Described herein is an autonomous vehicle comprising a sensor and a driver notification module in communication with the sensor. The driver notification module may be configured to receive first information related to an upcoming event; determine an action for an autonomous vehicle based, at least in part, on the first information; determine one or more characteristics of the action based, at least in part on the first information and a current status of the autonomous vehicle; determine a notification based, at least in part, on the action and the one or more characteristics; and deliver the notification within the autonomous vehicle.