A system and method for configuring an indication device is described. An on-demand service system arranges a transport service for a user to be provided by a driver. The system determines whether the user has specified an output configuration for an indication device in an account of the user. In response to determining that the user has specified an output configuration for the indication device, the system identifies data corresponding to the output configuration and transmits the data to a driver device of the driver to enable the driver device to control the indication device of the driver based on the data.

Aspects of the disclosure provide for displaying notifications on a display of an autonomous vehicle 100. In one instance, a distance from the vehicle to a destination of the vehicle or a passenger may be determined. When the distance is between a first distance and a second distance, a first notification 650 may be displayed on the display. The second distance may be less than the first distance. When the distance is less than the second distance, a second notification 660 may be displayed on the display. The second notification provides additional information not provided by the first notification.