Methods, systems, and apparatus, including computer programs encoded on computer storage media, for managing user intervention for a vehicle are provided. One of the methods includes: receiving an instruction to initiate an intervention session from a server, and providing, in response to receiving the instruction, a user interface associated with the intervention session for display on a terminal associated with the vehicle. The method further includes detecting, at the terminal, a user interaction corresponding to a command associated with operation of the vehicle, and generating a decision associated with the operation of the vehicle based at least in part on the command.