A computer-implemented method for determining routes for autonomous driving, the method comprising: computing K alternative routes from a route source to a route destination; evaluating each one of the K alternative routes (51, 52, 53), wherein the evaluating comprises determining a Pareto front of the K alternative routes (51, 52, 53), wherein the Pareto front of the K alternative routes (51, 52, 53) comprises a set of Pareto-optimized routes that are Pareto-optimized with regard to route constraints comprising travel time T, manual driving time T M, and transition count M that indicates a count of transitions from the autonomous driving to a manual driving in a route; if the set of Pareto-optimized routes comprises more than P routes, reducing a number of Pareto-optimized routes in the set of Pareto-optimized routes to P; and outputting the Pareto-optimized routes of the set of Pareto-optimized routes as the determined routes for autonomous driving; wherein the evaluating each one of the K alternative routes (51, 52, 53) comprises executing the following steps with regard to each one of the K alternative routes (51, 52, 53): evaluating each realization of the corresponding alternative route (51, 52, 53) from a plurality of realizations of the corresponding alternative route (51, 52, 53), wherein the realizations of the corresponding alternative route (51, 52, 53) in the plurality of realizations of the corresponding alternative route (51, 52, 53) differ with regard to the route constraints, wherein the evaluating each realization of the corresponding alternative route (51, 52, 53) from a plurality of realizations of the corresponding alternative route (51, 52, 53) comprises determining a Pareto front of the corresponding alternative route (51, 52, 53) comprising a set of Pareto-optimized route realizations of the corresponding alternative route (51, 52, 53) that are Pareto-optimized with regard to the route constraints; and inserting into the Pareto front of the K alternative routes Pareto-optimized route realizations of the set of Pareto-optimized route realizations of the corresponding alternative route (51, 52, 53). computing K alternative routes from a route source to a route destination; evaluating each one of the K alternative routes (51, 52, 53), wherein the evaluating comprises determining a Pareto front of the K alternative routes (51, 52, 53), wherein the Pareto front of the K alternative routes (51, 52, 53) comprises a set of Pareto-optimized routes that are Pareto-optimized with regard to route constraints comprising travel time T, manual driving time T M, and transition count M that indicates a count of transitions from the autonomous driving to a manual driving in a route; if the set of Pareto-optimized routes comprises more than P routes, reducing a number of Pareto-optimized routes in the set of Pareto-optimized routes to P; and outputting the Pareto-optimized routes of the set of Pareto-optimized routes as the determined routes for autonomous driving; wherein the evaluating each one of the K alternative routes (51, 52, 53) comprises executing the following steps with regard to each one of the K alternative routes (51, 52, 53): evaluating each realization of the corresponding alternative route (51, 52, 53) from a plurality of realizations of the corresponding alternative route (51, 52, 53), wherein the realizations of the corresponding alternative route (51, 52, 53) in the plurality of realizations of the corresponding alternative route (51, 52, 53) differ with regard to the route constraints, wherein the evaluating each realization of the corresponding alternative route (51, 52, 53) from a plurality of realizations of the corresponding alternative route (51, 52, 53) comprises determining a Pareto front of the corresponding alternative route (51, 52, 53) comprising a set of Pareto-optimized route realizations of the corresponding alternative route (51, 52, 53) that are Pareto-optimized with regard to the route constraints; and inserting into the Pareto front of the K alternative routes Pareto-optimized route realizations of the set of Pareto-optimized route realizations of the corresponding alternative route (51, 52, 53). evaluating each realization of the corresponding alternative route (51, 52, 53) from a plurality of realizations of the corresponding alternative route (51, 52, 53), wherein the realizations of the corresponding alternative route (51, 52, 53) in the plurality of realizations of the corresponding alternative route (51, 52, 53) differ with regard to the route constraints, wherein the evaluating each realization of the corresponding alternative route (51, 52, 53) from a plurality of realizations of the corresponding alternative route (51, 52, 53) comprises determining a Pareto front of the corresponding alternative route (51, 52, 53) comprising a set of Pareto-optimized route realizations of the corresponding alternative route (51, 52, 53) that are Pareto-optimized with regard to the route constraints; and inserting into the Pareto front of the K alternative routes Pareto-optimized route realizations of the set of Pareto-optimized route realizations of the corresponding alternative route (51, 52, 53).