Vehicle image projection

Abstract

A computer is programmed to actuate a light source to project a symbol outwardly from a vehicle. The computer is further programmed to actuate the light source to modify the projection based on determining that the trajectory of the vehicle is changing.

Description

Technical Field

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

[0002] Autonomous and semi-autonomous vehicles may share the road with pedestrians, cyclists, and other autonomous and non-autonomous vehicles. Pedestrians, cyclists, and other vehicles (which may be referred to as "target objects") may not be aware that they are in traffic with autonomous vehicles. In addition, target objects, i.e., their human operators, may be distracted by using mobile phones, talking to other occupants, food, etc. While distracted, the target object operator may not be able to fully observe the environment around the target object, which may include traffic conditions, such as other vehicles, traffic lights, traffic signs, etc. The problem that exists is that technology has not yet been developed to recognize 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] actuating the light source to project the symbol outwardly from the vehicle; and

[0005] The light source is actuated to modify the projection based on determining that the trajectory of the vehicle is changing.

[0006] According to one embodiment of the invention, being programmed to project symbols includes being programmed to indicate vehicle trajectories with symbols.

[0007] According to one embodiment of the present invention, the computer is further programmed to:

[0008] determining the planned path of travel for the vehicle; and

[0009] The light source is actuated to project the symbol based on determining that the target object is within the maximum distance of the planned travel path.

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

[0011] Predict when the vehicle's trajectory is expected to change; and

[0012] The light source is actuated to modify the symbol a specified amount of time before a time when the vehicle trajectory is expected to change.

[0013] According to one embodiment of the invention, the computer is further programmed to determine that the vehicle is changing trajectory by determining one of the vehicle is changing direction and the vehicle is beginning to move after coming to a stop.

[0014] According to one embodiment of the invention, the computer is further programmed to modify the symbol by instructing the light source to perform at least one of changing the symbol from a first color to a second color and causing the symbol to flash.

[0015] According to one embodiment of the present invention, the computer is further programmed to:

[0016] The light source is also actuated to project the symbol based on the determined weather conditions.

[0017] According to one embodiment of the present invention, the computer is further programmed to:

[0018] The light source is also actuated to project the symbol based on determining that the vehicle is within the maximum distance of the target object.

[0019] According to one embodiment of the present invention, the computer is further programmed to:

[0020] The symbol is projected further based on determining that the vehicle is within a first maximum distance of the traffic sign and the target object is within a second maximum distance of the traffic sign.

[0021] According to one embodiment of the invention, the computer is further programmed to project the symbol also based on determining that the vehicle is stopped within a first maximum distance of the traffic sign.

[0022] According to the present invention, there is provided a method comprising:

[0023] actuating the light source to project the symbol outwardly from the vehicle; and

[0024] The light source is actuated to modify the projection based on determining that the trajectory of the vehicle is changing.

[0025] According to one embodiment of the invention, projecting the symbol includes indicating the vehicle trajectory with the symbol.

[0026] According to one embodiment of the present invention, the method further includes:

[0027] determining the planned path of travel for the vehicle; and

[0028] The light source is actuated to project the symbol based on determining that the target object is within the maximum distance of the planned travel path.

[0029] According to one embodiment of the present invention, the method further includes:

[0030] Predict when the vehicle's trajectory is expected to change; and

[0031] The light source is actuated to modify the symbol a specified amount of time before a time when the vehicle trajectory is expected to change.

[0032] According to one embodiment of the invention, the method further comprises determining that the vehicle is changing trajectory by determining one of that the vehicle is changing direction and that the vehicle is starting to move after being stopped.

[0033] According to an embodiment of the invention, the method further comprises modifying the symbol by instructing the light source to perform at least one of changing the symbol from a first color to a second color and flashing the symbol.

[0034] According to one embodiment of the present invention, the method further includes:

[0035] Symbols are also projected based on determining weather conditions.

[0036] According to one embodiment of the present invention, the method further includes:

[0037] The symbol is also projected based on determining that the vehicle is within a maximum distance of the target object.

[0038] According to one embodiment of the present invention, the method further includes:

[0039] The symbol is projected further based on determining that the vehicle is within a first maximum distance of the traffic sign and the target object is within a second maximum distance of the traffic sign.

[0040] According to one embodiment of the invention, the symbol is projected further based on determining that the vehicle stops at the traffic sign. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 is a block diagram of an exemplary vehicle image projection system;

[0042] Figure 2A is a perspective view of a vehicle including an image projector;

[0043] Figure 2B is a perspective view of a housing of a door-controlled step lighting lamp including an image projector;

[0044] Figure 3 is a diagram of an exemplary vehicle showing a vehicle travel path;

[0045] Figure 4 is a diagram of an exemplary vehicle projecting a traffic signal symbol;

[0046] Figure 5 is a diagram of an exemplary process for projecting symbols based on traffic signal states;

[0047] Figure 6 is a diagram of an exemplary vehicle projecting a symbol indicating a change in vehicle trajectory;

[0048] Fig. 7A is a diagram of a first portion of an exemplary process of projecting a symbol for indicating a change in vehicle trajectory;

[0049] Figure 7B yes Fig. 7A a diagram of a second portion of an exemplary process of;

[0050] Figure 8 is a diagram of an exemplary vehicle projecting a symbol moving within a target area;

[0051] Fig. 9A is a diagram of a first portion of an exemplary process for projecting a symbol that moves within a target area;

[0052] Fig. 9B yes Fig. 9A FIG. 4 is a diagram of the second part of an exemplary process. DETAILED DESCRIPTION

[0053] The computer is programmed to actuate the light source to project the symbol outwardly from the vehicle, and actuate the light source to modify the projection based on determining that the trajectory of the vehicle is changing. Projecting the symbol may include programming to indicate the trajectory of the vehicle with the symbol.

[0054] The computer can also be programmed to determine a planned travel path of the vehicle and actuate the light source to project the symbol based on determining that the target object is within a maximum distance of the planned travel path. The computer can also be programmed to predict when the trajectory of the vehicle is expected to change and actuate the light source to modify the symbol a specified amount of time before the time when the trajectory of the vehicle is expected to change.

