A method for controlling a vehicle includes collecting data about human driving styles; machine learning how the human driver reacts to different traffic scenarios based on the collected data to create a plurality of human driving styles profiles; selecting an optimal driving profile of the plurality of human driving styles profiles, wherein the optimal driving profile is selected based feedback provided by a passenger of the vehicle, the feedback is indicative of a pleasantness of each of the plurality of human driving styles profiles; creating a driving plan based on the optimal driving profile; commanding the vehicle to execute the driving plan in a controlled environment to test the pleasantness of the optimal driving profile; and receiving a pleasantness rating from the passenger of the vehicle while the vehicle executes the driving plan.