Vehicle Image Projection

Abstract

The computer is programmed to receive data indicating the status of a traffic signal. The computer is also programmed to actuate a light source in a first vehicle to project a traffic signal symbol representing the status of the traffic signal.

Description

Technical Field

[0001] The present disclosure relates to vehicle image projection. Background Art

[0002] Autonomous and semi-autonomous vehicles can share the road with pedestrians, cyclists, and other autonomous and non-autonomous vehicles. Pedestrians, cyclists, and other vehicles (collectively referred to as "target objects") may not be aware that they are in traffic with an autonomous vehicle. Additionally, target object operators, who are human, may be distracted by using a mobile phone, talking to other occupants, eating, etc. When distracted, the target object operator may not be able to adequately observe the environment around the target object, which can include traffic conditions such as other vehicles, traffic lights, traffic signs, etc. The problem is that there is no technology developed to identify and take action based on certain traffic conditions. Summary of the Invention

[0003] According to the present invention, there is provided a computer programmed to:

[0004] Receive data indicating the state of a traffic signal; and

[0005] Activate a light source in a first vehicle to project a traffic signal symbol representing the state of the traffic signal.

[0006] According to an embodiment of the present invention, the computer is further programmed to:

[0007] Project the traffic signal symbol based on determining that the first vehicle is within a maximum distance from the traffic signal.

[0008] According to an embodiment of the present invention, the maximum distance is a predetermined distance.

[0009] According to an embodiment of the present invention, the computer is further programmed to determine the maximum distance based on identifying the traffic signal.

[0010] According to an embodiment of the present invention, the computer is further programmed to:

[0011] Determine a target object based on the received data; and

[0012] Project the traffic signal symbol towards the target object.

[0013] According to an embodiment of the present invention, the target object is one of a pedestrian, a cyclist, and a second vehicle.

[0014] According to an embodiment of the present invention, the computer is further programmed to:

[0015] Project the traffic signal symbol within a maximum distance from the target object.

[0016] According to one embodiment of the present invention, the computer is further programmed to determine a maximum distance from the target object based on the type of the target object.

[0017] According to one embodiment of the present invention, the computer is further programmed to project the traffic signal symbol representing the state of the traffic signal by programming to include a first light color in the symbol based on a second light color emitted by the traffic signal.

[0018] According to one embodiment of the present invention, the computer is further programmed to project the traffic signal symbol representing the state of the traffic signal by programming to project the symbol on a surface supporting the vehicle.

[0019] According to one embodiment of the present invention, the computer is further programmed to receive the data indicating the state of the traffic signal through radio frequency communication.

[0020] According to one embodiment of the present invention, the computer is further programmed to:

[0021] Receive visual data representing the traffic signal through a sensor; and

[0022] Determine the state of the traffic signal based on the visual data.

[0023] According to one embodiment of the present invention, the computer is further programmed to:

[0024] Also project the traffic signal symbol based on determining that the vehicle is parked within a maximum distance from the traffic signal.

[0025] According to one embodiment of the present invention, the computer is further programmed to:

[0026] Also project the traffic signal symbol based on determining that a target object is within a maximum distance of the planned travel path of the first vehicle.

[0027] According to one embodiment of the present invention, the computer is further programmed to:

[0028] Determine the line of sight of a target object; and

[0029] Project the traffic signal symbol along the line of sight.

[0030] According to one embodiment of the present invention, the computer is further programmed to:

[0031] Project the traffic signal symbol between the target object and the planned travel path of the first vehicle.

[0032] According to the present invention, there is provided a method including:

[0033] Receiving data indicating the state of a traffic signal; and

[0034] Activate a light source in the first vehicle to project a traffic signal symbol representing the state of the traffic signal.

[0035] According to an embodiment of the present invention, the method further includes:

[0036] Project the traffic signal symbol based on determining that the first vehicle is within a first maximum distance from the traffic signal.

[0037] According to an embodiment of the present invention, the method further includes:

[0038] Determine a target object based on received data; and

[0039] Project the traffic signal symbol towards the target object.

[0040] According to an embodiment of the present invention, the method further includes:

[0041] Project the traffic signal symbol within a second maximum distance from the target object.

[0042] According to the present invention, there is provided a computer including a processor and a memory, the memory including instructions executable by the processor to perform the following steps:

[0043] Identify a target object within a predetermined distance of a planned path of a vehicle based on received data;

[0044] Determine a target symbol ground position based on the target object position and the planned path; and

[0045] Project a symbol by a light source in the vehicle to the target symbol ground position.

[0046] According to an embodiment of the present invention, the memory further includes instructions to perform the following steps:

[0047] Project the symbol based on determining that the vehicle is within a first maximum distance from a traffic signal.

[0048] According to an embodiment of the present invention, the first maximum distance is a predetermined distance.

[0049] According to an embodiment of the present invention, the memory further includes instructions to determine the first maximum distance based on identifying the traffic signal.

[0050] According to an embodiment of the present invention, the target object is one of a pedestrian, a cyclist, and a second vehicle.

[0051] According to one embodiment of the present invention, the memory further includes instructions for determining the ground position of the target symbol based on the maximum distance from the target object for projecting the symbol.

[0052] According to one embodiment of the present invention, the memory further includes instructions for determining the maximum distance from the target object based on the type of the target object.

[0053] According to one embodiment of the present invention, the memory further includes instructions for performing the following steps:

[0054] Receiving data indicating the status of the traffic signal; and

[0055] Including a light color in the symbol based on the status of the traffic signal.

[0056] According to one embodiment of the present invention, the instructions further include receiving the data indicating the status of the traffic signal through radio frequency communication.

[0057] According to one embodiment of the present invention, the instructions further include:

[0058] Receiving visual data representing the traffic signal through a sensor; and

[0059] Determining the status of the traffic signal based on the visual data.

[0060] According to one embodiment of the present invention, the instructions further include:

[0061] Also projecting the symbol based on determining that the vehicle is parked within a second maximum distance from the traffic signal.

[0062] According to one embodiment of the present invention, the instructions further include:

[0063] Determining the line of sight of the target object; and

[0064] Determining the ground position of the target symbol based on the line of sight.

[0065] According to one embodiment of the present invention, the instructions further include:

[0066] Determining the shortest straight-line path between the target object and the planned path of the vehicle; and

[0067] Determining the ground position of the target symbol based on the shortest straight-line path.

[0068] According to the present invention, there is provided a method, including:

[0069] Identifying a target object within a predetermined distance of a planned path of a vehicle based on received data;

[0070] Determine a target symbol ground position based on the target object position and the planned path; and

[0071] Project the symbol to the target symbol ground position by a light source in the vehicle.

[0072] According to an embodiment of the present invention, the method further includes:

[0073] Project the symbol based on determining that the vehicle is within a maximum distance from a traffic signal.

[0074] According to an embodiment of the present invention, the method further includes:

[0075] Determine the target symbol ground position based on a maximum distance from the target object to project the symbol.

[0076] According to an embodiment of the present invention, the memory further includes instructions to project the symbol to move within the target symbol ground position.

[0077] According to an embodiment of the present invention, the method further includes:

[0078] Determine the line of sight of the target object; and

[0079] Determine the target symbol ground position according to the line of sight.

[0080] According to an embodiment of the present invention, the method further includes:

[0081] Determine a shortest straight-line path between the target object and the planned path of the vehicle; and

[0082] Determine the target symbol ground position based on the shortest straight-line path.