[0055] The computer can also be programmed to determine that the vehicle is changing trajectory by determining that the vehicle is changing direction and the vehicle is starting to move after stopping. The computer can also be programmed to modify the symbol by instructing the light source to perform at least one of changing the symbol from a first color to a second color and flashing the symbol.

[0056] The computer may also be programmed to actuate the light source to project the symbol based also on determining weather conditions.The computer may also be programmed to actuate the light source to project the symbol based also on determining that the vehicle is within a maximum distance of the target object.

[0057] The computer can also be programmed to actuate the light source to project the symbol based on determining that the vehicle is within a first maximum distance of the traffic sign and the target object is within a second maximum distance of the traffic sign. The computer can also be programmed to project the symbol based on determining that the vehicle is stopped within the first maximum distance of the traffic sign.

[0058] A method includes actuating a light source to project a symbol outwardly from a vehicle, and actuating the light source to modify the projection based on determining that a trajectory of the vehicle is changing. In the method, projecting the symbol may include indicating the vehicle trajectory with the symbol.

[0059] The method may also include determining a planned travel path of the vehicle, and actuating the light source to project the symbol based on determining that the target object is within a maximum distance of the planned travel path.

[0060] The method may further include predicting when the vehicle trajectory is expected to change and actuating the light source to modify the symbol a specified amount of time before the time when the vehicle trajectory is expected to change.

[0061] The method may also include determining that the vehicle is changing trajectory by determining that the vehicle is changing direction and the vehicle is beginning to move after stopping. The method may also include modifying the symbol by instructing the light source to perform at least one of changing the symbol from a first color to a second color and flashing the symbol. The method may also include projecting the symbol based on determining weather conditions. The method may also include projecting the symbol based on determining that the vehicle is within a maximum distance of the target object.

[0062] The method may further include projecting the symbol based also on determining that the vehicle is within a first maximum distance of the traffic sign and the target object is within a second maximum distance of the traffic sign. In the method, the symbol may also be projected based on determining that the vehicle is stopped at the traffic sign.

[0063] A computer programmed to perform any one of the above method steps is also disclosed. A vehicle comprising the computer is also disclosed. A computer program product is also disclosed, comprising a computer readable medium storing instructions executable by a computer processor to perform any of the above method steps.

[0064] Figure 1 is a diagram of an exemplary system 10 for projecting symbols based on detected traffic conditions by a first vehicle 20. As used herein, target object 90 refers to pedestrians, second vehicles, bicycles, motorcycles, scooters, skateboards, and other types of vehicles controlled by people. Target object 90 may also include animals. For example, target object 90 may be a deer on the side of the road.

[0065] The system 10 includes a first vehicle 20 and a network 30. The system 10 may also include one or more traffic signals 40 and a server 60.

[0066] The first vehicle 20 is typically a land-based vehicle having three or more wheels, such as a passenger car, a light truck, etc. The first vehicle 20 includes a computer 120 , a sensor 122 , a human machine interface (HMI) 124 , an image projector 126 , and a controller 128 .

[0067] The first vehicle 20 may be an autonomous or semi-autonomous vehicle. In an autonomous first vehicle 20, the computer 120 controls the first vehicle 20 by sending instructions to a controller 128, which includes controllers for steering, propulsion (e.g., a powertrain with electric and / or internal combustion elements), and braking; in a semi-autonomous first vehicle 20, the computer 120 controls one or two of steering, propulsion, and braking.

[0068] 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 as disclosed herein. In addition, computer 120 may include and / or be communicatively connected to one or more other computers, including vehicle components (e.g., sensor 122, HMI 124, image projector 126, and controller 128), which may also include respective processors and memories. Communications, i.e., communication connections, may be wired and / or wireless in a controller area network (CAN) bus or a local interconnect network (LIN) bus, an in-vehicle local area network (LAN), as is known, using, for example, a CAN bus or a local interconnect network (LIN) bus, a vehicle local area network (LAN), and / or a LAN bus. It can be achieved by wired or wireless technology.

[0069] As described in further detail below, the computer 120 is programmed to receive and / or determine a planned driving path for the first vehicle 20. The planned driving path is a path that the first vehicle 20 will travel along a road. For example, the computer 120 may receive a route indicating a starting point, a destination, and a road that the first vehicle 20 will travel along to reach the destination. The computer 120 may determine the planned driving path based on the received route and using known autonomous vehicle control techniques, i.e., specific points on the road that the vehicle 20 will cover along the route, etc. That is, the route may specify one or more roads included in the route, and the driving path includes specific points covered on the one or more roads when the vehicle 20 travels along the route. The computer 120 is also programmed to detect traffic conditions, such as the state of a traffic signal 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 an object path distance threshold to the planned driving path of the first vehicle 20, etc.

[0070] The vehicle signal distance threshold is the maximum distance that the first vehicle 20 can be from the traffic signal 40 to trigger the projection of the symbol 164. The vehicle signal distance threshold can be a predetermined distance, such as 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.

[0071] The object path distance threshold is the maximum distance of the target object 90 from the planned travel path 208 to trigger the symbol projection. The object path distance threshold may be a predetermined distance, such as ten meters. In other cases, the object path distance threshold may depend on, for example, the location of the planned travel path 208 (on a street, on a highway, in a city, in a rural area, etc.), the type of the target object 90 (a pedestrian, a cyclist, a second vehicle, etc.). In this case, the object path distance threshold may be determined based on an object path distance threshold table, which provides the object path distance threshold based on the geographic location of the planned travel path 208 and other factors.

[0072] Based on the detected traffic conditions, computer 120 instructs image projector 126 to project a symbol, or to change a currently projected symbol, so that the symbol is visible from target object 90 .

[0073] 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 a camera, a LiDAR, a radar, an ultrasonic sensor, an infrared sensor, a pressure sensor, an accelerometer, a gyroscope, a temperature sensor, a Hall sensor, an optical sensor, a voltage sensor, a current sensor, a mechanical sensor (such as a switch), a global positioning system (GPS), etc.

[0074] The HMI 124 is communicatively coupled to the computer 120 in a known manner and includes one or more output devices (e.g., displays, lights, speakers, etc.) for communicating data to a user. The HMI 124 also includes one or more input devices (e.g., touch screen displays, buttons, mice, keyboards, microphones, gesture recognition devices, switches, etc.) for receiving input from a user.

