Information processing apparatus, information processing method, program, and projection apparatus

Abstract

An information processing apparatus according to an embodiment of the present technology includes an acquisition unit and a projection control unit. The acquisition unit acquires speed-related information related to a speed of a vehicle. The projection control unit controls display of a projection pattern projected on a surrounding road surface of the vehicle from a projection unit mounted on the vehicle, on the basis of the speed-related information.

Description

Technical Field

[0001] This technology relates to an information processing device, information processing method, program, and projection device that can be applied to the display control of a projection pattern to be projected from a vehicle onto a road surface. Background Technology

[0002] Patent Document 1 describes a predicted driving trajectory display device that displays the predicted driving trajectory of a vehicle on the ground. This device calculates the predicted driving trajectory of the vehicle based on the steering angle of the vehicle's steering wheel and forward / backward information indicating the vehicle's forward / backward movement. Then, it controls the illumination angle of a laser emitter mounted on the vehicle and draws the predicted driving trajectory on the ground (paragraphs

[0021] ,

[0022] ,

[0023] of Patent Document 1). Figure 7 wait).

[0003] Citation List

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2006-036005 Summary of the Invention

[0006] Technical issues

[0007] As mentioned above, displaying the direction of travel outside the vehicle can indicate the direction of movement to pedestrians or drivers of other vehicles. However, it may be difficult to observe actions such as acceleration and deceleration from outside the vehicle. Therefore, it is desirable to provide a technology that can easily and clearly indicate the vehicle's actions to people outside the vehicle.

[0008] In view of the above, the purpose of this technology is to provide an information processing device, information processing method, program and projection device that can easily and understandably indicate the vehicle's movements to people outside the vehicle.

[0009] Solution to the problem

[0010] To achieve the above objectives, the information processing apparatus according to embodiments of the present technology includes an acquisition unit and a projection control unit.

[0011] The acquisition unit acquires speed-related information related to the vehicle's speed.

[0012] The projection control unit controls the display of the projection pattern projected onto the road surface surrounding the vehicle from the projection unit mounted on the vehicle, based on the speed-related information.

[0013] In this information processing device, a projection unit installed in the vehicle projects a pattern onto the surrounding road surface. The display of the projected pattern is controlled based on speed-related information concerning the vehicle's speed. Therefore, the projected pattern can be changed according to the vehicle's movements, making it easy to understand the vehicle's actions for people outside the vehicle.

[0014] The information processing method according to embodiments of this technology is an information processing method executed by a computer system, including acquiring speed-related information related to the speed of a vehicle.

[0015] Based on the speed-related information, the display of the projection pattern projected onto the road surface surrounding the vehicle from the projection unit mounted on the vehicle is controlled.

[0016] The procedure according to embodiments of this technology causes a computer system to perform the following steps.

[0017] Steps to obtain speed-related information about a vehicle's speed.

[0018] Based on the speed-related information, the step of controlling the display of the projection pattern projected from the projection unit mounted on the vehicle onto the road surface surrounding the vehicle.

[0019] The projection device according to an embodiment of the present technology includes a projection unit, an acquisition unit, and a projection control unit.

[0020] The projection unit is mounted on the vehicle and projects the pattern onto the road surface surrounding the vehicle.

[0021] The acquisition unit acquires speed-related information related to the speed of the vehicle.

[0022] The projection control unit controls the display of the projection pattern projected from the projection unit based on the speed-related information. Attached Figure Description

[0023] Figure 1 This is a schematic diagram showing the exterior of a vehicle equipped with a projection device according to a first embodiment of the present technology.

[0024] Figure 2 This is a schematic diagram showing an example of a projected pattern.

[0025] Figure 3 This is a schematic diagram illustrating an example of a scene where a projected pattern is displayed.

[0026] Figure 4 This is a block diagram illustrating an example of the configuration of a projection device according to the first embodiment.

[0027] Figure 5 This is a flowchart illustrating a basic operational example of a projection device.

[0028] Figure 6 This is a timeline showing an example of display control for line patterns.

[0029] Figure 7 This is a schematic diagram showing an example of a line pattern corresponding to the driving state of vehicle 1.

[0030] Figure 8 This is a table showing examples of width control for line patterns.

[0031] Figure 9 This is a table showing examples of line pattern length control.

[0032] Figure 10 This is a schematic diagram used to illustrate the standard blind zone distance L0.

[0033] Figure 11 This is a block diagram illustrating an example of the configuration of a projection device according to the second embodiment.

[0034] Figure 12 This is a block diagram illustrating an example of the structure of an environment recognition unit.

[0035] Figure 13 This is a flowchart illustrating a basic operational example of a projection device.

[0036] Figure 14 This is a schematic diagram showing an example of a rear view corresponding to the degree of brake operation. Detailed Implementation

[0037] In the following description, embodiments according to the present technology will be illustrated with reference to the accompanying drawings.

