A method, apparatus and computer program product are provided for improving user experiences for autonomous driving. In context of a method, the method determines one or more autonomous transition region parameters for a respective autonomous transition region along a route. The method also, based on the one or more autonomous transition region parameters, determines whether an action is to be performed by a vehicle in accordance with user preference data associated with a user. The method also causes the vehicle to perform the action in accordance with a determination that the action is to be performed by the vehicle.