A system may collect human operator interactions with a vehicle control system interface operatively connected to a vehicle, and may collect vehicle response and operating conditions associated at least contemporaneously with the human operator interaction. Environmental information is collected contemporaneously with the human operator interaction. An artificial intelligence system is trained to control the vehicle with an optimized margin of safety while mimicking the human operator, the training including instructing the artificial intelligence system to take input from an environment data collection module about instances of environmental information associated with the contemporaneously collected vehicle response and operating conditions, where the optimized margin of safety is achieved by training the artificial intelligence system to control the vehicle based on a set of human operator interaction data collected from interactions of an expert human vehicle operator and a set of outcome data from a set of vehicle safety events.