"The driver is still responsible for, and ultimately in control of, the car. What's more, you always have intuitive access to the information your car is using to inform its actions," Tesla said in a statement in October when it first released Autopilot.
The Autopilot system is designed to sense if your hands are on the wheel. If a you haven't touched the steering wheel in awhile it will alert you visually and audibly to take control.
If you still don't take control, the car will begin to slow itself down.