A method causes a self-driving vehicle (SDV) to warn passengers of an upcoming maneuver, and to explain why the SDV will be making the upcoming maneuver. One or more processors receive sensor readings that describe a condition of a roadway upon which a self-driving vehicle (SDV) is traveling. The processor(s) predict, based on the sensor readings, a maneuver to be taken at a future time by the SDV on the roadway. The processor(s) also provide an explanation for the maneuver to an occupant of the SDV, where the explanation describes the maneuver, and where the explanation explains why the SDV will be taking the maneuver in the future.