A method is disclosed for incorporating preferences of a human occupant into an autonomous driving experience. The method includes a computer system (12, Fig. 1) autonomously controlling speed and steering of a vehicle 10. While it is controlling the vehicle the computer system may interpret a speech or voice command received from a human occupant of the vehicle. The computer system may determinewhether changing at least one of the speed and steering in accordance with the speech command would be safe and legal. If it would be safe and legal, the computer system may change the at least one ofthe speed and steering in accordance with the speech command. If it would not be safe and legal, the computer system may leave the at least one of the speed and steering unchanged in contravention ofthe speech command.