[0075] The HMI 124 may receive input from a user of the first vehicle 20. The input from the user may include a destination of the first vehicle 20, a schedule of the first vehicle 20, a route of the first vehicle, planned stops along the route of the first vehicle 20, and the like.

[0076] The image projector 126 may project a symbol on a surface outside the first vehicle 20 or in a direction outward from the first vehicle 20. For example, the image projector 126 may project a symbol indicating that the first vehicle 20 is an autonomous vehicle on a road on which the first vehicle 20 is traveling. The image projector 126 includes one or more light sources, and a computer in communication with the computer 120, and may also include one or more actuators (e.g., motors or solenoids). The light source may include a light emitting diode (LED), a light emitting laser diode, a fluorescent lamp, a high intensity discharge lamp, a xenon lamp, a halogen lamp, etc.

[0077] Image projector 126 may generate and project symbols in a direction outward from vehicle 20 (i.e., outward from the body surface of vehicle 20) based on instructions from computer 120. Image projector 126 may also be programmed to cause the symbol to move along or within a target area (e.g., move back and forth within a rectangular area, move along an arcuate line), flash, change color, etc., as described in additional detail below. A target area is an area where a symbol is projected determined by computer 120 to increase the likelihood that target object 90 will detect the symbol. As discussed in additional detail below, computer 120 may determine a target area based on the location of target object 90, the type of target object 90, the line of sight of target object 90, the shortest straight line between target object 90 and the planned travel path, or other factors that may affect the likelihood that target object 90 will detect the symbol.

[0078] The controller 128 may be, for example, a known electronic control unit (ECU), etc., and the electronic control unit in any case includes a computer that is communicatively connected to the computer 120, and may also be communicatively connected to actuators (e.g., motors, solenoids, relays, switches, etc.). The controller 128 is programmed to receive instructions from the computer 120 and take actions based on the instructions (e.g., control the direction of the first vehicle 20, provide propulsion to the first vehicle 20, brake the first vehicle 20, etc.).

[0079] 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 a variety of wired or wireless communication mechanisms, including any desired combination of wired (e.g., cable and fiber optic) and / or wireless (e.g., cellular, wireless, satellite, microwave, and radio frequency) communication mechanisms and any desired network topology (or topology when multiple communication mechanisms are utilized). Exemplary communication networks include wireless communication networks (e.g., using cellular, Data communication services are provided through one or more of IEEE 802.11, etc.), local area networks (LANs), and / or wide area networks (WANs) (including the Internet).

[0080] Types of wireless communications can include cellular, IEEE 802.11 (commonly known as ), dedicated short range communications (DSRC), two-way satellite (e.g., emergency services), one-way satellite (e.g., receiving digital audio radio broadcasts), AM / FM (amplitude modulation / frequency modulation) radio, etc.

[0081] Traffic signal 40 may generate signals such as flashing lights, colored lights (e.g., standard green, yellow, and red traffic lights), displays such as displays of traffic signs (e.g., stop signs or arrows on LED displays), the speed of vehicles (e.g., radar-activated signs indicating the speed of vehicles approaching), etc. to control traffic. Traffic signal 40 may include a computer, a light source, a display, and one or more actuators. For example, traffic signal 40 may include green, yellow, and red lights that may be activated at an intersection to control traffic as is known.

[0082] In addition, the traffic signal 40 can be communicatively connected with the first vehicle 20. The traffic signal 40 can be programmed to send the current state or the planned future state of the traffic signal 40 to the first vehicle 20. For example, the traffic signal 40 can send a message to the first vehicle 20 through the network 30 that the current state of the traffic signal 40 is "green" for a particular direction of the traffic signal 40 (e.g., facing the first vehicle 20). In addition, the traffic signal 40 can send a planned future state. For example, the traffic signal 40 can send that it will change from the "green" state to the "red" state within a period of time. The time period that provides the target object 90 with time to prepare for the change can be selected, such as two seconds.

[0083] The server 60 is a computer including a processor and a memory storing instructions executable by the processor. The server 60 is communicatively connected to the computer 120 of the first vehicle 20 and one or more traffic signals 40 via the network 30 .

[0084] The server 60 may be programmed to perform one or more functions described with reference to the computer 120 in the first vehicle 20. For example, the server 60 may be programmed to receive or determine a planned travel path for the first vehicle 20. As described in further detail below, the server 60 may also be programmed to receive data about the state of the first vehicle 20 from the first vehicle 20 and detect traffic conditions based on the data (e.g., the state of the 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 (position, speed, direction of travel, current planned travel path, etc.) of the first vehicle 20. The state data of the first vehicle 20 may also include internal operating conditions, such as engine speed, engine temperature, fuel quantity, tire pressure, etc. Based on the detected traffic conditions, the server 60 may generate and send instructions to the computer 120 in the first vehicle 20 to project one or more symbols and / or modify one or more currently projected symbols.

[0085] In addition, the server 60 can be programmed to provide data related to the first vehicle 20 and the environment of the first vehicle 20 to 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 location of one or more traffic signals 40 along the travel path of the first vehicle 20, traffic data indicating the location and trajectory of the target object 90 along the travel path of the first vehicle 20, lighting conditions along the travel path of the first vehicle 20, etc.

[0086] FIG2 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. FIG2 shows one sensor 122 on a top portion 21 (e.g., a roof) of the first vehicle 20. Typically, the first vehicle 20 includes multiple sensors 122 disposed throughout the first vehicle 20, but the multiple sensors 122 are not shown in FIG2 for ease of illustration.

[0087] 2 , the image projector 126 may be included in a common housing 130 and / or included on a common bracket 131 with the door step lights 132. Including the image projector 126 in a common housing 130 with the door step lights 132 may save wiring and connection costs associated with connecting the image projector 126 to the computer 120. Additionally or alternatively, the image projector 126 may be located at other locations on the first vehicle 20, such as in a headlamp cavity, on a bumper, in an exterior mirror, etc.

