if the driver actuated the vehicle into or out of a safety region; generating, a set of displays, based on the determination whether the driver actuated the vehicle into or out of the safety region; selecting, as a first display of the set of displays based on a priority of the displays, if the driver actuated the vehicle into the safety region, or selecting a second display, if the driver actuated the vehicle out of the safety region; displaying either the first display or the second display to the driver, that results in either confirming the transition indication or initiating switching the vehicle from a manual driving mode to an autonomous driving mode, wherein the driver is capable of achieving all transitions between driving modes, via manual control of the vehicle, by moving a steering wheel attached to a rack of the vehicle, in order to actuate the vehicle into a vehicle state resulting in a transition between driving modes. receiving a transition indication from a processor, to switch a semi-autonomous vehicle from a driving mode to another driving mode while a driver is driving the vehicle on a roadway, wherein the driving modes include an autonomous lane keeping mode, an autonomous lane change mode and a manual mode; using the processor that is configured to in response to receiving the transition indication, using, protocol data to assess (i) a status of the vehicle's environment, (ii) a vehicle state of the vehicle, and (iii) systems of the vehicle; selecting, a set of pre-defined transition conditions from a plurality of pre-defined transition conditions that correspond uniquely to the vehicle's state, based on one or more of the assessments; determining, whether a switch between driving modes has been initiated by the driver, by verifying if the vehicle's state satisfies the set of pre-defined transition conditions, in order to validate if the driver actuated the vehicle into or out of a safety region; generating, a set of displays, based on the determination whether the driver actuated the vehicle into or out of the safety region; selecting, as a first display of the set of displays based on a priority of the displays, if the driver actuated the vehicle into the safety region, or selecting a second display, if the driver actuated the vehicle out of the safety region; displaying either the first display or the second display to the driver, that results in either confirming the transition indication or initiating switching the vehicle from a manual driving mode to an autonomous driving mode, in response to receiving the transition indication, using, protocol data to assess (i) a status of the vehicle's environment, (ii) a vehicle state of the vehicle, and (iii) systems of the vehicle; selecting, a set of pre-defined transition conditions from a plurality of pre-defined transition conditions that correspond uniquely to the vehicle's state, based on one or more of the assessments; determining, whether a switch between driving modes has been initiated by the driver, by verifying if the vehicle's state satisfies the set of pre-defined transition conditions, in order to validate if the driver actuated the vehicle into or out of a safety region; generating, a set of displays, based on the determination whether the driver actuated the vehicle into or out of the safety region; selecting, as a first display of the set of displays based on a priority of the displays, if the driver actuated the vehicle into the safety region, or selecting a second display, if the driver actuated the vehicle out of the safety region; displaying either the first display or the second display to the driver, that results in either confirming the transition indication or initiating switching the vehicle from a manual driving mode to an autonomous driving mode, wherein the driver is capable of achieving all transitions between driving modes, via manual control of the vehicle, by moving a steering wheel attached to a rack of the vehicle, in order to actuate the vehicle into a vehicle state resulting in a transition between driving modes.