Are there take-over requests from autopilots?
I assume in your question the autopilot is engaged. When the auto-flight system reaches the limits of its capabilities it simply disconnects. On Boeing aircraft you get a
&gt; AUTOPILOT DISC

Warning Message on the EICAS and the siren sounds. Now it is all manual flying for the pilots.
An example would be turbulence exceeding the auto-flight system capabilities to maintain the intended trajectory.
After the question was clarified:
The big difference between flying and driving are

system redundancy - in an aircraft, everything important is available two times, the very important stuff even three times. If there is a technical problem system performance normally degrades accompanied with appropriate annunciations to the pilots.
the environment you are operating in - in the air there is no road to follow or you fall off a cliff. There are mountains, yes, but in cruise flight (similar to driving on the highway) where your vigilance is lower the mountains are below you. In the end, the airway is an imaginary thing. An imaginary line drawn between two waypoints. You won't crash (immediately) if you deviate from it. Even your surrounding traffic is miles away laterally. When the margin for error gets smaller pilots are way more vigilant. During departure/arrival/landing, even when flying fully automated, the concentration is fully on the aircraft. So deviations from the intended trajectory are noticed early and can be acted upon quickly. This even goes so far that with most commercial operators there is a sterile cockpit rule below 10,000 ft where there is no communication in the cockpit which is not relevant to the current situation.
the system sophistication - the feat car manufacturers are trying to accomplish is way bigger than an auto flight system for an airliner. The margins for error are way smaller, yet the precision needs to be way higher. In aircraft the autopilot is basically a glorified feedback loop. And even if the autopilot system fails spontaneously due to technical problems the aircraft initially keeps flying without any intervention and only slowly deviates from its current trajectory as aircraft are designed to be aerodynamically stable.
training of the operator (pilot/driver) - commercial pilots train for abnormal situations in full flight simulators every six months. Drivers, well, don't. Their last training was most probably when making their drivers license many years ago. Another thing is vigilance and planning ahead. Pilots are trained to anticipate what is coming next. You try to get a mental picture of the traffic around you and where conflicts may arise. And as your aircraft is moving typically pretty fast and there are no brakes you can slam you are flying in a rather defensive way.

And I even have a real world example where the auto flight system performed flawlessly yet human intervention was required:

What you see here is a blurry photo of the incorrect turn construction of a departure. The departure trajectory is supposed to be a left turn to the next waypoint (white star). The flight management system constructed a right 270° turn (magenta line) to match all the constraints of the waypoints (flyover, etc) where a 70° left turn would have been the correct behavior. The aircraft was flown manually to adhere to the departure procedure.
In this case no system degradation or warnings were present. You can see that the Flight Director (FD) on the PFD on the right commands a right turn (vertical magenta line). The autopilot simply follows FD commands and would therefore fly this (wrong) turn.