[0088] The image projector 126 can generate a symbol 164 and project the symbol 164 through the light beam 162. As shown in FIG2, the image projector 126 can project the symbol 164 onto a surface supporting the vehicle (e.g., road 200). Additionally or alternatively, the image projector 126 can project the symbol 164 onto any other surface (e.g., a sidewalk, the ground, etc.) within the range of the image projector 126. 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, etc.

[0089] The symbol 164 may communicate to the target object 90 that the first vehicle 20 is an autonomous vehicle. Additionally or alternatively, as described in further detail below, the symbol 164 may indicate a travel path of the first vehicle 20, a change in trajectory of the first vehicle 20 (start, stop, accelerate, decelerate, turn, etc.), a traffic condition (e.g., the state of a traffic signal 40), etc. The symbol 164 may also be generated to move along the target area, flash, change color, deform, and / or include other dynamic features.

[0090] Figure 3 2 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. The traffic signal 40 is located within a first range 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 range 202 of the intersection 201 can be used to determine or identify whether the traffic signal 40 or other objects (including the target object 90) are associated with the intersection 201 or are currently close to the intersection 201. The first range 202 can be defined as a range extending beyond the intersection 201 by a first fixed distance (e.g., three meters) in each direction from the intersection 201. Additionally or alternatively, the first range 202 can be predetermined and can define an irregular shape. The first range 202 can be included in the map data indicating that the traffic signal 40 is associated with the intersection 201 and the first range 202 surrounding the intersection 201. For example, the first range 202 may be an irregular shape around the intersection 201 designed by a developer of the map data, the irregular shape being used to include the traffic signal 40 , traffic signs, etc. associated with the intersection 201 .

[0091] The first vehicle 20 has a planned driving path 208. Figure 3 In the example of FIG. 2 , the planned driving path 208 of the first vehicle 20 turns left through the intersection 201 and continues to drive outside the intersection 201 on the first road 200 a .

[0092] Figure 3 208, the traffic condition may include one or more target objects 90, such as pedestrians 90a, second vehicles 90b, and / or cyclists 90c, that are 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 instruct the image projector 126 to project the symbol 164 between the target object 90 and the travel path 208.

[0093] The object path distance threshold may be a fixed distance (e.g., 10 meters), such as measured to the point on the travel path 208 closest to the target object 90. Additionally or alternatively, the computer 120 may 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 may determine that the object path distance threshold is 10 meters for the pedestrian 90a, 20 meters for the second vehicle 90b, and 15 meters for the cyclist 90c. As another example, the computer 120 may determine the object path distance threshold based on other conditions that may affect the likelihood of an interaction or collision between the first vehicle 20 and the target object 90. For example, the computer 120 may determine the object path distance threshold based on the type of road on which the target object 90 is located (streets without sidewalks, streets with sidewalks, intersections, highways, etc.), the current trajectory (speed and direction) of the target object, the current trajectory (speed and direction) of the first vehicle 20, etc. The computer 120 may 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, the road type, etc. The computer 120 may then determine the relevant factors and retrieve the object path distance threshold from the object path distance threshold table.

[0094] Figure 4 is a diagram of an exemplary traffic condition including a first vehicle 20. Also in this exemplary diagram, the image projector 126 of the first vehicle 20 projects a symbol 164 indicating the state of a traffic signal 40. The traffic signal 40 is located in a first range 202 of an intersection 201. The face 41 of the traffic signal 40 emits red light toward the first vehicle 20. Therefore, the traffic signal 40 is in a "red state" for traveling through the intersection 201 in the traveling direction of the first vehicle 20.

[0095] The first vehicle 20 is stopped at the first intersection 201 and is 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. A pedestrian 90a is standing at a corner of the intersection 201 and 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 a target object 90 that can be included in the exemplary traffic condition.

[0096] 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 data regarding the object position of the target object 90. Based on the traffic signal data and the object position of the target object 90, the image projector 126 projects a traffic signal symbol 164 to indicate the state of the traffic signal 40.

[0097] 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 in order 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 field of view 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 the 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 cope with the driver's line of sight through the windshield of the second vehicle 90b.

[0098] Additionally or alternatively, the computer 120 may determine a 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 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 at the symbol position along the shortest straight path 404.

[0099] Additionally, computer 120 may determine a symbol location for projecting traffic signal symbol 164 based on the line of sight of target object 90. In the case of pedestrian 90a, computer 120 may determine line of sight 406 of pedestrian 90a using an object or facial recognition system such as known in the art and instruct image projector 126 to project traffic signal symbol 164 along line of sight 406.

[0100] In the case of the second vehicle 90b, the computer 120 can 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 the driver sitting in the driver's seat facing the steering wheel.

[0101] Figure 5 is a diagram of an exemplary process 500 for projecting a traffic signal symbol 164 indicating a state of a traffic signal 40 . The process 500 begins at block 505 .

[0102] At block 505, the computer 120 in the first vehicle 20 receives input indicating that the first vehicle 20 is starting. For example, the first vehicle 20 may receive input from a user of the first vehicle 20 through the HMI 124 indicating that the user wants to start a trip. As another example, the computer 120 may identify a triggering event indicating that the first vehicle 20 is required to go to a location (e.g., a scheduled pick-up). After receiving the input indicating that the first vehicle 20 is starting, the process 500 continues at block 510.

[0103] At block 510, the computer 120 determines or receives the planned travel path 208 for 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 in communication with the computer 120 may determine the first vehicle route using known route planning techniques.

[0104] Based on the first vehicle route, the computer 120 can use known autonomous vehicle control techniques to determine a planned travel path 208 for the first vehicle 20 at points along the route. The planned travel path 208 is the path that the first vehicle 20 will travel along the first and second roads 200a, 200b, that is, as described above, the points on the road or other ground that the vehicle 20 will cover as it moves. Alternatively, the computer 120 can 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, the process 500 continues at block 515.

[0105] At box 515, the computer 120 collects first vehicle data and environmental data. The 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 passengers, 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 can collect, for example, global positioning system (GPS) data indicating the location (i.e., geographic coordinates) of the first vehicle 20. The computer 120 can also receive data indicating the target object 90 at the first vehicle location, weather conditions, lighting conditions, etc. In addition, the computer 120 can collect data indicating the target object 90, weather conditions, lighting conditions, etc. along the planned driving path 208 of the first vehicle 20. After collecting the first vehicle data and data related to the environment of the first vehicle 20, the process 500 continues at box 520.

