A system comprising: one or more control computing devices configured to send commands to one or more actuators of a vehicle in order to control deceleration, acceleration, and steering of the vehicle, and wherein the vehicle includes one or more user input devices for allowing a human operator to control the one or more actuators in order to control deceleration, acceleration, and steering of the vehicle; wherein the one or more control computing devices are configured to allow the vehicle to operate the vehicle in: a manual driving mode wherein a human operator controls the deceleration, acceleration, and steering of the vehicle at the one or more user input devices; a first autonomous driving mode wherein the one or more control computing devices are configured to send the commands to control the one or more actuators and wherein human operator inputs at the one or more user input devices are prioritized over the commands from the one or more control computing devices such that the vehicle transitions to the manual driving mode in response to the human operator inputs at the one or more user input devices; and a second autonomous driving mode wherein the one or more control computing devices are configured to send the commands to control the one or more actuators and wherein the commands from the one or more control computing devices are prioritized over the human operator inputs from the one or more user input devices. one or more control computing devices configured to send commands to one or more actuators of a vehicle in order to control deceleration, acceleration, and steering of the vehicle, and wherein the vehicle includes one or more user input devices for allowing a human operator to control the one or more actuators in order to control deceleration, acceleration, and steering of the vehicle; wherein the one or more control computing devices are configured to allow the vehicle to operate the vehicle in: a manual driving mode wherein a human operator controls the deceleration, acceleration, and steering of the vehicle at the one or more user input devices; a first autonomous driving mode wherein the one or more control computing devices are configured to send the commands to control the one or more actuators and wherein human operator inputs at the one or more user input devices are prioritized over the commands from the one or more control computing devices such that the vehicle transitions to the manual driving mode in response to the human operator inputs at the one or more user input devices; and a second autonomous driving mode wherein the one or more control computing devices are configured to send the commands to control the one or more actuators and wherein the commands from the one or more control computing devices are prioritized over the human operator inputs from the one or more user input devices. a manual driving mode wherein a human operator controls the deceleration, acceleration, and steering of the vehicle at the one or more user input devices; a first autonomous driving mode wherein the one or more control computing devices are configured to send the commands to control the one or more actuators and wherein human operator inputs at the one or more user input devices are prioritized over the commands from the one or more control computing devices such that the vehicle transitions to the manual driving mode in response to the human operator inputs at the one or more user input devices; and a second autonomous driving mode wherein the one or more control computing devices are configured to send the commands to control the one or more actuators and wherein the commands from the one or more control computing devices are prioritized over the human operator inputs from the one or more user input devices. <EOS>