  For mixed-initiative control between cyber-physical systems (CPS) and its
users, it is still an open question how machines can safely hand over control
to humans. In this work, we propose a concept to provide technological support
that uses formal methods from AI -- description logic (DL) and automated
planning -- to predict more reliably when a hand-over is necessary, and to
increase the advance notice for handovers by planning ahead of runtime. We
combine this with methods from human-computer interaction (HCI) and natural
language generation (NLG) to develop solutions for safe and smooth handovers
and provide an example autonomous driving scenario. A study design is proposed
with the assessment of qualitative feedback, cognitive load and trust in
automation.