[0106] At block 520, the computer 120 may determine whether weather conditions allow the first vehicle 20 to project the symbol 164. For example, the computer 120 may consider the brightness of the environment at the location of the first vehicle. In the case of a sunny day, where the light intensity from the sun is above a predetermined light intensity level, the computer 120 may determine that weather conditions do not allow the first vehicle 20 to project the symbol 164. In this case, the process 500 continues at block 525. On the other hand, in the case where the light intensity from the sun is below a predetermined light intensity level, the computer 120 may be programmed to determine that weather conditions allow the first vehicle 20 to project the symbol 164. In this case, the process 500 continues at block 530.

[0107] At block 525, the computer 120 determines whether the first vehicle 20 is still operating. For example, the 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 the electric motor in the powertrain is engaged, etc. In the event that the first vehicle 20 is still operating, the process 500 continues at block 515. In the event that the first vehicle 20 is no longer operating, the process 500 ends.

[0108] At box 530, the computer 120 collects data related to the target objects 90 that are within the data collection range of the first vehicle 20. The computer 120 may collect visual data, lidar data, radar data, etc. that indicates the location of each target object 90 and also indicates the characteristics of the target object 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 faces, the line of sight of each target object 90, etc.

[0109] The data collection range of the first vehicle 20 may be, for example, a range in which the sensor 122 detects the target object 90 and the features of the target object 90. In one case, each sensor 122 may have a different range in which the sensors 122 each detect the target object 90 and the features of the target object 90. In this case, the data collection range of the first vehicle 20 may be a superposition of the detection ranges of each individual sensor 122. Alternatively, the data collection range may be, for example, a fixed distance from a vehicle 20, such as 500 meters. After collecting data related to the target object 90 within the data collection range, the process continues at block 535.

[0110] At block 535 , the computer 120 determines whether at least one target object 90 is within a target range. The target range is a range within which a target object 90 triggers projection of a traffic symbol toward the target object 90 .

[0111] 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 one example, the target range may be defined as the planned travel path 208 plus an area extending from either side of the planned travel path 208 by an object path distance threshold.

[0112] In another example, the target range can be defined as an area that includes the planned travel path 208, extends from either side of the planned travel path 208 by the target path distance threshold, and additionally includes the reference path 208. Figure 3 A first range 202 surrounding the intersection 201 is discussed.

[0113] In another example, the target range may be defined as an object signal distance threshold of the traffic signal 40. The object signal distance threshold may be, for example, a fixed distance, such as 10 meters. In the event that the target object 90 is within the object signal distance threshold of the traffic signal 40, the computer 120 may determine that the target object 90 is within the target range.

[0114] In the event that 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.

[0115] At block 540, the computer 120 determines whether there is a triggering event for projecting the symbol 164. The 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 may include the first vehicle 20 being stopped at the traffic signal 40, the first vehicle 20 being entering the intersection 201, or the first vehicle 20 being stopped in the intersection 201 waiting for an opportunity to turn left. As another example, the triggering event may be that the first vehicle 20 is within a vehicle object distance threshold of the target object 90, etc. The vehicle object distance threshold may 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 may be, for example, a predetermined distance, such as 50 meters. Alternatively, the vehicle object distance threshold may be determined based on one or more factors, such as the type of object (a second vehicle, a cyclist, a pedestrian, a person on roller skates, etc.), location (rural area, suburbs, city streets, busy intersections), vehicle trajectory (speed, direction, direction relative to the object), etc. The computer 120 may maintain or access a vehicle object distance threshold table and look up an applicable vehicle object distance threshold based on these factors.

[0116] As another example, the computer 120 may determine that the first vehicle 20 is within a vehicle signal distance threshold of the traffic signal 40. For example, the computer 120 may determine that the vehicle traffic signal distance 402 is less than the vehicle signal distance threshold. In the event that the computer 120 determines that a triggering projection symbol 164 is present, the process 500 continues at block 545. In the event that the computer 120 does not determine that a triggering event is present, the process 500 continues at block 525.

[0117] At block 545 , the computer 120 collects data indicating the state of the traffic signal 40 . The state of the traffic signal 40 is the color that the traffic signal 40 is illuminated on the face 41 of the traffic signal 40 that faces the first vehicle 20 .

[0118] In one embodiment, the traffic signal 40 may be communicatively connected to the computer 120 via the network 30. In this embodiment, the computer 120 may receive data indicating the state of the traffic signal 40 via radio frequency communication. In another embodiment, the computer 120 may collect data indicating the state of the traffic signal 40 via the sensor 122. Figure 4 As shown, the sensor 122 may capture a visual image of the side 41 of the traffic signal 40 that faces the first vehicle 20. After collecting data indicating the state of the traffic signal 40, the process 500 continues at block 550.

[0119] At block 550, the computer 120 determines the state of the traffic signal 40. In the case where the urban traffic signal 40 is received via radio frequency communication, the state of the traffic signal 40 may be obtained directly from the communication. In the case where visual image data representing the state of the traffic signal is captured, the computer 120 may use prior art object recognition to determine the state of the traffic signal 40. After determining the state of the traffic signal 40, the process 500 continues at block 555.

[0120] At block 555 , the computer 120 projects the traffic signal symbol 164 indicating the state of the traffic signal 40 through the image projector 126 in the first vehicle 20 . The computer 120 may instruct the image projector 126 to project the traffic signal symbol 164 in a direction determined based on the location of the target object 90 .

[0121] The computer 120 can instruct the image projector 126 to project the traffic signal symbol 164 toward the target object 90. For example, the computer 120 can instruct the image projector 126 to project the traffic signal symbol 164 within the object symbol range as described above. Additionally or alternatively, the computer 120 can instruct the image projector 126 to project the traffic signal symbol 164 along the line of sight 406 of the target object 90.

[0122] 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 location of the projected symbol 164.

[0123] The traffic signal symbol 164 may indicate the state of the traffic signal 40. For example, if 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 of the traffic signal 40 (or a general traffic signal) indicating the "red" state. After projecting the traffic signal symbol 164, the process 500 continues at block 560.

