Abstract: A vehicle routing system instructs a first vehicle having a human driver to execute a first route for delivering a first payload from a first pick-up location to a first destination. Instructions provided to the first vehicle include an instruction to drop-off the human driver at a driver transfer location along the first route and to continue along the first route without the human driver. The system further instructs a second vehicle that is operating autonomously to execute a second route that also includes the driver transfer location. The instructions to the second vehicle include an instruction to pick-up the human driver from the first vehicle at the driver transfer location and to continue along the second route with the human driver. The route segments may be labeled as suitable or unsuitable for autonomous driving to identify where to locate the driver transfer locations.