Based on the data received by the virtual camera system, a video may be generated for display on a display in the vehicle for viewing by the vehicle's passengers. In this regard, the virtual camera system may generate the video from a perspective of a virtual camera using the received data by overlaying the vehicle's projected trajectory and detected objects on a map corresponding to the route the vehicle is traveling. For instance, FIG. 6 shows one frame of a video generated by the virtual camera system from the perspective of a virtual camera positioned above and behind the vehicle. The video includes a map 601 presented within a set field of view 503 of the virtual camera. The video further includes a virtual representation of the vehicle 100 and the vehicle's surroundings 610 overlaid on the map 601, along with the vehicle's projected trajectory 620. The video may include animations, illustrations, live-action, and/or other such content typically found in videos.

The perspective of a virtual camera may be fixed relative to the vehicle at a default position. For instance, this default position of the fixed position virtual camera 501 may be above and to the rear of the vehicle 100 and directed in a first heading 505, as shown in FIGS. 5A and 5B. The video may include imagery within a set field of view 503 corresponding to the first heading 505 and position of the fixed position virtual camera 501.