A system for autonomous driving of a vehicle having a steering system and a braking system is disclosed. The system comprises a sensor capable of gathering data relating to a driving environment, a control system programmed to control the steering system and the braking system to drive the vehicle without unrequested user intervention, in response to data gathered by the sensor, a user output device capable of presenting human readable text or speech to a user when an aspect of the driving environment detected by the sensor renders the control system unable to determine a next driving action； and, a user input device coupled to the control system. The user input device is capable of receiving user input to instruct the control system to take a user-preferred driving action. The control system is capable of instructing the steering system and the braking system to execute the user-preferred driving action.
