A vehicle control system for a vehicle having a driver assistance system includes sensors configured to acquire data about surroundings of the vehicle, a user interface configured to display user information and acquire user input from a user, and a processing unit coupled to the sensors, the driver assistance system and the user interface. The processing unit is configured to produce and provide adapted parameters to the driver assistance system based on acquired user input about sensor data and/or actions performed by the driver assistance system. In a corresponding method, the parameters are adapted based on the acquired user input.