A computing device and methods for operating an auditory interface for an automated driving system are disclosed. One example method of automated driving using an auditory interface includes receiving, from a user, an indication associating an auditory icon with a vehicle action at the auditory interface. The method further includes receiving, from a path planner application, an indication of an upcoming implementation of the vehicle action by one or more vehicle systems and sending, to an audio system, a command to implement the auditory icon associated with the vehicle action before the one or more vehicle systems implements the vehicle action.