A vehicle system is arranged for allowing transition from an autonomous driving mode to a second driving mode in a road vehicle having autonomous driving capabilities and including a vehicle compartment, a steering wheel and at least one pedal. The vehicle system includes a control arrangement, a first switch arranged at a first position at the steering wheel, a second switch arranged at a second position within the vehicle compartment, and a first determination arrangement for determining if the at least one pedal is depressed. The control arrangement is configured to allow the transition when the at least one pedal of the vehicle is depressed when the first switch and the second switch are simultaneously activated.