A method for managing a hand-over from an Automated Driving System, ADS, to a driver of a vehicle, wherein the ADS comprises an ADS feature being associated with a first set of pre-cautionary constraints out of a plurality of pre-cautionary constraints imposed by a Pre-cautionary Safety, PCS, module while the ADS feature controls the vehicle, wherein the plurality of pre-cautionary constraints comprise a set of safety margins for lateral and longitudinal control of the vehicle, the method comprising: obtaining a request to deactivate the ADS feature; providing partial control of the vehicle to the driver in order to enable manual driver operation of the vehicle based on the obtained request, wherein the partial control comprises access to steering, acceleration, and braking of the vehicle while the PCS module imposes a second set of pre-cautionary constraints out of the plurality of pre-cautionary constraints for the driver while the driver has partial control of the vehicle; wherein the second set of pre-cautionary constraints comprises at least one of: a sub-set of pre-cautionary constraints of the first set of pre-cautionary constraints, a smaller number of pre-cautionary constraints than the first set of pre-cautionary constraints, and a higher threshold for at least one pre-cautionary constraint out of the first set of pre-cautionary constraints; the method further comprising: monitoring the manual driver operation of the vehicle for a time period; evaluating the monitored manual driver operation of the vehicle against the second set of pre-cautionary constraints during the time period, and: deactivating the second set of pre-cautionary constraints upon the expiry of the time period if the manual driver operation passes the evaluation, or providing control of the vehicle to the ADS if the manual driver operation fails the evaluation. obtaining a request to deactivate the ADS feature; providing partial control of the vehicle to the driver in order to enable manual driver operation of the vehicle based on the obtained request, wherein the partial control comprises access to steering, acceleration, and braking of the vehicle while the PCS module imposes a second set of pre-cautionary constraints out of the plurality of pre-cautionary constraints for the driver while the driver has partial control of the vehicle; wherein the second set of pre-cautionary constraints comprises at least one of: a sub-set of pre-cautionary constraints of the first set of pre-cautionary constraints, a smaller number of pre-cautionary constraints than the first set of pre-cautionary constraints, and a higher threshold for at least one pre-cautionary constraint out of the first set of pre-cautionary constraints; a sub-set of pre-cautionary constraints of the first set of pre-cautionary constraints, a smaller number of pre-cautionary constraints than the first set of pre-cautionary constraints, and a higher threshold for at least one pre-cautionary constraint out of the first set of pre-cautionary constraints; the method further comprising: monitoring the manual driver operation of the vehicle for a time period; evaluating the monitored manual driver operation of the vehicle against the second set of pre-cautionary constraints during the time period, and: deactivating the second set of pre-cautionary constraints upon the expiry of the time period if the manual driver operation passes the evaluation, or providing control of the vehicle to the ADS if the manual driver operation fails the evaluation. monitoring the manual driver operation of the vehicle for a time period; evaluating the monitored manual driver operation of the vehicle against the second set of pre-cautionary constraints during the time period, and: deactivating the second set of pre-cautionary constraints upon the expiry of the time period if the manual driver operation passes the evaluation, or providing control of the vehicle to the ADS if the manual driver operation fails the evaluation. deactivating the second set of pre-cautionary constraints upon the expiry of the time period if the manual driver operation passes the evaluation, or providing control of the vehicle to the ADS if the manual driver operation fails the evaluation.