A method of controlling a vehicle , comprising: sending, by a computer located on the vehicle, instructions to one or more devices located on the vehicle that cause the vehicle to perform autonomous driving related operations in accordance with the instructions, the autonomous driving related operations enabling the vehicle to drive along a determined trajectory, wherein the sending the instructions includes sending a set of torque related values over time to control an engine located in the vehicle, wherein the set of torque related values is sent from the computer to control the engine without converting the set of torque related values to control parameters indicative of positions associated with an accelerator pedal located in the vehicle; receiving an indication that indicates that the accelerator pedal is depressed from an undepressed position; causing, in response to the receiving the indication, the vehicle to not perform additional autonomous driving related operations, wherein the method further comprises: in response to receiving a second indication that indicates a request for initiating autonomous driving: performing a determination, by the computer, that a speed of the vehicle is greater than a pre-determined threshold; and wherein the instructions that cause the vehicle to perform the autonomous driving related operations are sent to one or more devices located in the vehicle in response to the performing the determination. sending, by a computer located on the vehicle, instructions to one or more devices located on the vehicle that cause the vehicle to perform autonomous driving related operations in accordance with the instructions, the autonomous driving related operations enabling the vehicle to drive along a determined trajectory, wherein the sending the instructions includes sending a set of torque related values over time to control an engine located in the vehicle, wherein the set of torque related values is sent from the computer to control the engine without converting the set of torque related values to control parameters indicative of positions associated with an accelerator pedal located in the vehicle; wherein the sending the instructions includes sending a set of torque related values over time to control an engine located in the vehicle, wherein the set of torque related values is sent from the computer to control the engine without converting the set of torque related values to control parameters indicative of positions associated with an accelerator pedal located in the vehicle; receiving an indication that indicates that the accelerator pedal is depressed from an undepressed position; causing, in response to the receiving the indication, the vehicle to not perform additional autonomous driving related operations, wherein the method further comprises: in response to receiving a second indication that indicates a request for initiating autonomous driving: performing a determination, by the computer, that a speed of the vehicle is greater than a pre-determined threshold; and wherein the instructions that cause the vehicle to perform the autonomous driving related operations are sent to one or more devices located in the vehicle in response to the performing the determination. performing a determination, by the computer, that a speed of the vehicle is greater than a pre-determined threshold; and wherein the instructions that cause the vehicle to perform the autonomous driving related operations are sent to one or more devices located in the vehicle in response to the performing the determination. <EOS>