automatically transition a vehicle between multiple operational modes without initiation by a driver of the vehicle, the operational modes including a hands-off autonomous driving mode in which the processor controls lateral steering of the vehicle while the driver is not required to hold a steering wheel of the vehicle, a hands-on driving assistance mode in which the processor controls the lateral steering of the vehicle while the driver is required to hold the steering wheel, and a no control mode in which the driver controls the lateral steering of the vehicle with the steering wheel, wherein the automatic transition between the operational modes of the vehicle is based on sensed driver activity and vehicle dynamics, wherein the hands-off autonomous driving mode is prioritized over the hands-on driving assistance mode and the hands-on driving assistance mode is prioritized over the no control mode;

display a first notification on a human-machine-interface of the vehicle in response to at least one of the operational modes being active; and

display a second notification on the human-machine-interface of the vehicle in response to at least one of the operational modes being not available;

operate the vehicle in the hands-on driving assistance mode by automatically activating a hands-on lane centering assistance mode without initiation by the driver, wherein the hands-on lane centering assistance mode is configured to control, while active, the lateral steering of the vehicle to direct the vehicle toward a center of a lane of a road on which the vehicle is traveling; and

automatically transition into the no control mode and a lane departure warning mode without initiation by the driver in response to the hands-off autonomous driving mode and the hands-on driving assistance mode both being unavailable, wherein the lane departure warning mode is configured to generate a warning in response to determining that the vehicle is likely to unintentionally exit the lane of the road.