Autonomous driving includes evaluating information about an environment surrounding a vehicle, generating, based on the evaluation of the information about the environment surrounding the vehicle, a driving plan for performing a driving maneuver, and operating vehicle systems in the vehicle to perform the driving maneuver according to the driving plan. The autonomous driving further includes receiving a traffic behavior model that describes a predominating driving behavior of a like population of reference vehicles. Under the driving plan, a driving behavior of the vehicle matches the predominating driving behavior of the like population of reference vehiclesAutonomous driving includes identifying a driving behavior of a vehicle based on an evaluation of information about manual operation of the vehicle and information about an environment surrounding the vehicle, and operating vehicle systems in the vehicle to perform a driving maneuver according to a driving plan for performing the driving maneuver. The autonomous driving further includes receiving a traffic behavior model that describes a predominating driving behavior of a like population of reference vehicles, and operating the vehicle systems to perform the driving maneuver according to the driving plan in response to identifying that the driving behavior of the vehicle does not match the predominating driving behavior of the like population of reference vehicles. Under the driving plan, the driving behavior of the vehicle matches the predominating driving behavior of the like population of reference vehicles.