[0083] According to an embodiment of the present invention, the method further includes:

[0084] Project the symbol to move within the target symbol ground position. Description of the Drawings

[0085] Figure 1 is a block diagram of an exemplary vehicle image projection system;

[0086] Figure 2A is a perspective view of a vehicle including an image projector;

[0087] Figure 2B is a perspective view of a housing of a door step lighting lamp including an image projector;

[0088] Figure 3 is a diagram of an exemplary vehicle showing a vehicle travel path;

[0089] Figure 4 A diagram of an exemplary vehicle that projects traffic signal symbols;

[0090] Figure 5 A diagram of an exemplary process for projecting symbols based on traffic signal states;

[0091] Figure 6 A diagram of an exemplary vehicle that projects symbols for indicating a change in vehicle trajectory;

[0092] Figure 7A A diagram of the first part of an exemplary process for projecting symbols for indicating a change in vehicle trajectory;

[0093] Figure 7B Is Figure 7A A diagram of the second part of the exemplary process;

[0094] Figure 8 A diagram of an exemplary vehicle that projects symbols moving within a target area;

[0095] Figure 9A A diagram of the first part of an exemplary process for projecting symbols moving within a target area;

[0096] Figure 9B Is Figure 9A A diagram of the second part of the exemplary process. Detailed Description

[0097] The computer is programmed to receive data indicating the traffic signal state; and activate a light source in the first vehicle to project traffic signal symbols representing the traffic signal state. The computer is also programmed to project the traffic signal symbols based on determining that the first vehicle is within a maximum distance from the traffic signal. The maximum distance is a predetermined distance. The computer can also be programmed to determine the maximum distance based on identifying the traffic signal.

[0098] The computer can also be programmed to determine a target object based on the received data; and project the traffic signal symbols towards the target object. The target object can be one of a pedestrian, a cyclist, and a second vehicle. The computer can also be programmed to project the traffic signal symbols within a maximum distance from the target object. The computer can also be programmed to determine the maximum distance from the target object based on the type of the target object.

[0099] The computer can also be programmed to project traffic signal symbols representing the traffic signal state by programming to include a first light color in the symbols based on a second light color emitted by the traffic signal. The computer can also be programmed to project the traffic signal symbols representing the traffic signal state by programming to project the symbols on the surface of the supporting vehicle. The computer can also be programmed to receive data indicating the traffic signal state through radio frequency communication.

[0100] The computer can also be programmed to receive visual data representing a traffic signal through a sensor and determine the status of the traffic signal based on the visual data. The computer can also be programmed to project a traffic signal symbol based on determining that the vehicle is parked within a maximum distance from the traffic signal. The computer can also be programmed to project a traffic signal symbol based on determining that a target object is within a maximum distance of the planned travel path of the first vehicle. The computer can also be programmed to determine the line of sight of the target object; and project the traffic signal symbol along the line of sight. The computer can also be programmed to project the traffic signal symbol between the target object and the planned travel path of the first vehicle.

[0101] A method includes receiving data indicating the status of a traffic signal and activating a light source in a first vehicle to project a traffic signal symbol representing the status of the traffic signal. The method can also include projecting the traffic signal symbol based on determining that the first vehicle is within a first maximum distance from the traffic signal. The method can also include determining a target object based on the received data; and projecting the traffic signal symbol toward the target object. The method can also include projecting the traffic signal symbol within a second maximum distance from the target object.

[0102] Also disclosed is a computer programmed to perform any one of the above method steps. Also disclosed is a vehicle including the computer. Also disclosed is a computer program product including a computer-readable medium storing instructions executable by a computer processor to perform any of the above method steps.

[0103] Figure 1 FIG. 11 is a diagram of an exemplary system 10 in which a first vehicle 20 projects a symbol based on detected traffic conditions. As used herein, target object 90 refers to a pedestrian, a second vehicle, a bicycle, a motorcycle, a moped, a skateboard, and other types of vehicles controlled by a person. Target object 90 can also include an animal. For example, target object 90 can be a deer on the side of the road.

[0104] System 10 includes a first vehicle 20 and a network 30. System 10 can also include one or more traffic signals 40 and a server 60.

[0105] First vehicle 20 is generally a land-based vehicle having three or more wheels, such as a passenger vehicle, a light truck, etc. First vehicle 20 includes a computer 120, a sensor 122, a human-machine interface (HMI) 124, an image projector 126, and a controller 128.

[0106] The first vehicle 20 can be an autonomous or semi-autonomous vehicle. In the autonomous first vehicle 20, the computer 120 controls the first vehicle 20 by sending instructions to a controller 128 that includes controllers for steering, propulsion (e.g., a powertrain having electrical and / or internal combustion elements), and braking; in the semi-autonomous first vehicle 20, the computer 120 controls one or two of steering, propulsion, and braking.

[0107] The computer 120 includes a processor and a memory. The memory includes one or more types of computer-readable media and stores instructions executable by the processor to perform various operations including those disclosed herein. Additionally, the computer 120 can include and / or be communicatively coupled to one or more other computers, one or more other computers including vehicle components (e.g., sensors 122, HMI 124, image projector 126, and controller 128), which can also each include respective processors and memories. Communication, i.e., the communicative coupling, can be via a Controller Area Network (CAN) bus or a Local Interconnect Network (LIN) bus, wired and / or wireless in-vehicle local area network (LAN), e.g., as known, using wired or wireless technologies such as and so on.

[0108] As described in further detail below, the computer 120 is programmed to receive and / or determine a planned travel path of the first vehicle 20. The planned travel path is the path along which the first vehicle 20 will travel on a road. For example, the computer 120 can receive a route indicating a starting point, a destination, and the roads that the first vehicle 20 will follow to reach the destination. The computer 120 can determine the planned travel path based on the received route and using known autonomous vehicle control techniques, i.e., the specific points on the road that the vehicle 20 will cover along the route. That is, the route can specify one or more roads included in the route, and the travel path includes the specific points covered on the one or more roads as the vehicle 20 travels along the route. The computer 120 is also programmed to detect traffic conditions, such as the status of traffic signals within a vehicle signal distance threshold of the first vehicle 20, expected changes in the trajectory of the first vehicle 20, target objects 90 within an object path distance threshold of the planned travel path of the first vehicle 20, etc.

[0109] The vehicle signal distance threshold is the maximum distance that the first vehicle 20 can be from a traffic signal 40 to trigger symbol 164 projection. The vehicle signal distance threshold can be a predetermined distance, e.g., ten meters. In one case, the predetermined distance can be the same for each traffic signal 40. In another case, the predetermined distance can be a predetermined distance for each traffic signal 40. In this case, the vehicle signal distance threshold for each traffic signal 40 can be stored in a vehicle signal distance threshold table.

[0110] The object path distance threshold is the maximum distance from the target object 90 to the planned travel path 208 for triggering symbol projection. The object path distance threshold can be a predetermined distance, such as ten meters. In other cases, the object path distance threshold can depend on, for example, the location of the planned travel path 208 (on a street, on a road, in a city, in a rural area, etc.), the type of the target object 90 (pedestrian, cyclist, second vehicle, etc.). In such cases, the object path distance threshold can be determined based on an object path distance threshold table that provides the object path distance threshold based on the geographical location of the planned travel path 208 and other factors.

[0111] Based on the detected traffic conditions, the computer 120 instructs the image projector 126 to project a symbol or change the current projected symbol so that the symbol can be seen from the target object 90.

[0112] The sensor 122 is communicatively connected to the computer 120 and can be programmed to collect data related to the first vehicle 20 and the environment in which the first vehicle 20 operates. By way of example and not limitation, the sensor 122 can include cameras, lidar, radar, ultrasonic sensors, infrared sensors, pressure sensors, accelerometers, gyroscopes, temperature sensors, Hall sensors, optical sensors, voltage sensors, current sensors, mechanical sensors (such as switches), global positioning system (GPS), etc.

