The present disclosure provides systems and methods to communicate intent of an autonomous vehicle. In particular, the systems and methods of the present disclosure can receive, from an autonomy computing system of an autonomous vehicle, data indicating an intent of the autonomous vehicle to perform a driving maneuver. It can be determined that the intent of the autonomous vehicle should be communicated to a passenger of the autonomous vehicle. Responsive to determining that the intent of the autonomous vehicle should be communicated to the passenger of the autonomous vehicle, a graphical interface indicating the intent of the autonomous vehicle can be generated and provided for display for viewing by the passenger.