Before attaining full autonomy by autonomous vehicles, impact of human interference is significant while achieving full automated driving system. Thus, it creates a fundamental challenge to have a safe and smooth takeover by the driver from the automated system until vehicles are completely autonomous. In this paper, we study two strategies for taking control of autonomous freight vehicle. First being the haptic takeover control method in which drivers cognitive workload and drivers readiness is evaluated during the Take Over Request (TOR). In the haptic takeover feedback, the process overcomes challenges in driver-automation collaboration during handover transitions between human and automated vehicles. In the second strategy, we analyze the need for Take Over Request, system behaviour during the Take Over-Request phasehow the system should react during a TOR phase, and the procedures that should be followed during the TOR to have a safe and comfortable take over the transition.