Graphical user interface for display of autonomous vehicle behaviors

Techniques are disclosed for creating and presenting a graphical user interface for display of autonomous vehicle behaviours. The techniques include determining 2104 a trajectory of a vehicle operating in a real-world environment. Sensors of the vehicle obtain 2108 sensor data representing an object in the real-world environment. A manoeuvre of the vehicle to avoid a collision with the object is predicted 2112 based on the sensor data and the trajectory of the vehicle. It is determined 2116 that a passenger comfort level of a passenger riding in the vehicle will decrease based on the manoeuvre of the vehicle. The passenger comfort level is measured by passenger sensors of the vehicle. A graphical user interface is generated 2120 including representations of the vehicle, the object, and a graphic, text, or a symbol alerting the passenger of the predicted manoeuvre. The graphical user interface is transmitted 2124 to a display device of the vehicle.