An automated driving system can determine, based on input from one or more sensors disposed on an autonomous vehicle, a required fuel level to complete a planned vehicle path and a current fuel level for the autonomous vehicle. If the current fuel level is below the required fuel level, the automated driving system can identify one or more refueling stations and send an indication to a driver of the autonomous vehicle requesting selection of one of the identified refueling stations. If a refueling station selection is received, the automated driving system can update the planned vehicle path to include a stop at the selected refueling station. If a refueling station selection is not received, the automated driving system can determine a critical fuel level. If the current fuel level falls below the critical fuel level, the automated driving system can drive the autonomous vehicle to a proximate refueling station.