There is auto-headlight ... setting on the the stalk .. which turns on the headlights at dusk time or when there is not enough ambient light (sensor is on the deck .. black button like thingy).
Then there is DRL, which turn on the high beam at 1/2 intensity when the engine is running and the headlights are not turned on (either auto or manual). DRL were introduced after it was determined that the number of accidents were reduced if the vehicle has lights on during the day .... similar to why the motorcycles have headlights on during day. Note DRL is for the other vehicles to spot your vehicle. Some like it and some hate it. If you dont like them, search for DRL disable.
DRL can be turned off by engaging the parking brakes.(then you can not drive
Owner's manual has the details.