Techniques for communicating feedback to passengers of autonomous vehicles regarding reasons for actions taken by autonomous vehicles to build trust with passengers are described herein. For instance, an autonomous vehicle may associate various objects with symbols and/or predicates while traversing a path to evaluate Linear Temporal Logic (LTL) formulae. Events along the path may require the autonomous vehicle to perform an action. The vehicle may determine to communicate the event and/or action to the passenger to provide a reason as to why the autonomous vehicle took the action, based on evaluation of the LTL formulae. In some examples, the autonomous vehicle may communicate with passengers via one or more of visual cues, auditory cues, and/or haptic cues. In this way, autonomous vehicles may build trust with passengers by reassuring and informing passengers of reasons for taking actions either before, during, or after the action is taken.