A system for controlling a vehicle, the system comprising one or more processors configured to: display an indication at a first user input button that the first user input button is in an active state, wherein when the first user input button is in the active state, input at the first user input button initiates autonomous control of the vehicle to a destination; after displaying the indication that the first user input button is in an active state, receive first user input at the first user input button; in response to the first user input at the first user input button, control the vehicle, by one or more processors, to initiate autonomous control of the vehicle to the destination; in response to receiving the first user input at the first user input button, change the indication at the first user input button to indicate a new, inactive state for the first user input button and display an indication at a second user input button to indicate that the second user input button is in an active state, wherein, when the second user input button is in an active state, input at the second user input button initiates stopping of the vehicle; after receiving the first user input and displaying the indication at the second user input button to indicate that the second user input button is the an active state, receive second user input at the second user input button; and in response to receiving the second user input, initiate stopping of the vehicle, wherein stopping the vehicle includes bringing the vehicle to a stop within a first predetermined period of time; wherein the system further comprises a third user input button, and the one or more processors are further configured to: receive user input at the third user input button, which is configured to communicate a request to stop the vehicle within a second predetermined period of time less than the first predetermined period of time. display an indication at a first user input button that the first user input button is in an active state, wherein when the first user input button is in the active state, input at the first user input button initiates autonomous control of the vehicle to a destination; after displaying the indication that the first user input button is in an active state, receive first user input at the first user input button; in response to the first user input at the first user input button, control the vehicle, by one or more processors, to initiate autonomous control of the vehicle to the destination; in response to receiving the first user input at the first user input button, change the indication at the first user input button to indicate a new, inactive state for the first user input button and display an indication at a second user input button to indicate that the second user input button is in an active state, wherein, when the second user input button is in an active state, input at the second user input button initiates stopping of the vehicle; after receiving the first user input and displaying the indication at the second user input button to indicate that the second user input button is the an active state, receive second user input at the second user input button; and in response to receiving the second user input, initiate stopping of the vehicle, wherein stopping the vehicle includes bringing the vehicle to a stop within a first predetermined period of time; wherein the system further comprises a third user input button, and the one or more processors are further configured to: receive user input at the third user input button, which is configured to communicate a request to stop the vehicle within a second predetermined period of time less than the first predetermined period of time.