diff --git a/src/main/java/org/opentcs/commadapter/vehicle/vda5050/v1_1/CommAdapterImpl.java b/src/main/java/org/opentcs/commadapter/vehicle/vda5050/v1_1/CommAdapterImpl.java
index 6f498d7..56072a6 100644
--- a/src/main/java/org/opentcs/commadapter/vehicle/vda5050/v1_1/CommAdapterImpl.java
+++ b/src/main/java/org/opentcs/commadapter/vehicle/vda5050/v1_1/CommAdapterImpl.java
@@ -58,6 +58,7 @@
 import org.opentcs.customizations.kernel.KernelExecutor;
 import org.opentcs.data.model.Triple;
 import org.opentcs.data.model.Vehicle;
+import org.opentcs.data.notification.UserNotification;
 import org.opentcs.data.order.DriveOrder;
 import org.opentcs.data.order.TransportOrder;
 import org.opentcs.drivers.vehicle.BasicVehicleCommAdapter;
@@ -206,9 +207,8 @@ public CommAdapterImpl(@Assisted Vehicle vehicle,
         this.getName(),
         this::sendOrder,
         this::sendInstantAction,
-        orderAssociation -> {
-          movementCommandManager.enqueue(orderAssociation);
-        }
+        this::orderAccepted,
+        this::orderRejected
     );
 
     vehicleSerialNumber = vehicle.getProperty(PROPKEY_VEHICLE_SERIAL_NUMBER);
@@ -625,4 +625,17 @@ private void sendMessage(Header messageObject, String topic) {
     }
   }
 
+  private void orderAccepted(OrderAssociation order) {
+    movementCommandManager.enqueue(order);
+  }
+
+  private void orderRejected(OrderAssociation order) {
+    getProcessModel().publishUserNotification(new UserNotification(
+        getProcessModel().getName(),
+        String.format("Vehicle rejected VDA5050 order (ID: %s, update ID: %s)",
+                      order.getOrder().getOrderId(),
+                      order.getOrder().getOrderUpdateId()),
+        UserNotification.Level.IMPORTANT
+    ));
+  }
 }
diff --git a/src/main/java/org/opentcs/commadapter/vehicle/vda5050/v1_1/MessageResponseMatcher.java b/src/main/java/org/opentcs/commadapter/vehicle/vda5050/v1_1/MessageResponseMatcher.java
index dda56d9..7933b2b 100644
--- a/src/main/java/org/opentcs/commadapter/vehicle/vda5050/v1_1/MessageResponseMatcher.java
+++ b/src/main/java/org/opentcs/commadapter/vehicle/vda5050/v1_1/MessageResponseMatcher.java
@@ -50,6 +50,10 @@ public class MessageResponseMatcher {
    * The callback for when an order is accepted by the vehicle.
    */
   private final Consumer<OrderAssociation> orderAcceptedCallback;
+  /**
+   * The callback for when an order was rejected by the vehicle.
+   */
+  private final Consumer<OrderAssociation> orderRejectedCallback;
 
   /**
    * Creates a new OrderResponseMatcher.
@@ -58,16 +62,19 @@ public class MessageResponseMatcher {
    * @param sendOrderCallback The callback for sending the next order.
    * @param sendInstantActionsCallback The callback for sending instant actions.
    * @param orderAcceptedCallback The callback for when the order is accepted by the vehicle.
+   * @param orderRejectedCallback The callback for when the vehicle rejects an order.
    */
   public MessageResponseMatcher(@Nonnull String commAdapterName,
                                 @Nonnull Consumer<Order> sendOrderCallback,
                                 @Nonnull Consumer<InstantActions> sendInstantActionsCallback,
-                                @Nonnull Consumer<OrderAssociation> orderAcceptedCallback) {
+                                @Nonnull Consumer<OrderAssociation> orderAcceptedCallback,
+                                @Nonnull Consumer<OrderAssociation> orderRejectedCallback) {
     this.commAdapterName = requireNonNull(commAdapterName, "commAdapterName");
     this.sendOrderCallback = requireNonNull(sendOrderCallback, "sendOrderCallback");
     this.sendInstantActionsCallback
         = requireNonNull(sendInstantActionsCallback, "sendInstantActionsCallback");
     this.orderAcceptedCallback = requireNonNull(orderAcceptedCallback, "orderAcceptedCallback");
+    this.orderRejectedCallback = requireNonNull(orderRejectedCallback, "orderRejectedCallback");
   }
 
