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 behaviors. The techniques include determining a trajectory of a vehicle operating in a real-world environment. Sensors of the vehicle obtain sensor data representing an object in the real-world environment. A maneuver of the vehicle to avoid a collision with the object is predicted based on the sensor data and the trajectory of the vehicle. It is determined that a passenger comfort level of a passenger riding in the vehicle will decrease based on the maneuver of the vehicle. The passenger comfort level is measured by passenger sensors of the vehicle. A graphical user interface is generated including representations of the vehicle, the object, and a graphic, text, or a symbol alerting the passenger of the predicted maneuver. The graphical user interface is transmitted to a display device of the vehicle.