User interfaces adapted for shared control of vehicles travelling in formation

A system for generating a plurality of synthetic viewpoints, the system comprising one or more processors configured to execute computer executable program code stored in one or more memories that, when executed causes the system to:

• receive first information associated with one or more human driver inputs detected at one or more input devices and one or more outputs generated by one or more output devices on a first vehicle, wherein the first vehicle is at least partially controllable by a human driver;
• receive second information associated with a plurality of sensors on both the first vehicle and a second vehicle, wherein the second vehicle is at least partially controllable by autonomy logic;
• share the first information and the second information between the first and second vehicles as shared information;
• maintain, using the shared information, a respective local copy of a shared world model at the first vehicle;
• generate, by the first vehicle, based on the shared information included in its respective local copy of the shared world model, a plurality of synthetic viewpoints, wherein the plurality of synthetic viewpoints comprises a viewpoint from the second vehicle and an overhead viewpoint, the overhead viewpoint depicting both the first and the second vehicle, wherein the overhead viewpoint depicting both the first and the second vehicle is rendered based at least in part on sensor data from both the first and the second vehicle included in the local copy of the shared world model of the first vehicle;
• cause display of at least one of the plurality of generated synthetic viewpoints on a display included in the first vehicle;
• and
• wherein the computer executable program code, when executed, further causes the system to:
• display on the display associated with the first vehicle, a status of the first vehicle and the second vehicle collaboratively engaging in a decision.