A method includes detecting, by a sensing system of an autonomous vehicle (AV) executing a trip from a first location to a second location, a signal from a source external to the AV to stop the AV, and analyzing the signal to determine whether the AV is to be stopped in response to the signal. Responsive to determining that the AV is to be stopped, the method includes causing a vehicle control system of the AV to stop the AV at a third location, determining that one or more parking brakes are to be engaged, and causing the vehicle control system to automatically engage the one or more parking brakes.