[0113] The HMI 124 is communicatively connected to the computer 120 in a known manner and includes one or more output devices (such as a display, a light, a speaker, etc.) for transmitting data to the user. The HMI 124 also includes one or more input devices (such as a touch screen display, a button, a mouse, a keyboard, a microphone, a gesture recognition device, a switch, etc.) for receiving input from the user.

[0114] The HMI 124 can receive input from the user of the first vehicle 20. The input from the user can include the destination of the first vehicle 20, the schedule of the first vehicle 20, the route of the first vehicle, the planned stopping points along the route of the first vehicle 20, etc.

[0115] The image projector 126 can project a symbol on the surface outside the first vehicle 20 or in the outward direction along the first vehicle 20. For example, the image projector 126 can project a symbol indicating that the first vehicle 20 is an autonomous vehicle on the road on which the first vehicle 20 is traveling. The image projector 126 includes one or more light sources, and a computer communicatively connected to the computer 120, and can also include one or more actuators (such as a motor or a solenoid). The light sources can include light emitting diodes (LEDs), light emitting laser diodes, fluorescent lamps, high intensity discharge lamps, xenon lamps, halogen lamps, etc.

[0116] The image projector 126 can generate and project symbols in a direction outward along the vehicle 20 (i.e., outward from the body surface of the vehicle 20) based on instructions from the computer 120. As described in further detail below, the image projector 126 can also be programmed to move the symbol along or within a target area (e.g., move back and forth within a rectangular area, move along an arc line), blink, change color, etc. The target area is the area where the computer 120 projects the symbol to increase the likelihood that the target object 90 will detect the symbol. As discussed in further detail below, the computer 120 can determine the target area based on the position of the target object 90, the type of the target object 90, the line of sight of the target object 90, the shortest straight line between the target object 90 and the planned travel path, or other factors that may affect the likelihood that the target object 90 will detect the symbol.

[0117] The controller 128 can be, for example, a known electronic control unit (ECU), etc., and the electronic control unit includes a computer communicatively connected to the computer 120 in any case, and can also be communicatively connected to actuators (such as motors, solenoids, relays, switches, etc.). The controller 128 is programmed to receive instructions from the computer 120 and take actions based on the instructions (such as controlling the direction of the first vehicle 20, providing propulsion to the first vehicle 20, braking the first vehicle 20, etc.).

[0118] The network 30 is one or more mechanisms by which the first vehicle 20, the traffic signal 40, and the server 60 communicate with each other, and can be one or more of various wired or wireless communication mechanisms, including wired (such as cables and optical fibers) and / or wireless (such as cellular, wireless, satellite, microwave, and radio frequency) communication mechanisms and any desired combination of any desired network topology (or topologies when multiple communication mechanisms are utilized). Exemplary communication networks include wireless communication networks (such as using one or more of cellular, IEEE 802.11, etc.), local area networks (LANs), and / or wide area networks (WANs) (including the Internet) to provide data communication services.

[0119] The types of wireless communication can include one or more of cellular, IEEE 802.11 (commonly known as ), dedicated short-range communication (DSRC), two-way satellite (such as for emergency services), one-way satellite (such as for receiving digital audio radio broadcasts), AM / FM (amplitude modulation / frequency modulation) radio, etc.

[0120] Traffic signal 40 can generate signals such as flashing lights, colored lights (e.g., standard green, yellow, red traffic lights), displays such as traffic signs (e.g., stop signs or arrows on an LED display), the speed of a vehicle (e.g., a radar-activated sign indicating the speed as a vehicle approaches), etc. to control traffic. Traffic signal 40 can include a computer, light sources, a display, and one or more actuators. For example, traffic signal 40 can include the green, yellow, and red lights known to be activated at intersections to control traffic.

[0121] In addition, traffic signal 40 can be communicatively connected to the first vehicle 20. Traffic signal 40 can be programmed to send the current state or a planned future state of traffic signal 40 to the first vehicle 20. For example, traffic signal 40 can send a message to the first vehicle 20 via network 30 that the current state of traffic signal 40 for a particular direction (e.g., facing the first vehicle 20) is "green". In addition, traffic signal 40 can send a planned future state. For example, traffic signal 40 can send that it will change from a "green" state to a "red" state within a period of time. The period of time to provide the target object 90 to prepare for the change can be selected, e.g., two seconds.

[0122] Server 60 is a computer including a processor and a memory, and the memory stores instructions executable by the processor. Server 60 is communicatively connected to the computer 120 of the first vehicle 20 and one or more traffic signals 40 via network 30.

[0123] Server 60 can be programmed to perform one or more functions described with reference to the computer 120 in the first vehicle 20. For example, server 60 can be programmed to receive or determine the planned travel path of the first vehicle 20. As described in more detail below, server 60 can also be programmed to receive data regarding the state of the first vehicle 20 from the first vehicle 20, and based on that data, detect traffic conditions (e.g., the state of traffic signal 40 within a vehicle signal distance threshold to the first vehicle 20, an expected change in the trajectory of the first vehicle 20, a target object 90 within a target path distance threshold of the planned travel path of the first vehicle 20, etc.). The state of the first vehicle 20 is a set of data describing the operating conditions of the first vehicle 20 (position, speed, travel direction, current planned travel path, etc.). The state data of the first vehicle 20 can also include internal operating conditions, such as engine speed, engine temperature, fuel level, tire pressure, etc. Based on the detected traffic conditions, server 60 can generate instructions and send the instructions to the computer 120 in the first vehicle 20 to project one or more symbols and / or modify one or more current projected symbols.

[0124] Additionally, the server 60 can be programmed to provide the first vehicle 20 with data related to the first vehicle 20 and the environment of the first vehicle 20. For example, the server 60 can provide location data related to the first vehicle 20, map data related to the location of the first vehicle 20, the locations of one or more traffic signals 40 along the driving path of the first vehicle 20, traffic data indicating the location and trajectory of a target object 90 along the driving path of the first vehicle 20, lighting conditions along the driving path of the first vehicle 20, and so on.

[0125] FIG. 2 is a perspective view of the first vehicle 20. As described above, the first vehicle 20 includes one or more sensors 122 and an image projector 126. FIG. 2 shows one sensor 122 on the top 21 (e.g., the roof) of the first vehicle 20. Generally, the first vehicle 20 includes a plurality of sensors 122 disposed throughout the first vehicle 20, and the plurality of sensors 122 are not shown in FIG. 2 for the sake of clarity.

[0126] As shown in FIG. 2, the image projector 126 can be included in a common housing 130 and / or included on a common bracket 131 having a door step lighting 132. Including the image projector 126 in the common housing 130 having the door step lighting 132 can save wiring and connection costs related to connecting the image projector 126 to the computer 120. Additionally or alternatively, the image projector 126 can be located at other positions on the first vehicle 20, such as in a headlight cavity, on a bumper, and inside an exterior mirror, etc.

[0127] The image projector 126 can generate a symbol 164 and project the symbol 164 through a light beam 162. As shown in FIG. 2, the image projector 126 can project the symbol 164 onto a surface supporting the vehicle (e.g., the road 200). Additionally or alternatively, the image projector 126 can project the symbol 164 onto any other surface within the range of the image projector 126 (e.g., a sidewalk, the ground, etc.). The range of the image projector 126 can be the distance at which the image projector 126 can project the symbol 164, which is determined by the intensity of the light beam 162, the light level in the environment of the first vehicle 20, obstacles in the environment where the symbol 164 is projected, and so on.

[0128] The symbol 164 can convey to the target object 90 that the first vehicle 20 is an autonomous vehicle. Additionally or alternatively, as described in more detail below, the symbol 164 can indicate the driving path of the first vehicle 20, changes in the trajectory of the first vehicle 20 (starting, stopping, accelerating, decelerating, turning, etc.), traffic conditions (e.g., the state of the traffic signal 40), and so on. Symbols 164 that move along a target area, blink, change color, deform, and / or include other dynamic features can also be generated.