   public void enqueueCommand(Order order, MovementCommand command) {
@@ -106,9 +113,14 @@ public void onStateMessage(@Nonnull State state) {
       return;
     }
     if (vehicleRejectedOrder(state)) {
+      Object request = requests.peek();
+      if (request instanceof OrderAssociation) {
+        orderRejectedCallback.accept((OrderAssociation) request);
+      }
+
       LOG.warn("{}: Vehicle indicates order rejection. Last request sent to it was: {}",
                commAdapterName,
-               requests.peek());
+               request);
       return;
     }
 
diff --git a/src/main/java/org/opentcs/commadapter/vehicle/vda5050/v2_0/CommAdapterImpl.java b/src/main/java/org/opentcs/commadapter/vehicle/vda5050/v2_0/CommAdapterImpl.java
index 12d2d79..f2ba1e5 100644
--- a/src/main/java/org/opentcs/commadapter/vehicle/vda5050/v2_0/CommAdapterImpl.java
+++ b/src/main/java/org/opentcs/commadapter/vehicle/vda5050/v2_0/CommAdapterImpl.java
@@ -58,6 +58,7 @@
 import org.opentcs.customizations.kernel.KernelExecutor;
 import org.opentcs.data.model.Triple;
 import org.opentcs.data.model.Vehicle;
+import org.opentcs.data.notification.UserNotification;
 import org.opentcs.data.order.DriveOrder;
 import org.opentcs.data.order.TransportOrder;
 import org.opentcs.drivers.vehicle.BasicVehicleCommAdapter;
@@ -206,9 +207,8 @@ public CommAdapterImpl(@Assisted Vehicle vehicle,
         this.getName(),
         this::sendOrder,
         this::sendInstantAction,
-        orderAssociation -> {
-          movementCommandManager.enqueue(orderAssociation);
-        }
+        this::orderAccepted,
+        this::orderRejected
     );
 
     vehicleSerialNumber = vehicle.getProperty(PROPKEY_VEHICLE_SERIAL_NUMBER);
@@ -630,4 +630,17 @@ private void sendMessage(Header messageObject, String topic) {
     }
   }
 
+  private void orderAccepted(OrderAssociation order) {
+    movementCommandManager.enqueue(order);
+  }
+
+  private void orderRejected(OrderAssociation order) {
+    getProcessModel().publishUserNotification(new UserNotification(
+        getProcessModel().getName(),
+        String.format("Vehicle rejected VDA5050 order (ID: %s, update ID: %s)",
+                      order.getOrder().getOrderId(),
+                      order.getOrder().getOrderUpdateId()),
+        UserNotification.Level.IMPORTANT
+    ));
+  }
 }
diff --git a/src/main/java/org/opentcs/commadapter/vehicle/vda5050/v2_0/MessageResponseMatcher.java b/src/main/java/org/opentcs/commadapter/vehicle/vda5050/v2_0/MessageResponseMatcher.java
index 659e716..1a3939b 100644
--- a/src/main/java/org/opentcs/commadapter/vehicle/vda5050/v2_0/MessageResponseMatcher.java
+++ b/src/main/java/org/opentcs/commadapter/vehicle/vda5050/v2_0/MessageResponseMatcher.java
@@ -50,6 +50,10 @@ public class MessageResponseMatcher {
    * The callback for when an order is accepted by the vehicle.
    */
   private final Consumer<OrderAssociation> orderAcceptedCallback;
+  /**
+   * The callback for when an order was rejected by the vehicle.
+   */
+  private final Consumer<OrderAssociation> orderRejectedCallback;
 
   /**
    * Creates a new OrderResponseMatcher.
@@ -58,16 +62,19 @@ public class MessageResponseMatcher {
    * @param sendOrderCallback The callback for sending the next order.
    * @param sendInstantActionsCallback The callback for sending instant actions.
    * @param orderAcceptedCallback The callback for when the order is accepted by the vehicle.
+   * @param orderRejectedCallback The callback for when the vehicle rejects an order.
    */
   public MessageResponseMatcher(@Nonnull String commAdapterName,
                                 @Nonnull Consumer<Order> sendOrderCallback,
                                 @Nonnull Consumer<InstantActions> sendInstantActionsCallback,
-                                @Nonnull Consumer<OrderAssociation> orderAcceptedCallback) {
+                                @Nonnull Consumer<OrderAssociation> orderAcceptedCallback,
+                                @Nonnull Consumer<OrderAssociation> orderRejectedCallback) {
     this.commAdapterName = requireNonNull(commAdapterName, "commAdapterName");
     this.sendOrderCallback = requireNonNull(sendOrderCallback, "sendOrderCallback");
     this.sendInstantActionsCallback
         = requireNonNull(sendInstantActionsCallback, "sendInstantActionsCallback");
     this.orderAcceptedCallback = requireNonNull(orderAcceptedCallback, "orderAcceptedCallback");
+    this.orderRejectedCallback = requireNonNull(orderRejectedCallback, "orderRejectedCallback");
   }
 
