Camera peek into turn
地域：
CA
CA Mountain View
摘要
Aspects of the disclosure relate to adjusting a virtual camera's orientation when a vehicle is making a turn. One or more computing devices may receive the vehicle's original heading prior to making the turn and the vehicle's current heading. Based on the vehicle's original heading and the vehicle's current heading, the one or more computing devices may determine an angle of a turn the vehicle is performing and The one or more computing devices may determine a camera rotation angle and adjust the virtual camera's orientation relative to the vehicle to an updated orientation by rotating the virtual camera by the camera rotation angle and generate a video corresponding to the virtual camera's updated orientation. The video may be displayed on the display by the one or more computing devices.
說(shuō)明書(shū)
The present application is a continuation of U.S. patent application Ser. No. 15/364,914, filed Nov. 30, 2016, the disclosure of which is hereby incorporated herein by reference.
Autonomous vehicles, such as vehicles that do not require a human driver, can be used to aid in the transport of passengers or items from one location to another. Such vehicles may operate in a fully autonomous mode where passengers or a remote operator may provide some initial input, such as a pickup or destination location, and the vehicle maneuvers itself to that location.
Such vehicles are typically equipped with various types of sensors in order to detect objects in the surroundings. For example, autonomous vehicles may include lasers, sonar, radar, cameras, and other devices which scan and record data from the vehicle's surroundings. Sensor data from one or more of these devices may be used to detect objects and their respective characteristics (position, shape, heading, speed, etc.). These characteristics can be used to provide, to occupants of the vehicle, a visual indication of objects detected in the vicinity of a vehicle as well as what those objects are likely to do for some brief period into the future.
權(quán)利要求
The invention claimed is:1. A computer implemented method, comprising:determining, by one or more computing devices of a vehicle operating in an autonomous mode, a projected trajectory of the vehicle; determining, by the one or more computing devices based on the vehicle's projected trajectory and positioning of the vehicle, an anticipated angle of an upcoming turn the vehicle is planning to perform; comparing, by the one or more computing devices, how far away the upcoming turn is to a predetermined distance that is based on a current speed of the vehicle and a current distance the vehicle is from the upcoming turn; adjusting, by the one or more computing devices, an orientation of a virtual camera relative to the vehicle from an initial orientation to an updated orientation by rotating the virtual camera by a camera rotation angle corresponding to the determined anticipated angle of the upcoming turn; and generating for display, by the one or more computing devices, a video corresponding to the virtual camera's updated orientation, the video being configured for presentation to passengers within the vehicle as the vehicle is operating in the autonomous mode; wherein upon the one or more computing devices determining that the upcoming turn is located at or less than the predetermined distance, beginning to rotate the virtual camera through a series camera rotation angles corresponding to a set of anticipated angles of the upcoming turn. 2. The computer implemented method of claim 1 , wherein when the vehicle is traveling at a higher rate of speed the predetermined distance is greater than when the vehicle is traveling at a slower rate of speed. 3. The computer implemented method of claim 1 , further comprising mapping one or more angles of the upcoming turn to the camera rotation angle. 4. The computer implemented method of claim 3 , wherein the mapping is not a 1:1 correspondence. 5. The computer implemented method of claim 4 , wherein when a given angle of the upcoming turn is 90° the given angle is mapped to a 45° camera rotation angle. 6. The computer implemented method of claim 1 , wherein as the vehicle progresses through the upcoming turn, the camera rotation angle is continually updated. 7. A computer implemented method, comprising:determining, by one or more computing devices of a vehicle operating in an autonomous mode, a projected trajectory of the vehicle; determining, by the one or more computing devices based on the vehicle's projected trajectory and positioning of the vehicle, an anticipated angle of an upcoming turn the vehicle is planning to perform; adjusting, by the one or more computing devices, an orientation of a virtual camera relative to the vehicle from an initial orientation to an updated orientation by rotating the virtual camera by a camera rotation angle corresponding to the determined anticipated angle of the upcoming turn, wherein the rotating of the virtual camera temporarily ceases when the vehicle is stopped or projected to stop; and generating for display, by the one or more computing devices, a video corresponding to the virtual camera's updated orientation, the video being configured for presentation to passengers within the vehicle as the vehicle is operating in the autonomous mode. 8. The computer implemented method of claim 1 , further comprising returning the virtual camera to a default position upon completion of the upcoming turn. 9. The computer implemented method of claim 1 , wherein a height and a pitch of the virtual camera is adjusted to capture more or less of the vehicle's surroundings during a driving operation in the autonomous mode. 10. A vehicle configured to operate in an autonomous driving mode, the vehicle comprising:a steering system; an acceleration system; a deceleration system; a perception system including one or more sensors configured to detect objects in an environment external to the vehicle; an autonomous driving system including one or more processors, the autonomous driving system operatively coupled to the steering system, the acceleration system, the deceleration system and the perception system to control driving of the vehicle in the autonomous driving mode; and a virtual camera system having one or more processors, the virtual camera system being configured to determine a set of anticipated angles of an unprotected turn, and rotate a virtual camera to generate imagery corresponding to oncoming traffic at the unprotected turn according to the determined set of anticipated angles, wherein a camera rotation angle of the virtual camera is predetermined for the unprotected turn. 11. The vehicle of claim 10 , wherein the camera rotation angle is 45° or less. 12. The vehicle of claim 10 , wherein the unprotected turn is either where the vehicle is turning onto a road where traffic is moving, or where the road the vehicle is turning onto does not require other vehicles to stop at an intersection. 13. The vehicle of claim 10 , wherein:the camera rotation angle is a series of camera rotation angles corresponding to the set of anticipated angles of the unprotected turn; and the virtual camera system is further configured to: compare how far away the unprotected turn is to a predetermined distance; and upon a determination that the unprotected turn is located at or less than the predetermined distance, begin to rotate the virtual camera through the series of camera rotation angles. 14. The vehicle of claim 10 , wherein the virtual camera system is further configured to map one or more angles of the unprotected turn to the camera rotation angle. 15. The vehicle of claim 14 , wherein the mapping is not a 1:1 correspondence. 16. The vehicle of claim 10 , wherein the virtual camera system is further configured to temporarily cease rotation of the virtual camera when the vehicle is stopped or projected to stop. 17. The vehicle of claim 10 , wherein the virtual camera system is further configured to return the virtual camera to a default position upon completion of the unprotected turn.
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