[0129] Figure 3 FIG. Figure 3 is a diagram of an exemplary first vehicle 20 on a first vehicle travel path 208. The first vehicle 20 is located at an intersection 201 of first and second roads 200a, 200b. A traffic signal 40 is located within a first extent 202 of the intersection 201. The intersection 201 is defined as an area representing the intersection of the first and second roads 200a, 200b. The first extent 202 of the intersection 201 can be used to determine or identify whether the traffic signal 40 or other objects (including a target object 90) are associated with the intersection 201 or are currently near the intersection 201. The first extent 202 can be defined as an extent extending more than a first fixed distance (e.g., three meters) in each direction from the intersection 201. Additionally or alternatively, the first extent 202 can be predefined and can define an irregular shape. The first extent 202 can be included in map data indicating the association of the traffic signal 40 with the intersection 201 and the first extent 202 surrounding the intersection 201. For example, the first extent 202 can be an irregular shape surrounding the intersection 201 designed by a developer of the map data, the irregular shape being used to include traffic signals 40, traffic signs, etc. associated with the intersection 201.

[0130] The first vehicle 20 has a planned travel path 208. In Figure 3 the example, the planned travel path 208 of the first vehicle 20 turns left through the intersection 201 and continues beyond the intersection 201 on the first road 200a.

[0131] Figure 3 It is also shown that traffic conditions can include one or more target objects 90, such as a pedestrian 90a, a second vehicle 90b, and / or a cyclist 90c within an object path distance threshold of the planned travel path 208. The object path distance threshold is the maximum distance that the computer 120 is programmed to indicate the image projector 126 projects a symbol 164 between the target object 90 and the travel path 208.

[0132] The object path distance threshold can be a fixed distance (e.g., 10 meters), such as the point on the driving path 208 that is closest to the target object 90. Additionally or alternatively, the computer 120 can calculate the object path distance threshold based on the type or characteristics of the target object 90 and / or environmental factors. For example, the computer 120 can determine that the object path distance threshold is 10 meters for a pedestrian 90a, 20 meters for a second vehicle 90b, and 15 meters for a cyclist 90c. As another example, the computer 120 can determine the object path distance threshold based on other conditions that may affect the likelihood of an interaction or collision occurring between the first vehicle 20 and the target object 90. For example, the computer 120 can consider the type of road on which the target object 90 is located (street without sidewalk, street with sidewalk, intersection, highway, etc.), the current trajectory (speed and direction) of the target object, the current trajectory (speed and direction) of the first vehicle 20, etc. to determine the object path distance threshold. The computer 120 can include an object path distance threshold table that indicates the object path distance threshold based on relevant factors (such as the type of target object, road type, etc.). Then, the computer 120 can determine the relevant factors and retrieve the object path distance threshold from the object path distance threshold table.

[0133] Figure 4 FIG. is an exemplary traffic condition including the first vehicle 20. Additionally, in this exemplary figure, the image projector 126 of the first vehicle 20 projects a symbol 164 indicating the state of the traffic signal 40. The traffic signal 40 is located in a first range 202 of the intersection 201. The face 41 of the traffic signal 40 emits red light toward the first vehicle 20. Thus, the traffic signal 40 is in a "red state" for passing through the intersection 201 in the driving direction of the first vehicle 20.

[0134] The first vehicle 20 stops at the first intersection 201 and is at a vehicle signal distance 402 from the traffic signal 40. The vehicle signal distance 402 is the distance between the first vehicle 20 and the traffic signal 40. The pedestrian 90a stands at a corner of the intersection 201 and is looking down at the pedestrian's mobile phone. The line of sight 406 of the pedestrian 90a extends from the pedestrian's face toward the pedestrian's mobile phone and also extends to the first road 200a. The pedestrian 90a is a representative example of the target object 90 that can be included in the exemplary traffic condition.

[0135] As described below, the computer 120 in the first vehicle 20 receives traffic signal data indicating the state of the traffic signal 40 and also receives object position data regarding the target object 90. Based on the traffic signal data and the object position of the target object 90, the image projector 126 projects the traffic signal symbol 164 to indicate the state of the traffic signal 40.

[0136] The computer 120 may instruct the image projector 126 to project the traffic signal symbol 164 of the traffic signal 40 to a symbol position within the object symbol range of the target object 90. The object symbol range indicates the maximum distance from the target object 90 for projecting the traffic signal symbol 164. The object symbol range may be determined to increase the likelihood that the target object 90 sees the traffic signal symbol 164. For example, the object symbol range may be a fixed distance (e.g., one meter from the target object 90) to increase the likelihood that the traffic signal symbol 164 will appear in the peripheral vision of the target object 90 or otherwise be detected by the target object 90. Alternatively, the object symbol range may be determined based on the type of the target object 90. For example, for a pedestrian 90a or a cyclist 90c, the object symbol range may be determined to be one meter. For a second vehicle 90b, the object symbol range may be determined to be three meters, and the object symbol range may also be determined on a specific side to account for the driver's line of sight through the windshield of the second vehicle 90b.

[0137] Additionally or alternatively, the computer 120 may determine the symbol position for projecting the traffic signal symbol 164 based on the position of the target object 90 relative to the planned travel path 208 of the first vehicle 20. For example, the computer 120 may instruct the image projector 126 to project the traffic signal symbol 164 between the target object 90 and the planned travel path 208. In one example, the computer 120 may identify the shortest straight-line path 404 between the target object 90 and the planned travel path 208 of the first vehicle 20, and instruct the image projector 126 to project the traffic signal symbol 164 along the shortest straight-line path 404 at the symbol position.

[0138] Furthermore, the computer 120 may determine the symbol position for projecting the traffic signal symbol 164 based on the line of sight of the target object 90. In the case of a pedestrian 90a, the computer 120 may use an object or face recognition system such as the prior art to determine the line of sight 406 of the pedestrian 90a, and instruct the image projector 126 to project the traffic signal symbol 164 along the line of sight 406.

[0139] In the case of the second vehicle 90b, the computer 120 may determine which direction the second vehicle 90b is facing, and instruct the image projector 126 to project the traffic signal symbol 164 in front of the second vehicle 90b. The direction indicators (e.g., "front", "ahead", "rear", "front end", "rear end", "left", "right") used herein for the second vehicle 90b are with reference to a driver sitting in the driver's seat facing the steering wheel.

[0140] Figure 5 FIG. is a diagram of an exemplary process 500 for projecting a traffic signal symbol 164 indicating the status of a traffic signal 40. The process 500 begins at block 505.

[0141] At block 505, the computer 120 in the first vehicle 20 receives an input indicating that the first vehicle 20 is starting. For example, the first vehicle 20 may receive from a user of the first vehicle 20 via the HMI 124 an input indicating that the user wants to start a trip. As another example, the computer 120 may identify a trigger event (e.g., a scheduled pick-up or drop-off) indicating a requirement for the first vehicle 20 to travel to a location. After receiving the input indicating that the first vehicle 20 is starting, process 500 continues at block 510.

[0142] At block 510, the computer 120 determines or receives the planned travel path 208 of the first vehicle 20. As a first example, the computer 120 may receive route data (e.g., a destination) from a user of the first vehicle 20. Based on the destination and additional data (e.g., map data), the computer 120 and / or another computer communicatively coupled to the computer 120 may use known route planning techniques to determine the first vehicle route.

[0143] Based on the first vehicle route, the computer 120 may use known autonomous vehicle control techniques to determine the planned travel path 208 of the first vehicle 20 at points along the route. The planned travel path 208 is the path along which the first vehicle 20 will travel along the first and second roads 200a, 200b, i.e., as described above, the points on the road or other ground that the vehicle 20 will cover as it moves. Alternatively, the computer 120 may receive the planned travel path 208 from another computer in the first vehicle 20, or from the server 60. After determining or receiving the planned travel path 208, process 500 continues at block 515.