   public void enqueueCommand(Order order, MovementCommand command) {
@@ -106,9 +113,14 @@ public void onStateMessage(@Nonnull State state) {
       return;
     }
     if (vehicleRejectedOrder(state)) {
+      Object request = requests.peek();
+      if (request instanceof OrderAssociation) {
+        orderRejectedCallback.accept((OrderAssociation) request);
+      }
+
       LOG.warn("{}: Vehicle indicates order rejection. Last request sent to it was: {}",
                commAdapterName,
-               requests.peek());
+               request);
       return;
     }
 
diff --git a/src/test/java/org/opentcs/commadapter/vehicle/vda5050/v1_1/MessageResponseMatcherTest.java b/src/test/java/org/opentcs/commadapter/vehicle/vda5050/v1_1/MessageResponseMatcherTest.java
index e68f851..07b1b73 100644
--- a/src/test/java/org/opentcs/commadapter/vehicle/vda5050/v1_1/MessageResponseMatcherTest.java
+++ b/src/test/java/org/opentcs/commadapter/vehicle/vda5050/v1_1/MessageResponseMatcherTest.java
@@ -51,6 +51,7 @@ public class MessageResponseMatcherTest {
   private Consumer<Order> sendOrderCallback;
   private Consumer<InstantActions> sendInstantActionsCallback;
   private Consumer<OrderAssociation> orderAcceptedCallback;
+  private Consumer<OrderAssociation> orderRejectedCallback;
 
   private MovementCommand dummyCommand;
 
@@ -60,10 +61,13 @@ public void setUp() {
     sendOrderCallback = mock(Consumer.class);
     sendInstantActionsCallback = mock(Consumer.class);
     orderAcceptedCallback = mock(Consumer.class);
+    orderRejectedCallback = mock(Consumer.class);
     messageResponseMatcher = new MessageResponseMatcher("test",
                                                         sendOrderCallback,
                                                         sendInstantActionsCallback,
-                                                        orderAcceptedCallback);
+                                                        orderAcceptedCallback,
+                                                        orderRejectedCallback
+    );
     dummyCommand = new DummyMovementCommand();
   }
 
diff --git a/src/test/java/org/opentcs/commadapter/vehicle/vda5050/v2_0/MessageResponseMatcherTest.java b/src/test/java/org/opentcs/commadapter/vehicle/vda5050/v2_0/MessageResponseMatcherTest.java
index c03b8d5..2ef65df 100644
--- a/src/test/java/org/opentcs/commadapter/vehicle/vda5050/v2_0/MessageResponseMatcherTest.java
+++ b/src/test/java/org/opentcs/commadapter/vehicle/vda5050/v2_0/MessageResponseMatcherTest.java
@@ -51,6 +51,8 @@ public class MessageResponseMatcherTest {
   private Consumer<Order> sendOrderCallback;
   private Consumer<InstantActions> sendInstantActionsCallback;
   private Consumer<OrderAssociation> orderAcceptedCallback;
+  private Consumer<OrderAssociation> orderRejectedCallback;
+  private Consumer<InstantActions> actionRejectedCallback;
 
   private MovementCommand dummyCommand;
 
@@ -60,10 +62,13 @@ public void setUp() {
     sendOrderCallback = mock(Consumer.class);
     sendInstantActionsCallback = mock(Consumer.class);
     orderAcceptedCallback = mock(Consumer.class);
+    orderRejectedCallback = mock(Consumer.class);
     messageResponseMatcher = new MessageResponseMatcher("test",
                                                         sendOrderCallback,
                                                         sendInstantActionsCallback,
-                                                        orderAcceptedCallback);
+                                                        orderAcceptedCallback,
+                                                        orderRejectedCallback
+    );
     dummyCommand = new DummyMovementCommand();
   }