An autonomous vehicle , comprising: a vehicle propulsion system ; a braking system ; a notification system , the notification system configured to output an indicator , the indicator being perceivable external to the autonomous vehicle; and a computing system that is in communication with the vehicle propulsion system, the braking system, and the notification system, wherein the computing system comprises: a processor ; and memory that stores computer-executable instructions that, when executed by the processor, cause the processor to perform acts comprising: receiving data specifying an identity of a passenger to be picked up by the autonomous vehicle; controlling at least one of the vehicle propulsion system or the braking system to stop the autonomous vehicle for passenger pickup; and controlling the notification system of the autonomous vehicle to output the indicator, a characteristic of the indicator outputted by the notification system being controlled based on the identity of the passenger to be picked up and whether the autonomous vehicle is stopped for passenger pickup. a vehicle propulsion system ; a braking system ; a notification system , the notification system configured to output an indicator , the indicator being perceivable external to the autonomous vehicle; and a computing system that is in communication with the vehicle propulsion system, the braking system, and the notification system, wherein the computing system comprises: a processor ; and memory that stores computer-executable instructions that, when executed by the processor, cause the processor to perform acts comprising: receiving data specifying an identity of a passenger to be picked up by the autonomous vehicle; controlling at least one of the vehicle propulsion system or the braking system to stop the autonomous vehicle for passenger pickup; and controlling the notification system of the autonomous vehicle to output the indicator, a characteristic of the indicator outputted by the notification system being controlled based on the identity of the passenger to be picked up and whether the autonomous vehicle is stopped for passenger pickup. a processor ; and memory that stores computer-executable instructions that, when executed by the processor, cause the processor to perform acts comprising: receiving data specifying an identity of a passenger to be picked up by the autonomous vehicle; controlling at least one of the vehicle propulsion system or the braking system to stop the autonomous vehicle for passenger pickup; and controlling the notification system of the autonomous vehicle to output the indicator, a characteristic of the indicator outputted by the notification system being controlled based on the identity of the passenger to be picked up and whether the autonomous vehicle is stopped for passenger pickup. receiving data specifying an identity of a passenger to be picked up by the autonomous vehicle; controlling at least one of the vehicle propulsion system or the braking system to stop the autonomous vehicle for passenger pickup; and controlling the notification system of the autonomous vehicle to output the indicator, a characteristic of the indicator outputted by the notification system being controlled based on the identity of the passenger to be picked up and whether the autonomous vehicle is stopped for passenger pickup. <EOS>