Human driving performance can be assessed using an autonomous vehicle. An autonomous vehicle can have a manual operational mode and one or more autonomous operational modes. While the vehicle is operating in the manual operational mode, driving data relating to a manual driving maneuver can be acquired. The acquired driving data can be evaluated relative to a driving scene model to determine whether the manual driving maneuver is acceptable or unacceptable based on the acquired driving data. Responsive to determining that the manual driving maneuver is unacceptable, feedback can be provided to a user. In some instances, the feedback can be active feedback or passive feedback. In some instance, the user can be the human driver of the vehicle, or some other person related to the driver in some manner.