1. A method, comprising: determining a plurality of probability arrays, each probability array predicting a probability of a deviation from at least one of a planned vehicle direction, position, speed, and acceleration; developing an action probability factor indicating a probability that an action performed by a vehicle user was performed with intent to control a vehicle based at least in part on the plurality of probability arrays; and transitioning between levels of autonomous control, including an autonomous, a semi-autonomous, and a manual level, based at least in part on the action probability factor.