To visualize planned behavior of an autonomous vehicle (AV) traveling along a roadway, a user interface engine receives data describing a planned pathway of the AV along the roadway and object data describing an object having a predicted pathway crossing the planned pathway of the AV at a cross point. The user interface engine classifies the object either an asserting object or a yielding object based on a prediction of whether the object reaches the cross point before the AV or after the AV. The user interface engine generates an image that includes the planned pathway of the AV and the object in the environment of the AV. The image of the object indicates whether the object is classified as an asserting object or a yielding object.