Yes. That's been much studied in the aviation community.[1] NASA has the Multi-Attribute Test Battery to explicitly study this.[2] It runs on Windows with a joystick, and is available from NASA. The person being tested has several tasks, one of which is simply to keep a marker on target with the joystick as the marker drifts. This simulates the most basic flying task - flying straight and level. This task can be put on "autopilot", and when the marker drifts, the "autopilot" will simulate moving the joystick to correct the position.

But sometimes the "autopilot" fails, and the marker starts drifting. The person being tested is supposed to notice this and take over. How long that takes is measured. That's exactly the situation which applies with Tesla's "autopilot".

There are many studies using MATB. See the references. This is well explored territory in aviation.

[1] http://web.ics.purdue.edu/~archerj/Course%20Deliverables/IE%... [2] https://matb.larc.nasa.gov/software/