Most electronic systems that take on some driving tasks for humans don’t adequately make sure drivers are paying attention, and they don’t issue strong enough warnings or take other actions to make drivers behave, according to an insurance industry study published Tuesday.

Only one of 14 partially automated systems tested by the Insurance Institute for Highway Safety performed well enough to get an overall “acceptable” rating. Two others were rated “marginal,” while the rest were rated “poor.” No system received the top rating of “good.”

“Most of them don’t include adequate measures to prevent misuse and keep drivers from losing focus on what’s happening on the road,” said IIHS President David Harkey.