An autonomous driving system for a vehicle comprising: an I/O module operative to communicate with an obstacle avoidance server; at least one sensor operative to provide at least an indication of an obstacle in a path of the vehicle; processing circuitry; and an autonomous driving manager to be executed by the processing circuitry and operative to: detect the at least an indication of an obstacle based on data provided by the at least one sensor, drive the vehicle in accordance with a driving policy associated with the obstacle, and send an obstacle report with obstacle information associated with the at least an indication of an obstacle to the obstacle avoidance server.