In automated driving, the human driver and an automation form a joint human-machine system. In this system, each partner has her own individual cognitive as well as perceptual processes, which enable them to perform the complex task of driving. On different layers of the driving task, both, drivers and automation systems, assess the situation and derive action decisions. Although the processes can be divided between human and machine, and are sometimes very elaborate, the outcome should be a joint one because it affects the entire driver-vehicle system. In this paper, the individual processes for decision-making are defined and a framework for joint decision-making is proposed. Joint decision-making relies on common goals and norms of the two subsystems, human and automation, and evolves with experience.