[0124] 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 from the traffic signal 40 is no longer less than a 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 moving 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.

[0125] At block 565 , the computer 120 instructs the image projector 126 to stop projecting the traffic signal symbol 164 . After stopping projecting the traffic signal symbol 164 , the process 500 continues at block 525 .

[0126] Figure 6 1 is a diagram in which the image projector 126 in the first vehicle 20 projects a symbol 164 indicating the trajectory of the first vehicle 20. The first vehicle 20 stops at a first stop sign 640 before entering the intersection 601. The intersection 601 is an intersection area of ​​the first and second roads 600a, 600b. The second vehicle 90b stops at a 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.

[0127] 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 extending from the intersection 601 in each direction beyond the intersection 601 by a first fixed distance (e.g., three meters). Additionally or alternatively, the first range 602 can be predetermined and included in the map data indicating that the first and second stop signs 640, 641 are associated with the intersection 601 and the first range 602 surrounding 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, the irregular shape including the first and second stop signs 640, 641 associated with the intersection 601, a traffic signal, etc.

[0128] Computer 120 projects trajectory symbol 164 indicating planned driving path 208 via image projector 126 .

[0129] Fig. 7A and 7B is a diagram of an exemplary process 700 for projecting a trajectory symbol 164 indicating a change in vehicle trajectory. The process 700 begins at block 705 .

[0130] At block 705, the computer 120 in the first vehicle 20 receives 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.

[0131] At block 710 , the computer 120 determines or receives the planned travel path 208 for 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 .

[0132] At block 715, the computer 120 collects vehicle and environmental data associated with 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.

[0133] At block 720, the computer 120 may determine whether weather conditions permit the first vehicle 20 to project a symbol as described with reference to block 520. In the event that weather conditions do not permit the first vehicle 20 to project a symbol, the process 700 continues at block 725. In the event that weather conditions do permit the first vehicle 20 to project a symbol, the process 700 continues at block 730.

[0134] At block 725, the computer 120 determines whether the first vehicle 20 is still operating. For example, the 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 the electric motor in the powertrain is engaged, etc. In the event that the first vehicle 20 is still operating, the process 700 continues at block 715. In the event that the first vehicle 20 is no longer operating, the process 700 ends.

[0135] At box 730 following box 720, the computer 120 collects data related to the target object 90 within the data collection range of the first vehicle 20 as described with reference to box 530. After collecting data related to the target object 90 within the data collection range, the process continues at box 735.

[0136] At block 735 , the computer 120 determines whether at least one target object 90 is within the target range.

[0137] As one example, the target range can be defined as the planned travel path 208 plus an area extending an object path distance threshold from either side of the planned travel path 208 .

[0138] In another example, the target range can be defined as an area that includes the planned travel path 208, extends from either side of the planned travel path 208 by the target path distance threshold, and additionally includes the reference path 208. Figure 6 A first range 602 around an intersection 601 is discussed.

[0139] In another example, the target range may be defined as being within an object signal distance threshold of 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 instruct image projector 126 to project symbol 164 between target object 90 and traffic sign 640.

[0140] 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 object (pedestrian, cyclist, second vehicle, etc.), the type of sign (stop, yield, etc.), the location of the sign (geographic coordinates of the intersection where the sign is located), etc. The computer 120 or server 60 may maintain an object signal distance threshold table. In the event that the target object 90 is within the object signal distance threshold of the traffic sign 640, the computer 120 may determine that the target object 90 is within the target range.

[0141] In the event that the computer 120 determines that the target object 90 is within the target range, the process continues at block 740. Otherwise, the process 700 continues at block 725.

[0142] At block 740, the computer 120 determines whether there is a triggering event for the projection symbol 164. Exemplary triggering events may include the first vehicle 20 being stopped at the traffic signal 40, the first vehicle 20 being entering the intersection 601, the first vehicle 20 being stopped in the 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 may be, for example, a distance of 50 meters. In the event that the computer 120 determines that there is a triggering projection symbol 164, the process 700 continues at block 750. In the event that the computer 120 does not determine that there is a triggering event, the process 700 continues at block 725.

[0143] At block 750, the computer 120 instructs the image projector 126 to project a first version of the track symbol 164. For example, the computer 120 may instruct the image projector 126 to project a first version of the track symbol 164 that indicates the planned travel path 208 of the first vehicle 20. For example, if the first vehicle 20 is stopped, the computer 120 may instruct the image projector 126 to project the first version of the track symbol 164 as a first color, such as red. The first version of the track symbol 164 may be as follows: Figure 6 A hollow arrow, two or more lines indicating the planned travel path 208 , a set of points or a dashed line along the planned travel path 208 , etc. are shown. After projecting the trajectory symbol 164 , the process 700 continues at block 755 .

[0144] At block 755, the computer 120 determines whether the trajectory of the first vehicle 20 is about to change. The change in trajectory may be an acceleration, a deceleration, or a change in direction. For example, the first vehicle 20 may be stopped at the stop sign 640 and plan to continue along the planned travel path 208. As another example, the first vehicle 20 may be stopped in the intersection 201 waiting for an opportunity to turn left. As another example, the first vehicle 20 may enter the intersection 601 directly, but plan to turn left once at the intersection. In the event that the computer 120 determines that there is a change in the planned trajectory, the process 700 continues at block 765. In the event that there is no change in the planned trajectory, the process 700 continues at block 760.

[0145] At block 760, the computer 120 determines whether the first vehicle 20 has passed the target object 90. The computer 120 may determine, for example, that the vehicle-object distance indicating the distance of the first vehicle 20 to the target object 90 is no longer less than a vehicle-object distance threshold. As another example, the computer 120 may determine that the target object 90 is behind the first vehicle 20 and that the trajectory of the first vehicle 20 is moving away from the target object 90. In the event that the computer 120 determines that the first vehicle 20 has passed the target object 90, the process 700 continues at block 725. Otherwise, the process 700 continues at block 750.

[0146] At box 765 following box 755, computer 120 determines whether the time until the trajectory changes is less than a time threshold. The time threshold may be a specified time, such as two seconds. The time threshold represents a time period for providing an indication of a trajectory change to target object 90 before the trajectory changes.

[0147] In the event that 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.

