A method comprising: receiving, via a computing device configured to control a vehicle in an autonomous mode in which the vehicle drives itself, an indication from a driver of the vehicle for a transition of control of the vehicle operating in the autonomous mode, wherein the computing device is configured to receive plural different types of indication from the driver of the vehicle for a transition of control of the vehicle operating in the autonomous mode, and wherein the plural different types of indication comprise: a force being applied to a steering wheel of the vehicle by the driver, a force being applied to a brake pedal of the vehicle by the driver, and a force being applied to a throttle of the vehicle by the driver; determining, by the computing device, a state of the vehicle based on at least one parameter related to operation of the vehicle in the autonomous mode, wherein the at least one parameter comprises one or a combination of: a speed of the vehicle, an acceleration of the vehicle, a current or upcoming turning angle of the steering system, a level of braking of the vehicle, information related to recent and future traffic patterns, information related to environmental obstacles, and information related to near-future actions of the vehicle; based on the state of the vehicle and on the type of the received indication from the driver of the vehicle for a transition of control of the vehicle, determining a strategy for the transition of control of one or more of a steering system of the vehicle, a throttle system of the vehicle and a braking system of the vehicle from control by the computing device to a manual mode of operation, wherein the strategy includes information indicative of which respective systems of the steering system, the throttle system and the braking system to transition from control by the computing device to the manual mode of operation and one or more durations of time over which the transition of control of the respective systems of the steering system, the throttle system, and the braking system from control by the computing device to the manual mode of operation is configured to occur; and providing the strategy to perform the transition of control of the indicated respective systems of the steering system, the throttle system, and the braking system from control by the computing device to the manual mode of operation. receiving, via a computing device configured to control a vehicle in an autonomous mode in which the vehicle drives itself, an indication from a driver of the vehicle for a transition of control of the vehicle operating in the autonomous mode, wherein the computing device is configured to receive plural different types of indication from the driver of the vehicle for a transition of control of the vehicle operating in the autonomous mode, and wherein the plural different types of indication comprise: a force being applied to a steering wheel of the vehicle by the driver, a force being applied to a brake pedal of the vehicle by the driver, and a force being applied to a throttle of the vehicle by the driver; determining, by the computing device, a state of the vehicle based on at least one parameter related to operation of the vehicle in the autonomous mode, wherein the at least one parameter comprises one or a combination of: a speed of the vehicle, an acceleration of the vehicle, a current or upcoming turning angle of the steering system, a level of braking of the vehicle, information related to recent and future traffic patterns, information related to environmental obstacles, and information related to near-future actions of the vehicle; based on the state of the vehicle and on the type of the received indication from the driver of the vehicle for a transition of control of the vehicle, determining a strategy for the transition of control of one or more of a steering system of the vehicle, a throttle system of the vehicle and a braking system of the vehicle from control by the computing device to a manual mode of operation, wherein the strategy includes information indicative of which respective systems of the steering system, the throttle system and the braking system to transition from control by the computing device to the manual mode of operation and one or more durations of time over which the transition of control of the respective systems of the steering system, the throttle system, and the braking system from control by the computing device to the manual mode of operation is configured to occur; and providing the strategy to perform the transition of control of the indicated respective systems of the steering system, the throttle system, and the braking system from control by the computing device to the manual mode of operation.