The features described above may allow a vehicle, such as an autonomous vehicle, to provide video of the vehicle's trajectory and surroundings to its passenger. By rotating the virtual camera generating the video, passengers are provided with information regarding the vehicle's projected trajectory or surroundings located further along the projected trajectory and consistent with the surroundings they would expect to see if they were manually driving the vehicle. Further, the video of the vehicle's trajectory and surroundings may be provided to individuals or systems located outside of the vehicle to the provide them with the video to remotely monitor and/or control the vehicle.

As shown in FIG. 1, a vehicle 100 in accordance with one aspect of the disclosure includes various components. While certain aspects of the disclosure are particularly useful in connection with specific types of vehicles, the vehicle may be any type of vehicle including, but not limited to, cars, trucks, motorcycles, busses, recreational vehicles, etc. The vehicle may have one or more computing devices, such as computing devices 110 containing one or more processors 120, memory 130 and other components typically present in general purpose computing devices.