[0144] At block 515, the computer 120 collects first vehicle data and environmental data. First vehicle data in this context includes data indicating the operating conditions of the first vehicle, such as trajectory (speed and direction), position, tire pressure, engine speed, fuel level, number of occupants, etc. Environmental data is data indicating the conditions of the environment in which the first vehicle 20 is operating (e.g., weather conditions, lighting conditions, road conditions, topological conditions, objects in the environment, etc.). The computer 120 may collect, for example, global positioning system (GPS) data indicating the position of the first vehicle 20 (i.e., geographical coordinates). The computer 120 may also receive data indicating target objects 90, weather conditions, lighting conditions, etc. at the position of the first vehicle. Additionally, the computer 120 may collect data indicating target objects 90, weather conditions, lighting conditions, etc. along the planned travel path 208 of the first vehicle 20. After collecting first vehicle data and data related to the environment of the first vehicle 20, process 500 continues at block 520.

[0145] At block 520, computer 120 may determine whether weather conditions permit the first vehicle 20 to project symbol 164. For example, computer 120 may consider the brightness of the environment at the first vehicle's location. On a sunny day, where the light intensity from the sun is higher than a predetermined light intensity level, computer 120 may determine that the weather conditions do not permit the first vehicle 20 to project symbol 164. In such a case, process 500 continues at block 525. On the other hand, where the light intensity from the sun is lower than the predetermined light intensity level, computer 120 may be programmed to determine that the weather conditions permit the first vehicle 20 to project symbol 164. In such a case, process 500 continues at block 530.

[0146] At block 525, computer 120 determines whether the first vehicle 20 is still operating. For example, computer 120 may collect data indicating that the ignition of the first vehicle 20 is still on, the engine of the first vehicle 20 is still running, and / or an electric motor in the powertrain is engaged, etc. Where the first vehicle 20 is still operating, process 500 continues at block 515. Where the first vehicle 20 is no longer operating, process 500 ends.

[0147] At block 530, computer 120 collects data related to target objects 90 within the data collection range of the first vehicle 20. Computer 120 may collect visual data, lidar data, radar data, etc. indicating the positions of the respective target objects 90 and also indicating the characteristics of the target objects 90, such as the type of each target object 90 (pedestrian, vehicle, bicycle, etc.), the trajectory of each target object 90, the direction each target object 90 is facing, the line of sight of each target object 90, etc.

[0148] The data collection range of the first vehicle 20 may be, for example, the range within which sensors 122 detect target objects 90 and the characteristics of the target objects 90. In one case, each sensor 122 may have a different range within which the sensor 122 individually detects target objects 90 and the characteristics of the target objects 90. In such a case, the data collection range of the first vehicle 20 may be the superposition of the detection ranges of each individual sensor 122. Alternatively, the data collection range may be, for example, a fixed distance from the vehicle 20, such as 500 meters. After collecting data related to target objects 90 within the data collection range, the process continues at block 535.

[0149] At block 535, computer 120 determines whether there is at least one target object 90 within the target range. The target range is the range within which a target object 90 triggers the projection of a traffic symbol towards the target object 90.

[0150] The target range can be defined as the planned travel path 208 of the first vehicle 20 plus the area surrounding the planned travel path 208. As an example, the target range can be defined as the planned travel path 208 plus the area extending a target path distance threshold from either side of the planned travel path 208.

[0151] In another example, the target range can be defined to include the planned travel path 208, the area extending a target path distance threshold from either side of the planned travel path 208, and additionally include the first range 202 around the intersection 201 as discussed in reference Figure 3 as discussed.

[0152] In another example, the target range can be defined as the target signal distance threshold of the traffic signal 40. The target signal distance threshold can be, for example, a fixed distance, such as 10 meters. In the case where the target object 90 is within the target signal distance threshold of the traffic signal 40, the computer 120 can determine that the target object 90 is within the target range.

[0153] In the case where the computer 120 determines that the target object 90 is within the target range, the process continues at block 540. Otherwise, the process 500 continues at block 525.

[0154] At block 540, the computer 120 determines whether there is a triggering event for the projection symbol 164. A triggering event is a traffic condition that, when detected by the first computer 120, causes the first computer 120 to instruct the image projector 126 to project the symbol 164. Exemplary triggering events can include the first vehicle 20 stopping at the traffic signal 40, the first vehicle 20 entering the intersection 201, or the first vehicle 20 stopping in the intersection 201 waiting for an opportunity to turn left. As another example, the triggering event can be that the first vehicle 20 is within the vehicle object distance threshold of the target object 90, etc. The vehicle object distance threshold can be the maximum distance between the first vehicle 20 and the target object 90 that can trigger the projection of the symbol 164. The vehicle object distance threshold can be, for example, a predetermined distance, such as 50 meters. Alternatively, the vehicle object distance threshold can be determined based on one or more factors, such as the type of the object (second vehicle, cyclist, pedestrian, person on roller skates, etc.), location (rural area, suburban area, urban street, busy intersection), vehicle trajectory (speed, direction, direction relative to the object), etc. The computer 120 can maintain or access a vehicle object distance threshold table and look up the applicable vehicle object distance threshold based on these factors.

[0155] As another example, computer 120 may determine that the first vehicle 20 is within the vehicle signal distance threshold of the traffic signal 40. For example, computer 120 may determine that the vehicle traffic signal distance 402 is less than the vehicle signal distance threshold. If computer 120 determines that there is a triggering projection symbol 164, process 500 continues at block 545. If computer 120 does not determine that there is a triggering event, process 500 continues at block 525.

[0156] At block 545, computer 120 collects data indicative of the status of traffic signal 40. The status of traffic signal 40 is the color in which traffic signal 40 emits light on the face 41 of traffic signal 40 that faces the first vehicle 20.

[0157] In one case, traffic signal 40 may be communicatively coupled to computer 120 via network 30. In this case, computer 120 may receive data indicative of the status of traffic signal 40 via radio frequency communication. In another case, computer 120 may collect data indicative of the status of traffic signal 40 via sensor 122. As Figure 4 shown, sensor 122 may capture a visual image of the face 41 of traffic signal 40 that faces the first vehicle 20. After collecting data indicative of the status of traffic signal 40, process 500 continues at block 550.

[0158] At block 550, computer 120 determines the status of traffic signal 40. In the case of receiving the urban traffic signal 40 via radio frequency communication, the status of traffic signal 40 may be obtained directly from the communication. In the case of capturing visual image data representative of the traffic signal status, computer 120 may use prior art object recognition to determine the status of traffic signal 40. After determining the status of traffic signal 40, process 500 continues at block 555.

[0159] At block 555, computer 120 projects a traffic signal symbol 164 indicative of the status of traffic signal 40 via the image projector 126 in the first vehicle 20. Computer 120 may direct the image projector 126 to project the traffic signal symbol 164 in a direction determined based on the position of the target object 90.

[0160] Computer 120 may direct the image projector 126 to project the traffic signal symbol 164 towards the target object 90. For example, computer 120 may direct the image projector 126 to project the traffic signal symbol 164 within the object symbol range as described above. Additionally or alternatively, computer 120 may direct the image projector 126 to project the traffic signal symbol 164 along the line of sight 406 of the target object 90.

[0161] As another example, the computer 120 may instruct the image projector 126 to project the traffic signal symbol 164 along the shortest straight path 404 between the target object 90 and the planned travel path 208 of the first vehicle 20. Also in this case, the computer 120 may additionally consider the object symbol range when determining the position of the projected symbol 164.

