Secondary disengage alert for autonomous vehicles

A method of providing disengage alerts to an occupant of a vehicle having autonomous and manual driving modes, the method comprising:

• while the vehicle is being controlled in the autonomous driving mode, receiving, by one or more processors, user input at one or more using input devices of the vehicle;
• in response to receiving the user input, transitioning, by the one or more processors, the vehicle from the autonomous driving mode to a manual driving mode and providing an audible primary disengage alert to the occupant of the vehicle regarding the transition;
• determining, by the one or more processors, whether the user input was intentional or unintentional based on whether there has been additional user input within a predetermined period of time from when the user input was received or when the transition occurred;
• and
• after the transition, providing, by the one or more processors, an audible secondary disengage alert to the occupant of the vehicle when it is determined that the user input was unintentional.