[0148] At block 770, computer 120 instructs image projector 126 to project a second version of track symbol 164 to indicate a planned track change. For example, where the first version of track symbol 164 is a first color, computer 120 may instruct image projector 126 to project a second version of track symbol 164 as a second color. The second color may be, for example, yellow or green. As another example, computer 120 may cause the second version of track symbol 164 to flash. The flashing may be, for example, at a two hertz rate. After projecting the second version of track symbol 164, the process continues at block 775.

[0149] At block 775, the computer 120 determines whether the first vehicle 20 has passed the target object 90 as described above with reference to block 760. In the event that the first vehicle 20 has passed the target object 90, the process 700 continues at block 780. Otherwise, the process 700 continues at block 770.

[0150] At block 780 , the computer 120 turns off the track symbol 164 . The process continues at block 725 .

[0151] Figure 8 801 is a diagram illustrating an exemplary traffic condition in which image projector 126 in first vehicle 20 projects symbol 164 moving through target area 820. First vehicle 20 enters intersection 801 and travels along planned travel path 208. Traffic signal 40 is associated with intersection 801. First vehicle 20 is a vehicle signal distance 808 from traffic signal 40.

[0152] Planned travel path 208 will continue through intersection 801 and turn left. Intersection 801 is the intersection area of ​​first and second roads 800a, 800b. Pedestrian 90a stands at the corner of intersection 801 and looks at the pedestrian's mobile phone. Pedestrian 90a's sight line 806 extends from the face of pedestrian 90a to the pedestrian's mobile phone and also extends to first road 800a. Pedestrian 90a is a representative example of target object 90 that can be included in the exemplary traffic condition.

[0153] Planned travel path 208 passes target object 90 within a distance less than the object path distance threshold. Shortest straight line path 804 extends between target object 90 and planned travel path 208. Shortest straight line path 804 indicates the shortest path between target object 90 and travel path 208.

[0154] The first range 802 of the intersection 801 can be used to determine or identify whether the traffic signal 40 or other objects (including the target object 90) are associated with the intersection 801 or are close to the intersection 801. The first range 802 can be defined as a range extending from the intersection 801 in each direction beyond the intersection 801 by a first fixed distance (e.g., three meters). Additionally or alternatively, the first range 802 can be predetermined and included in the map data indicating that the traffic signal 40 is associated with the intersection 801 and the first range 802 around the intersection 801. For example, the first range 802 can be an irregular shape designed by the developer of the map data around the intersection 801, the irregular shape including the traffic signal 40, traffic signs, etc. associated with the intersection 801.

[0155] Computer 120 projects symbol 164 that moves back and forth along target area 820 via image projector 126. The term "back and forth" as used herein means alternating between a first direction and an opposite second direction. As described in further detail below, computer 120 determines target area 820 in order to increase the likelihood that target object 90 will see symbol 164.

[0156] Fig. 9A and 9B 820 is a diagram of an exemplary process 900 for projecting a symbol 164 moving along a target area 820. The process 900 begins at block 905.

[0157] At block 905, the computer 120 in the first vehicle 20 receives 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.

[0158] At block 910 , the computer 120 determines or receives the planned travel path 208 for 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 .

[0159] At block 915, the computer 120 collects position data and environmental data associated with the first vehicle 20 as described with reference to block 515. After collecting the position environmental data associated with the first vehicle 20, the process 900 continues at block 920.

[0160] At block 920, the computer 120 may determine whether weather conditions permit the first vehicle 20 to project a symbol as described with reference to block 520. In the event that weather conditions do not permit the first vehicle 20 to project a symbol, the process 900 continues at block 925. In the event that weather conditions do permit the first vehicle 20 to project a symbol, the process 900 continues at block 930.

[0161] At block 925, the computer 120 determines whether the first vehicle 20 is still running. For example, the 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 the electric motor in the powertrain is engaged, etc. In the event that the first vehicle 20 is still running, the process 900 continues at block 915. In the event that the first vehicle 20 is no longer running, the process 900 ends.

[0162] At box 930 following box 920, the computer 120 collects data related to the target object 90 within the data collection range of the first vehicle 20 as described with reference to box 535. After collecting data related to the target object 90 within the data collection range, the process continues at box 935.

[0163] At block 935 , the computer 120 determines whether at least one target object 90 is within the target range.

[0164] 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 one example, the target range may be defined as the planned travel path 208 plus an area extending from either side of the planned travel path 208 by an object path distance threshold.

[0165] In another example, the target range can be defined as an area that includes the planned travel path 208, extends from either side of the planned travel path 208 by the target path distance threshold, and additionally includes the reference path 208. Figure 8 A first range 802 surrounding an intersection 801 is discussed.

[0166] In another example, the target range may be defined as being 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. In the event that the target object 90 is within the object signal distance threshold of the traffic signal 40, the computer 120 may determine that the target object 90 is within the target range.

[0167] In the event that the computer 120 determines that the target object 90 is within the target range, the process continues at block 940. Otherwise, the process 900 continues at block 925.

[0168] At block 940, the computer 120 determines whether there is a triggering event for the projected symbol 164. Exemplary triggering events may include the first vehicle 20 being stopped at the traffic signal 40, the first vehicle 20 being entering the intersection 801, the first vehicle 20 being stopped in the 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 may be a fixed distance of, for example, 50 meters. In the event that the computer 120 determines that there is a triggering projected symbol 164, the process 900 continues at block 945. In the event that the computer 120 does not determine that there is a triggering event, the process 900 continues at block 925.

[0169] At block 945, computer 120 determines a target area 820 for projecting symbol 164 based on the location of target object 90. Target area 820 is the range along which computer 120 will instruct image projector 126 to project symbol 164, and target area 820 is determined to increase the likelihood that target object 90 will see symbol 164. As described below, computer 120 will instruct image projector 126 to move symbol 164 through target area 820. As an example, computer 120 may determine target area 820 as a rectangular area, and may project symbol 164 within the rectangular area as shown in FIG. Figure 8 Symbol 164 is moved back and forth as shown.

[0170] The computer 120 can determine the target area 820 based on one or more parameters, such as the position of the target object 90, the object symbol range, the line of sight 806 of the target object 90, the shortest straight path 804 between the target object 90 and the driving path 208, the direction in which the first road 800a intersects the shortest straight path 804, etc.