[0162] The traffic signal symbol 164 may indicate the state of the traffic signal 40. For example, in the case where the traffic signal 40 is in the "red" state in the direction facing the first vehicle 20, the traffic signal symbol 164 may be a symbol indicating the "red" state of the traffic signal 40 (or a general traffic signal). After projecting the traffic signal symbol 164, the process 500 continues at block 560.

[0163] At block 560, the computer 120 determines whether the first vehicle 20 has passed the traffic signal 40. The computer 120 may determine, for example, that the vehicle signal distance 402 indicating the distance of the first vehicle 20 to the traffic signal 40 is no longer less than the vehicle signal distance threshold. As another example, the computer 120 may determine that the traffic signal 40 is behind the first vehicle 20 and the trajectory of the first vehicle 20 is away from the traffic signal 40. After determining that the first vehicle 20 has passed the traffic signal 40, the process 500 continues at block 565.

[0164] At block 565, the computer 120 instructs the image projector 126 to stop projecting the traffic signal symbol 164. After stopping the projection of the traffic signal symbol 164, the process 500 continues at block 525.

[0165] Figure 6 FIG. is a diagram in which the image projector 126 in the first vehicle 20 projects the symbol 164 indicating the trajectory of the first vehicle 20. The first vehicle 20 stops at the first stop sign 640 before entering the intersection 601. The intersection 601 is the intersection area of the first and second roads 600a, 600b. The second vehicle 90b stops at the second stop sign 641. The second vehicle 90b enters the intersection 601 in the opposite direction to the first vehicle 20 and stops at the second stop sign 641. The first vehicle 20 has a planned travel path 208. The planned travel path 208 is to enter the intersection 601 and turn left.

[0166] The first range 602 of the intersection 601 can be used to determine or identify whether the first and second stop signs 640, 641, or other objects (including the target object 90) are associated with the intersection 601 or are close to the intersection 601. The first range 602 can be defined as a range that extends from the intersection 601 in each direction by more than a first fixed distance (e.g., three meters) of the intersection 601. Additionally or alternatively, the first range 602 can be predefined and included in the map data indicating the association of the first and second stop signs 640, 641 with the intersection 601 and the first range 602 around the intersection 601. For example, the first range 602 can be an irregular shape around the intersection designed by the developer of the map data, and the irregular shape includes the first and second stop signs 640, 641, traffic signals, etc. associated with the intersection 601.

[0167] The computer 120 in the first vehicle 20 projects a trajectory symbol 164 indicating the planned travel path 208 through the image projector 126.

[0168] Figure 7A and 7B FIG. is a diagram of an exemplary process 700 for projecting a trajectory symbol 164 indicating a change in the vehicle trajectory. The process 700 begins at block 705.

[0169] At block 705, the computer 120 in the first vehicle 20 receives an input indicating that the first vehicle 20 is starting as described above with reference to block 505. After receiving the input indicating that the first vehicle 20 is starting, the process 700 continues at block 710.

[0170] At block 710, the computer 120 determines or receives the planned travel path 208 of the first vehicle 20 as described above with reference to block 510. After determining or receiving the planned travel path 208, the process 700 continues at block 715.

[0171] At block 715, the computer 120 collects vehicle and environmental data related to the first vehicle 20 as described with reference to block 515. After collecting the vehicle and environmental data, the process 700 continues at block 720.

[0172] At block 720, the computer 120 can determine whether weather conditions permit the first vehicle 20 to project a symbol as described with reference to block 520. If the weather conditions do not permit the first vehicle 20 to project a symbol, the process 700 continues at block 725. If the weather conditions do permit the first vehicle 20 to project a symbol, the process 700 continues at block 730.

[0173] At block 725, computer 120 determines whether the first vehicle 20 is still operating. For example, computer 120 may collect data indicating that the ignition of the first vehicle 20 is still on, the engine of the first vehicle 20 is still running, and / or an electric motor in the powertrain is engaged, etc. If the first vehicle 20 is still operating, process 700 continues at block 715. If the first vehicle 20 is no longer operating, process 700 ends.

[0174] At block 730, after block 720, computer 120 collects data related to the target object 90 that is within the data collection range of the first vehicle 20 as described with reference to block 530. After collecting data related to the target object 90 that is within the data collection range, the process continues at block 735.

[0175] At block 735, computer 120 determines whether there is at least one target object 90 within the target range.

[0176] As an example, the target range may be defined as the planned travel path 208 plus an area extending a target object path distance threshold from either side of the planned travel path 208.

[0177] In another example, the target range may be defined to include the planned travel path 208, an area extending a target object path distance threshold from either side of the planned travel path 208, and additionally include the first range 602 around the intersection 601 as discussed with reference to Figure 6 what is discussed.

[0178] In another example, the target range may be defined to be within an object signal distance threshold of a traffic sign 640. In the case of a detected traffic sign, the object signal distance threshold is the maximum distance that computer 120 is programmed to indicate that image projector 126 projects symbol 164 between the target object 90 and the traffic sign 640.

[0179] In one case, the object signal distance threshold may be a predetermined distance, such as 10 meters. In another case, the object signal distance threshold may depend on one or more factors, such as the type of the object (pedestrian, cyclist, second vehicle, etc.), the type of the sign (stop, yield, etc.), the location of the sign (geographical coordinates indicating the intersection where the sign is located), etc. Computer 120 or server 60 may maintain an object signal distance threshold table. If the target object 90 is within the object signal distance threshold of the traffic sign 640, computer 120 may determine that the target object 90 is within the target range.

[0180] If computer 120 determines that the target object 90 is within the target range, the process continues at block 740. Otherwise, process 700 continues at block 725.

[0181] At block 740, computer 120 determines whether there is a trigger event for projection symbol 164. Exemplary trigger events can include the first vehicle 20 stopping at traffic signal 40, the first vehicle 20 entering intersection 601, the first vehicle 20 stopping in intersection 201 waiting for an opportunity to turn left, the first vehicle 20 being within a vehicle object distance threshold, etc. The vehicle object distance threshold can be a distance of, for example, 50 meters. If computer 120 determines that there is a trigger for projecting symbol 164, process 700 continues at block 750. If computer 120 does not determine that there is a trigger event, process 700 continues at block 725.

[0182] At block 750, computer 120 instructs image projector 126 to project a first version of trajectory symbol 164. For example, computer 120 can instruct image projector 126 to project a first version of trajectory symbol 164 indicating the planned travel path 208 of the first vehicle 20. For example, if the first vehicle 20 is stopped, computer 120 can instruct image projector 126 to project the first version of trajectory symbol 164 in a first color, such as red. The first version of trajectory symbol 164 can be a hollow arrow as Figure 6 shown, two or more lines indicating the planned travel path 208, a set of points or dashed lines along the planned travel path 208, etc. After projecting trajectory symbol 164, process 700 continues at block 755.

[0183] At block 755, computer 120 determines whether the trajectory of the first vehicle 20 is about to change. A change in the trajectory can be accelerating, decelerating, or changing direction. For example, the first vehicle 20 can be stopped at stop sign 640 and plan to continue along planned travel path 208. As another example, the first vehicle 20 can be stopped in intersection 201 waiting for an opportunity to turn left. As another example, the first vehicle 20 can enter intersection 601 directly, but plan to turn left once in the intersection. If computer 120 determines that there is a change in the planned trajectory, process 700 continues at block 765. If there is no change in the planned trajectory, process 700 continues at block 760.

[0184] At block 760, computer 120 determines whether the first vehicle has passed target object 90. Computer 120 can determine, for example, that the vehicle object distance indicating the distance from the first vehicle 20 to target object 90 is no longer less than the vehicle object distance threshold. As another example, computer 120 can determine that target object 90 is behind the first vehicle 20 and the trajectory of the first vehicle 20 is moving away from target object 90. If computer 120 determines that the first vehicle 20 has passed target object 90, process 700 continues at block 725. Otherwise, process 700 continues at block 750.

