Acceleration event-based passenger notification system

A method of generating notifications of acceleration events for a vehicle operating in an autonomous driving mode, the method comprising:

• monitoring, by one or more processors, instructions generated by a planning system of the vehicle;
• determining, by the one or more processors, that the instructions would result in an acceleration event including an imminent changes in lateral or longitudinal acceleration for the autonomous driving mode;
• determining, by the one or more processors, that an acceleration threshold will be met when the vehicle proceeds according to the changes;
• generating, by the one or more processors, before the acceleration event occurs and based on the determination that an acceleration threshold will be met, a first notification to a passenger of the vehicle that the acceleration event is about to occur;
• generating, by the one or more processors, a second notification providing more context about the acceleration event;
• and
• displaying, by the one or more processors, on a display of the vehicle the second notification to the passenger of the vehicle.