[0171] For example, initially, the computer 120 can position the target area 820 within the object symbol range of the target object 90. The computer 120 can position the target area 820 so that the shortest straight path 804 passes through the middle of the target area 820. The computer 120 can also determine that the target area 820 extends with an extension range to exceed the shortest straight 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 the target object 90. For example, the extension range can be 0.5 meters when the target object 90 is a pedestrian or a cyclist, and the extension range can be 1 meter when the target object is a second vehicle. The computer 120 can also determine that the target area 820 moves perpendicular to the shortest straight path 804.

[0172] Alternatively, computer 120 may determine the target area such that line of sight 806 of target object 90 passes through target area 820. Computer 120 may determine that target area 820 extends on either side of the line of sight of target object 90. Figure 8 , 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, e.g. Figure 6 ), the line of sight may be a straight line through the front windshield of the second vehicle 90b toward the road in front of the second vehicle 90b.

[0173] As another example, alternatively, 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 travel path 208 , or moves parallel to the first road 800 a associated with the travel path 208 .

[0174] The above examples are non-limiting. 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 as a circle, i.e., the symbol 164 may be projected along a circular path, or projected in an X pattern, projected around an ellipse, etc. Additionally, the target area 820 may be determined to pass through a crosswalk at a specific location.

[0175] After determining the target area 820 , process 900 continues at block 950 .

[0176] 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 in a circular or elliptical pattern within or along the target area 820. 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.

[0177] Additionally, the computer 120 may be programmed to cause the symbol 164 to flash. The flashing frequency may be determined to attract the attention of the target object 90 and may be in the range of 5 to 8 Hz.

[0178] After projecting the symbol 164 to move within the target area 820 , the process 900 continues at block 955 .

[0179] At block 955, the computer 120 determines whether the first vehicle 20 has passed the target object 90 as described above with reference to block 760. In the event that the first vehicle 20 has passed the target object 90, the process 900 continues at block 960. Otherwise, the process 900 continues at block 950.

[0180] At block 960 , computer 120 instructs image projector 126 to stop projecting symbol 164 . The process continues at block 925 .

[0181] in conclusion

[0182] Computing devices such as those discussed herein typically each include instructions executable by one or more computing devices (such as those determined above), and are used to perform the blocks or steps of the above-mentioned processes. For example, the process blocks discussed above can be implemented as computer-executable instructions.

[0183] Computer executable instructions may be compiled or interpreted by a computer program created using various programming languages ​​and / or techniques (including, but not limited to, Java™, C, C++, Visual Basic, JavaScript, Perl, HTML, etc., used alone or in combination). Typically, a processor (e.g., a microprocessor) receives instructions, such as from a memory, a computer readable medium, etc., and executes these instructions, thereby performing one or more processes including one or more steps described herein. Various computer readable media may be used to store such instructions and other data in files and to send such instructions and other data. A file in a computing device is typically a collection of data stored on a computer readable medium, such as a storage device medium, a random access memory, etc.

[0184] Computer readable media include any media that participate in providing data (e.g., instructions) that can be read by a computer. Such media can take many forms, including but not limited to non-volatile media, volatile media, etc. Non-volatile media include, for example, optical disks or disks and other persistent memories. Volatile media include dynamic random access memory (DRAM) that usually constitutes main memory. Common forms of computer readable media include, for example, floppy disks, foldable disks, hard disks, magnetic tapes, any other magnetic media, CD-ROMs, DVDs, any other optical media, punch cards, paper tapes, any other physical media 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 cassette disk, or any other medium that a computer can read.

[0185] Unless expressly stated to the contrary herein, all terms in the claims are intended to be given their plain and ordinary meanings as understood by those skilled in the art in the description herein. In particular, singular forms such as "a", "an", "the", "described", etc., used should be interpreted as referring to one or more of the indicated elements unless the claims expressly read otherwise.

[0186] The term "exemplary" is used herein in the sense of referring to an example; for example, reference to an "exemplary widget" should be understood to refer only to an example of a widget.

[0187] The adverb "approximately" modifying a value or result means that due to imperfections in materials, processing, manufacturing, sensor measurements, calculations, processing time, communication time, etc., the shape, structure, measurement, value, determination, calculation, etc. can deviate from the precisely described geometry, distance, measurement, value, determination, calculation, etc.

[0188] In the accompanying drawings, the same reference numerals represent the same elements. In addition, some or all of these elements may be changed. It should be understood that, although the steps of these processes, etc. have been described as occurring according to a certain ordered sequence, the steps described 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 description herein is provided 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: actuating a light source to project a symbol outwardly from the vehicle when within a predetermined range of a stop sign or traffic signal, the symbol indicating a next portion of a planned path of travel; When stopped at the stop sign or the traffic signal, continuing to project the symbol; Predicting the first time when the vehicle will start moving along the planned travel path; and The light source is actuated at a second time to modify the symbol, wherein the second time is a predetermined period of time before the first time, and the modified symbol continues to indicate a subsequent portion of the planned travel path.

2. The method according to claim 1, further comprising: Determining a planned travel path for the vehicle; and The light source is actuated to project the symbol based on determining that the target object is within a maximum distance of the planned travel path.

3. The method according to claim 1, further comprising: The light source is actuated to project the symbol further based on determining that the target object is within a maximum distance of the stop sign or traffic signal. 4 . The method of claim 1 , further comprising actuating the light source to modify the symbol by determining that the vehicle is changing direction. 5 . The method of claim 1 , further comprising modifying the symbol by instructing the light source to at least one of change the symbol from a first color to a second color and flash the symbol.

6. The method according to claim 1, further comprising: The symbols are also projected based on determining weather conditions.

7. The method according to claim 1, further comprising: The symbol is projected further based on determining that the vehicle is within a maximum distance of a target object.

8. The method according to claim 1, further comprising: The symbol is projected further based on determining that the vehicle is within a first maximum distance of the traffic sign and the target object is within a second maximum distance of the traffic sign.

9. A computer programmed to execute the method of any one of claims 1 to 8.

10. A vehicle comprising a computer programmed to perform the method of any one of claims 1-8.

Images