[0185] After block 755, at block 765, computer 120 determines whether the time until the trajectory changes is less than a time threshold. The time threshold can be a predetermined time, such as two seconds. The time threshold represents the period during which an indication of the trajectory change is provided to the target object 90 before the trajectory changes.

[0186] If the time until the trajectory changes is less than the time threshold, process 700 continues at block 770. Otherwise, process 700 continues at block 750.

[0187] At block 770, computer 120 instructs image projector 126 to project a second version of the trajectory symbol 164 to indicate the planned trajectory change. For example, if the first version of the trajectory symbol 164 is a first color, computer 120 can instruct image projector 126 to project the second version of the trajectory symbol 164 as a second color. The second color can be, for example, yellow or green. As another example, computer 120 can cause the second version of the trajectory symbol 164 to blink. The blink can be, for example, at a rate of two hertz. After projecting the second version of the trajectory symbol 164, the process continues at block 775.

[0188] At block 775, computer 120 determines whether the first vehicle 20 passes the target object 90 as described above with reference to block 760. If the first vehicle 20 passes the target object 90, process 700 continues at block 780. Otherwise, process 700 continues at block 770.

[0189] At block 780, computer 120 turns off the trajectory symbol 164. The process continues at block 725.

[0190] Figure 8 FIG. is a diagram showing an exemplary traffic condition, in which an image projector 126 in a first vehicle 20 projects a symbol 164 moving through a target area 820. The first vehicle 20 enters an intersection 801 and travels along a planned travel path 208. A traffic signal 40 is associated with the intersection 801. The first vehicle 20 is at a vehicle signal distance 808 from the traffic signal 40.

[0191] The planned travel path 208 will continue through the intersection 801 and turn left. The intersection 801 is an intersection area of a first and a second road 800a, 800b. A pedestrian 90a stands at a corner of the intersection 801 and looks at the pedestrian's mobile phone. The line of sight 806 of the pedestrian 90a extends from the face of the pedestrian 90a to the pedestrian's mobile phone and also extends to the first road 800a. The pedestrian 90a is a representative example of the target object 90 that can be included in the exemplary traffic condition.

[0192] The planned travel path 208 passes by the target object 90 within a distance less than the object path distance threshold. The shortest straight-line path 804 extends between the target object 90 and the planned travel path 208. The shortest straight-line path 804 indicates the shortest path between the target object 90 and the travel path 208.

[0193] The first range 802 of the intersection 801 can be used to determine or identify whether a traffic signal 40 or other object (including the target object 90) is associated with the intersection 801 or is close to the intersection 801. The first range 802 can be defined as a range that extends from the intersection 801 in each direction by more than a first fixed distance (e.g., three meters) of the intersection 801. Additionally or alternatively, the first range 802 can be predefined and included in map data indicating the association of the traffic signal 40 with the intersection 801 and the first range 802 around the intersection 801. For example, the first range 802 can be an irregular shape around the intersection 801 designed by the developer of the map data, and the irregular shape includes traffic signals 40, traffic signs, etc. associated with the intersection 801.

[0194] The computer 120 projects the symbol 164 that moves back and forth along the target area 820 through the image projector 126. As described in more detail below, the computer 120 determines the target area 820 to increase the likelihood that the target object 90 will see the symbol 164.

[0195] Figure 9A and 9B is a diagram of an exemplary process 900 for projecting the symbol 164 that moves along the target area 820. The process 900 starts at block 905.

[0196] At block 905, the computer 120 in the first vehicle 20 receives an input indicating that the first vehicle 20 is starting as described above with reference to block 505. After receiving the input indicating that the first vehicle 20 is starting, the process 900 continues at block 910.

[0197] At block 910, the computer 120 determines or receives the planned travel path 208 of the first vehicle 20 as described above with reference to block 510. After determining or receiving the planned travel path 208, the process 900 continues at block 915.

[0198] At block 915, the computer 120 collects position data and environmental data related to the first vehicle 20 as described with reference to block 515. After collecting the position and environmental data related to the first vehicle 20, the process 900 continues at block 920.

[0199] At block 920, computer 120 may determine whether weather conditions permit the first vehicle 20 to project a symbol as described with reference to block 520. If the weather conditions do not permit the first vehicle 20 to project a symbol, process 900 continues at block 925. If the weather conditions do permit the first vehicle 20 to project a symbol, process 900 continues at block 930.

[0200] At block 925, computer 120 determines whether the first vehicle 20 is still operating. For example, computer 120 may collect data indicating that the ignition of the first vehicle 20 is still on, the engine of the first vehicle 20 is still running, and / or an electric motor in the powertrain is engaged, etc. If the first vehicle 20 is still operating, process 900 continues at block 915. If the first vehicle 20 is no longer operating, process 900 ends.

[0201] At block 930, which is after block 920, computer 120 collects data related to the target object 90 that is within the data collection range of the first vehicle 20 as described with reference to block 535. After collecting data related to the target object 90 that is within the data collection range, the process continues at block 935.

[0202] At block 935, computer 120 determines whether there is at least one target object 90 within the target range.

[0203] The target range may be defined as the planned travel path 208 of the first vehicle 20 plus an area surrounding the planned travel path 208. As an example, the target range may be defined as the planned travel path 208 plus an area extending a target path distance threshold from either side of the planned travel path 208.

[0204] In another example, the target range may be defined to include the planned travel path 208, an area extending a target path distance threshold from either side of the planned travel path 208, and additionally include a first range 802 around the intersection 801 as discussed with reference to Figure 8 what is discussed.

[0205] In another example, the target range may be defined to be within an object signal distance threshold of the traffic signal 40. The object signal distance threshold may be, for example, a distance of 10 meters. If the target object 90 is within the object signal distance threshold of the traffic signal 40, computer 120 may determine that the target object 90 is within the target range.

[0206] If computer 120 determines that the target object 90 is within the target range, the process continues at block 940. Otherwise, process 900 continues at block 925.

[0207] At block 940, computer 120 determines whether there is a trigger event for projection symbol 164. Exemplary trigger events can include the first vehicle 20 stopping at traffic signal 40, the first vehicle 20 entering intersection 801, the first vehicle 20 stopping in intersection 801 waiting for an opportunity to turn left, the first vehicle 20 being within a vehicle object distance threshold, etc. The vehicle object distance threshold can be a fixed distance such as 50 meters, for example. In the case where computer 120 determines that there is a trigger for projection symbol 164, process 900 continues at block 945. In the case where computer 120 does not determine that there is a trigger event, process 900 continues at block 925.

[0208] At block 945, computer 120 determines a target region 820 for projection symbol 164 based on the location of target object 90. Target region 820 is the range along which computer 120 will direct image projector 126 to project symbol 164, and target region 820 is determined to increase the likelihood that target object 90 will see symbol 164. As described below, computer 120 will direct image projector 126 to move symbol 164 through target region 820. As an example, computer 120 can determine target region 820 as a rectangular region, and can move symbol 164 back and forth within the rectangular region as Figure 8 shown.

[0209] Computer 120 can determine target region 820 based on one or more parameters such as the location of target object 90, the object symbol range, the line of sight 806 of target object 90, the shortest straight line path 804 between target object 90 and travel path 208, the direction in which the first road 800a intersects shortest straight line path 804, etc.

[0210] For example initially, computer 120 can position target region 820 within the object symbol range of target object 90. Computer 120 can position target region 820 such that shortest straight line path 804 passes through the middle of target region 820. Computer 120 can also determine target region 820 to extend a range to extend beyond shortest straight line path 804 on either side. The extension range can be a predetermined distance such as 0.5 meters. Alternatively, the extension range can be determined based on factors such as the type of target object 90. For example, the extension range can be 0.5 meters when target object 90 is a pedestrian or cyclist, and the extension range can be 1 meter when the target object is a second vehicle. Computer 120 can also determine that target region 820 moves perpendicular to shortest straight line path 804.

