A system includes a controller comprising at least one processor coupled to a memory storing instructions that, when executed by the at least one processor, cause the at least one processor to perform operations comprising: receiving information indicative of operation of the vehicle and of a driving condition for the vehicle; determining that a speed of the vehicle is less than a target speed for the vehicle based on the received information; determining, in response to the determination that the speed is less than the target speed, that the lane change and takeover event is at least one of feasible or efficient based on the received information; and providing, in response to the determination regarding the lane change and takeover event, a notification.