A method comprising: receiving, by an autonomous vehicle, a command from a source (13, 171) that is remote from the vehicle, the command expressing an objective for operation of the vehicle within a denominated travel segment of a planned travel route, wherein a control system of the vehicle is configured to determine a time series of control inputs that are to be delivered to one or more of the brake, accelerator, steering, or other operational actuator of the vehicle, to cause the vehicle to execute the control inputs to achieve the objective expressed by the command; the command being expressed to cause operation of the vehicle along a selected man-made travel structure of the denominated travel segment; determining a feasible manner of operation of the vehicle to effect the command; characterised by determining whether or not the feasible manner of operation will violate a rule of operation (16, 17, 19) of the vehicle, wherein the rule of operation (16, 17, 19) of the vehicle includes one or more of rules of the road, common driving practices, and driving preferences of a general class of passenger or a particular passenger; in response to determining that the feasible manner of operation will violate a rule of operation (16, 17, 19) of the vehicle, minimizing the extent of the violation of the rule of operation (16, 17, 19), ruling out the violation entirely, or applying a compromise strategy between enforcing the rules of operation (16, 17, 19) and ignoring the rules of operation (16, 17, 19); and generating a succession of control inputs to one or more of the brake, accelerator, steering or other operational actuator of the vehicle in accordance with the determined feasible manner of operation. receiving, by an autonomous vehicle, a command from a source (13, 171) that is remote from the vehicle, the command expressing an objective for operation of the vehicle within a denominated travel segment of a planned travel route, wherein a control system of the vehicle is configured to determine a time series of control inputs that are to be delivered to one or more of the brake, accelerator, steering, or other operational actuator of the vehicle, to cause the vehicle to execute the control inputs to achieve the objective expressed by the command; the command being expressed to cause operation of the vehicle along a selected man-made travel structure of the denominated travel segment; determining a feasible manner of operation of the vehicle to effect the command; characterised by determining whether or not the feasible manner of operation will violate a rule of operation (16, 17, 19) of the vehicle, wherein the rule of operation (16, 17, 19) of the vehicle includes one or more of rules of the road, common driving practices, and driving preferences of a general class of passenger or a particular passenger; in response to determining that the feasible manner of operation will violate a rule of operation (16, 17, 19) of the vehicle, minimizing the extent of the violation of the rule of operation (16, 17, 19), ruling out the violation entirely, or applying a compromise strategy between enforcing the rules of operation (16, 17, 19) and ignoring the rules of operation (16, 17, 19); and generating a succession of control inputs to one or more of the brake, accelerator, steering or other operational actuator of the vehicle in accordance with the determined feasible manner of operation.