CPC G08G 1/137 (2013.01) [G01C 21/3635 (2013.01); G01C 21/3647 (2013.01); G01C 21/3658 (2013.01); G05D 1/0212 (2013.01); G05D 1/0214 (2013.01); G06T 19/006 (2013.01); G06V 20/56 (2022.01); G06V 20/588 (2022.01); G08G 1/167 (2013.01); B60W 30/18163 (2013.01); B60W 2050/146 (2013.01); G05D 1/0088 (2013.01); G06T 15/20 (2013.01); G06T 2207/30252 (2013.01)] | 22 Claims |
1. A method of generating frames from different perspectives of a virtual camera, the method comprising:
generating, by one or more processors, a first frame that includes imagery within a set field of view corresponding to a first perspective of the virtual camera fixed relative to an autonomous vehicle;
determining, by the one or more processors, that the vehicle is going to perform a lane change from a first lane to a second lane; and
at a predetermined time after the determining that the vehicle is going to perform the lane change, adjusting, by the one or more processors, a position of the virtual camera with respect to the imagery of the first frame in order to generate a second frame that includes imagery within a set field of view corresponding to a second perspective of the virtual camera at the adjusted position.
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