The disclosed computer-implemented method may include displaying vehicle environment awareness. In some embodiments, a visualization system may display an abstract representation of a vehicle's physical environment via a mobile device and/or a device embedded in the vehicle. For example, the visualization may use a voxel grid to represent the environment and may alter characteristics of shapes in the grid to increase their visual prominence when the sensors of the vehicle detect that an object is occupying the space represented by the shapes. In some embodiments, the visualization may gradually increase and reduce the visual prominence of shapes in the grid to create a soothing wave effect. Various other methods, systems, and computer-readable media are also disclosed.