System for autonomously or partially autonomously driving a vehicle, the system comprising: at least one sensing means for physically sensing an environment of the vehicle, representation generation means configured to accumulate information on objects in the environment, derived from the sensing means output, communication module (8, 9) for obtaining, from a vehicle's driver, additional information on at least one object, for which no information or information with a confidence below a predetermined threshold is derivable from the sensing means output, and evaluation means for evaluating a current traffic situation based the accumulated information and the additional information and for generating control signals to achieve a control task based on the evaluated current traffic situation, characterized in that the representation generation means is configured to generate a representation of the environment, which represents the objects and other information on the environment of the vehicle, by accumulating said information on the objects in the environment, wherein the representation generation means is configured to classify the objects in the representation into either identifiable objects or ambiguous objects and to determine which of the ambiguous objects have an influence on the current traffic situation that currently needs to be evaluated, the communication module (8, 9) is further configured to add the additional information on at least one determined ambiguous object to the environment representation, and the evaluation means is configured to evaluate the current traffic situation based on the environment representation. at least one sensing means for physically sensing an environment of the vehicle, representation generation means configured to accumulate information on objects in the environment, derived from the sensing means output, communication module (8, 9) for obtaining, from a vehicle's driver, additional information on at least one object, for which no information or information with a confidence below a predetermined threshold is derivable from the sensing means output, and evaluation means for evaluating a current traffic situation based the accumulated information and the additional information and for generating control signals to achieve a control task based on the evaluated current traffic situation, characterized in that the representation generation means is configured to generate a representation of the environment, which represents the objects and other information on the environment of the vehicle, by accumulating said information on the objects in the environment, wherein the representation generation means is configured to classify the objects in the representation into either identifiable objects or ambiguous objects and to determine which of the ambiguous objects have an influence on the current traffic situation that currently needs to be evaluated, the communication module (8, 9) is further configured to add the additional information on at least one determined ambiguous object to the environment representation, and the evaluation means is configured to evaluate the current traffic situation based on the environment representation.