This paper presents research into this transition. By taking into account the attentiveness of the driver, different strategies were evaluated in a simulator study to create an optimal transition given the situation at hand. The study concentrates on an automated platoon system ‘Virtual Tow Bar’. The results show that the differences among the tested conditions are small and no large trends are visible in either the subjective or the objective results. Hence it is concluded that the experiment should be repeated with a larger group naïve participants and probably more extreme parameter settings.