1. An autonomous vehicle pictorial language system comprising: a plurality of sensors; a driver preferences database; a human-machine interface; and a processing circuitry configured to receive output from the plurality of sensors, receive a driver model from the driver preferences database, the driver model predicting driver action in a plurality of driving situations based on a safety margin defined in the driver preferences, and display a pictorial language via the human-machine interface in response to the output from the plurality of sensors and the driver model, wherein the pictorial language includes one or more of a noun, verb, first adverb, object classifier, and second adverb to construct a plan sentence.