[0211] Alternatively, computer 120 can determine the target region such that the line of sight 806 of target object 90 passes through target region 820. Computer 120 can determine that target region 820 extends the extension range on either side of the line of sight of target object 90. InFigure 8 In this case, the line of sight 806 is shown as the line of sight 806 of the pedestrian 90a. The line of sight for determining the target area 820 may depend on the type of the target object 90. For example, for the second vehicle 90b (see, for example, Figure 6 ), the line of sight may be a straight line passing through the front windshield of the second vehicle 90b and towards the road in front of the second vehicle 90b.

[0212] As another example, alternatively, in order to determine that the target area 820 moves perpendicular to the shortest straight path 804, the computer 120 may determine that the target area 820 moves parallel to the driving path 208, or parallel to the first road 800a associated with the driving path 208.

[0213] The above examples are non - restrictive. Many other possibilities for determining the target area 820 are possible. For example, the computer 120 may determine the target area 820 as an arc around the target object 90 between the target object 90 and the first road 800a. As another example, the target area 820 may be determined to be circular, that is, the symbol 164 may be projected along a circular path, or projected in an X pattern, projected around an ellipse, etc. Additionally, it may be determined that the target area 820 passes through a crosswalk at a specific location.

[0214] After determining the target area 820, the process 900 continues at block 950.

[0215] At block 950, the computer 120 instructs the image projector 126 to project the symbol 164 to move within or along the target area 820. For example, the computer 120 may instruct the image projector 126 to project the symbol 164 to move back and forth within the target area 820. As another example, the computer 120 may instruct the image projector 126 to project the symbol 164 to move within or along the target area 820 in a circular or elliptical pattern. The computer 120 may instruct the image projector 126 to project the symbol 164 to move at a predetermined speed determined to attract the attention of the target object 90. For example, the predetermined speed may be in the range of 0.1 to 2 meters per second.

[0216] In addition, the computer 120 may be programmed to make the symbol 164 blink. The blink frequency may be determined to attract the attention of the target object 90, and the blink frequency may be in the range of 5 to 8 Hertz.

[0217] After projecting the symbol 164 to move within the target area 820, the process 900 continues at block 955.

[0218] At block 955, computer 120 determines whether the first vehicle 20 has passed the target object 90 as described above with reference to block 760. In the case where the first vehicle 20 has passed the target object 90, process 900 continues at block 960. Otherwise, process 900 continues at block 950.

[0219] At block 960, computer 120 instructs the image projector 126 to stop projecting the symbol 164. The process continues at block 925.

[0220] Conclusion

[0221] Computing devices such as those discussed herein typically each include instructions executable by one or more computing devices (such as those computing devices identified above) and are for performing the blocks or steps of the processes described above. For example, the process blocks discussed above may be implemented as computer-executable instructions.

[0222] The computer-executable instructions may be compiled or interpreted by a computer program created using a variety of programming languages and / or technologies, including but not limited to Java, C, C++, Visual Basic, Java Script, Perl, HTML, etc., used alone or in combination. Typically, a processor (such as a microprocessor) receives instructions, for example, from a memory, a computer-readable medium, etc., and executes the instructions, thereby performing one or more processes including one or more of the steps described herein. Various computer-readable media may be used to store such instructions and other data in a file and to send such instructions and other data. Files in a computing device are typically a collection of data stored on a computer-readable medium, such as a storage device medium, random access memory, etc. TM A computer-readable medium includes any medium that participates in providing data (such as instructions) that can be read by a computer. Such a medium may take many forms, including but not limited to non-volatile media, volatile media, etc. Non-volatile media includes, for example, optical or magnetic disks, and other persistent memories. Volatile media includes dynamic random access memory (DRAM) which typically constitutes main memory. Common forms of computer-readable media include, for example, floppy disks, flexible disks, hard disks, magnetic tape, any other magnetic medium, CD-ROM, DVD, any other optical medium, punch cards, paper tape, any other physical medium with holes, RAM, PROM (programmable read-only memory), EPROM (erasable programmable read-only memory), flash EEPROM (electrically erasable programmable read-only memory), any other memory chip or cartridge, or any other medium readable by a computer.

[0223]

[0224] ​Unless the contrary is expressly stated herein, all terms in the claims are intended to have the ordinary and customary meaning as understood by one of ordinary skill in the art in the context of the description herein. In particular, unless the claims expressly recite a contrary limitation, the singular forms such as "a", "the", and "said" used herein shall be construed to mean one or more of the indicated elements.

[0225] The term "exemplary" is used herein in the sense of an illustration. For example, reference to an "exemplary widget" should be understood to refer only to an example of a widget.

[0226] The adverb "substantially" modifying a numerical value or result means that, due to imperfections in materials, processing, manufacturing, sensor measurements, calculations, processing times, communication times, etc., shapes, structures, measurements, numerical values, decisions, calculations, etc. may deviate from the geometric shapes, distances, measurements, values, decisions, calculations, etc. precisely described.

[0227] In the drawings, like reference numerals denote like elements. Additionally, some or all of these elements may be changed. With respect to the media, processes, systems, methods, etc. described herein, it should be understood that although the steps of these processes, etc. have been described as occurring in accordance with a certain ordered sequence, the described steps may be performed in an order other than the order described herein to implement these processes. It should also be understood that certain steps may be performed simultaneously, other steps may be added, or certain steps described herein may be omitted. In other words, the process descriptions provided herein are for the purpose of illustrating certain embodiments and should not be construed as limiting the claimed invention.

Claims

1. A vehicle image projection method, comprising: Determining a target object within a predetermined distance of a planned path of a first vehicle based on received data; Determining a target symbol ground position based on the position of the target object and the planned path; And Activating a light source in the first vehicle to project a traffic signal symbol onto the target symbol ground position.

2. The method according to claim 1, further comprising: Projecting a traffic signal symbol based on determining that the first vehicle is within a maximum distance from a traffic signal.

3. The method according to claim 2, further comprising: Projecting the traffic signal symbol towards the target object.

4. The method according to claim 3, further comprising: Projecting the traffic signal symbol within a maximum distance from the target object.

5. The method according to claim 4, further comprising: Determining the maximum distance from the target object based on the type of the target object.

6. The method according to claim 2, further comprising: Projecting the traffic signal symbol representing the state of the traffic signal by programming to include a first light color in the traffic signal symbol based on a second light color emitted by the traffic signal.

7. The method according to claim 2, further comprising: Projecting the traffic signal symbol representing the state of the traffic signal by projecting the traffic signal symbol on a surface supporting the first vehicle.

8. The method according to claim 2, further comprising: Receiving data indicating the state of the traffic signal through radio frequency communication.

9. The method according to claim 2, further comprising: Receiving visual data representing the traffic signal through a sensor; And Determining the state of the traffic signal based on the visual data.

10. The method according to claim 2, further comprising: Also projecting a traffic signal symbol based on determining that the first vehicle is parked within a maximum distance from the traffic signal.

11. The method according to claim 2, further comprising: Also projecting the traffic signal symbol based on determining that the target object is within a maximum distance of the planned path of the first vehicle.

12. The method according to claim 2, further comprising: Projecting the traffic signal symbol along the line of sight of the target object.

13. The method according to claim 2, further comprising: Projecting the traffic signal symbol between the target object and the planned path of the first vehicle.

14. A computer programmed to execute the method according to any one of claims 1-13.

15. A vehicle comprising a computer programmed to execute the method according to any one of claims 1-13.

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