Waymo has provided a first-hand look at riding in one of its self-driving, level 4 autonomy Chrysler Pacifica minivans, publishing a 360° video titled ‘Waymo 360° Experience: A Fully Self-Driving Journey’.

Published to its corporate blog on Medium.com, the 3-and-a-half minute long video shows a wide-angle view perspective of its minivan trekking across Phoenix, Ariz. Overlays of its LiDAR, radar, and camera “beams” canvas roads, objects, and pedestrians to illustrate how distance is calculated and how it paints a “picture of the world” around it. Other overlays show how its self-driving system “predicts” the future movements of surrounding objects, up to three football fields away.

About two-thirds into the video, the camera angle switches to rear-seat view, where a steering wheel is observed moving on its own, with two back head-rest mount digital screens. No word is given on what these screens are used for.

The video can be viewed on desktop, mobile, and through Google’s Cardboard and Daydream virtual reality headsets.

Along with the video’s release, Waymo also announced its latest milestone, five-million self-driven miles on public roads, with test drives in more than 20 U.S. cities across a diverse set of environments. Other milestones include 2.7-billion miles driven in simulated environments in 2017, a mid. Jan. announcement of its selection of Atlanta, Ga. as its 25th test city, and a four-million, self-driven mile milestone in Nov. 2017.

As of this writing, a 600-vehicle fleet of Waymo’s minivans are circling Phoenix, Ariz. as part of its early rider program. The brand has confirmed plans to launch its ride-hailing service later this year.