A computer-implemented method of stopping autonomous vehicle motion, comprising: obtaining, by one or more computing devices on-board an autonomous vehicle, data indicative of one or more parameters (202A-C) associated with the autonomous vehicle, wherein the autonomous vehicle is included in a pool of vehicles that are available to provide a vehicle transportation service to one or more users of the vehicle transportation service and is configured to provide the vehicle transportation service, wherein the one or more users are riders in the autonomous vehicle; determining, by the one or more computing devices, an existence of a fault associated with the autonomous vehicle based at least in part on the one or more parameters associated with the autonomous vehicle and a level of severity of the fault based on one or more characteristics of the fault; determining, by the one or more computing devices, actions to be performed by the autonomous vehicle based at least in part on the existence of the fault, wherein the actions comprise: stopping a motion of the autonomous vehicle and informing one or more of the users of the fault; providing, by the one or more computing devices, one or more control command signals to one or more of the systems on-board the autonomous vehicle to facilitate stopping the motion of the autonomous vehicle in response to the existence of the fault; providing, by the one or more computing devices, data indicative of the existence of the fault and/or the one or more characteristics of the fault for display via one or more display devices; and requesting a different vehicle from the pool of vehicles to provide the vehicle transportation service to the one or more users by providing, by the one or more computing devices to one or more remote computing devices (104; 130) associated with a service provider, data indicative of the request for the different vehicle to provide the vehicle transportation service to the one or more users. obtaining, by one or more computing devices on-board an autonomous vehicle, data indicative of one or more parameters (202A-C) associated with the autonomous vehicle, wherein the autonomous vehicle is included in a pool of vehicles that are available to provide a vehicle transportation service to one or more users of the vehicle transportation service and is configured to provide the vehicle transportation service, wherein the one or more users are riders in the autonomous vehicle; determining, by the one or more computing devices, an existence of a fault associated with the autonomous vehicle based at least in part on the one or more parameters associated with the autonomous vehicle and a level of severity of the fault based on one or more characteristics of the fault; determining, by the one or more computing devices, actions to be performed by the autonomous vehicle based at least in part on the existence of the fault, wherein the actions comprise: stopping a motion of the autonomous vehicle and informing one or more of the users of the fault; providing, by the one or more computing devices, one or more control command signals to one or more of the systems on-board the autonomous vehicle to facilitate stopping the motion of the autonomous vehicle in response to the existence of the fault; providing, by the one or more computing devices, data indicative of the existence of the fault and/or the one or more characteristics of the fault for display via one or more display devices; and requesting a different vehicle from the pool of vehicles to provide the vehicle transportation service to the one or more users by providing, by the one or more computing devices to one or more remote computing devices (104; 130) associated with a service provider, data indicative of the request for the different vehicle to provide the vehicle transportation service to the one or more users. stopping a motion of the autonomous vehicle and informing one or more of the users of the fault; providing, by the one or more computing devices, one or more control command signals to one or more of the systems on-board the autonomous vehicle to facilitate stopping the motion of the autonomous vehicle in response to the existence of the fault; providing, by the one or more computing devices, data indicative of the existence of the fault and/or the one or more characteristics of the fault for display via one or more display devices; and requesting a different vehicle from the pool of vehicles to provide the vehicle transportation service to the one or more users by providing, by the one or more computing devices to one or more remote computing devices (104; 130) associated with a service provider, data indicative of the request for the different vehicle to provide the vehicle transportation service to the one or more users.