Camera peek into turn

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.