Objective Understanding the neural decision-making mechanisms of drivers during takeover in conditional autonomous driving is crucial for improving driver safety and performance. This study investigates how visibility and urgency affect the activation and interactions of key brain regions, including the middle temporal gyrus (MTG), fusiform gyrus (FG), middle occipital gyrus (MOG), precentral gyrus (PCG), and precuneus (PCu), which are involved in distance perception, visual recognition, color processing, motor planning, and memory retrieval.