[0038] <First Embodiment>

[0039] Figure 1 This is a schematic diagram showing the exterior of a vehicle equipped with a projection device according to a first embodiment of the present technology. Figure 1 A is a perspective view showing an example of the configuration of vehicle 1. Figure 1 B is a top view of vehicle 1 from above. Projection device 100 is mounted on vehicle 1. Projection device 100 projects graphics onto the road surface surrounding vehicle 1.

[0040] The projection device 100 has multiple projection units 10. Each projection unit 10 is an element (projector) that projects a graphic onto the road surface by illuminating light onto the road surface. In the following text, the graphic projected from the projection unit 10 onto the road surface surrounding the vehicle 1 will be referred to as a projection pattern. The projection device 100 is capable of individually controlling the projection patterns projected from each projection unit 10. The specific configuration of the projection unit 10 will be described later.

[0041] Figure 1A and Figure 1 Figure B schematically shows eight projection units 10a to 10h installed on vehicle 1. Figure 1 In the example shown, projection units 10a-10d and projection units 10e-10h are arranged to be linearly symmetrical to each other on the left and right sides of the bottom of vehicle 1.

[0042] Projection units 10a and 10e are arranged at the bottom front side of vehicle 1 (e.g., the lower part of the front bumper). Projection units 10a and 10e project a projected pattern, for example, at the front of vehicle 1. Projection units 10b and 10f are arranged at the bottom front side of the front door. Projection units 10c and 10g are arranged at the bottom rear side of the rear door. Projection units 10b and 10f, as well as projection units 10c and 10g, project a projected pattern, for example, at the side of vehicle 1. Projection units 10d and 10h are arranged at the bottom rear side of vehicle 1 (e.g., the lower part of the rear bumper). Projection units 10d and 10h project a projected pattern, for example, at the rear of vehicle 1.

[0043] It should be noted that in Figure 1 In Figure B, for the purpose of showing the position of each projection unit 10 (projector) in the top view of the vehicle 10, each projection unit 10 is illustrated as protruding from the vehicle body for convenience. In the actual configuration, the projection units 10 are housed in the lower part of the vehicle body and are mounted so that they are not visible from above. This allows the projection device 100 to be implemented without compromising the appearance of the vehicle 10.

[0044] Or, such as Figure 1 As shown in Figure B, each projection unit 10 can be mounted protruding from the vehicle body. Thus, for example, the range capable of projecting the projected pattern can be expanded.

[0045] The arrangement and number of projection units 10 are not restricted.

[0046] For example, the projection unit 10 that projects a pattern in front of the vehicle 10 ( Figure 1 The projection units 10a and 10e can be mounted on the front of the vehicle body. Specifically, the projection unit 10 can be positioned around the headlights (e.g., above, below, left, and right of the headlights) or around the fog lights (e.g., above, below, left, and right of the fog lights). Furthermore, the projection unit 10 can be positioned at the front grille, the central portion of the entire vehicle body surface, etc. Additionally, a left front projection pattern and a right front projection pattern can be projected from a single projection unit 10.

[0047] Furthermore, for example, a projection unit 10 that projects a pattern to the side of vehicle 10 ( Figure 1 The projection units 10b, 10c, 10f and 10g can be located at the bottom of the side mirror and at the lower part of the B-pillar separating the front and rear doors (the central part of the vehicle in the front-rear direction).

[0048] Furthermore, for example, a projection unit 10 that projects a pattern at the rear of vehicle 10 ( Figure 1 The projection units 10d and 10h can be mounted on the rear surface of the vehicle body. Specifically, for example, the projection unit 10 can be located around the brake lights (e.g., above, below, left, and right of the brake lights), around the license plate (e.g., above, below, left, and right of the license plate), or in the central portion of the rear surface of the vehicle body. Furthermore, a left rear projection pattern and a right rear projection pattern can be projected from a single projection unit 10.

[0049] In addition, the projection unit 10 can be appropriately arranged at a position where the desired projection pattern can be projected.

[0050] Figure 2 This is a schematic diagram showing an example of a projected pattern. Figure 3 This is a schematic diagram illustrating an example of a scene where a projected pattern is displayed.

[0051] In this embodiment, multiple projection modes are selected according to the operating status of vehicle 1, and projection patterns 2 corresponding to the projection modes are projected. Figure 2 A~ Figure 2 In D, the projection pattern 2 is schematically shown in various projection modes, namely, normal driving mode, low-speed driving mode, reversing mode and parking mode.

[0052] Several projection modes, excluding the parking mode, represent the actual driving modes of vehicle 1. In these vehicle 1 driving modes ( Figure 2 A~ Figure 2 In step C), a linearly extending line pattern 3 is used as the projection pattern 2. Therefore, the projection pattern 2 includes a linear pattern (line pattern 3). The line pattern 3 is, for example, a continuous strip pattern. Alternatively, the line pattern 3 can be constructed by arranging small patterns linearly at regular intervals.

[0053] Such line pattern 3 can be used to indicate the behavior of vehicle 1 in motion. This will be explained in detail later.

[0054] In this embodiment, the line pattern 3 includes a first line pattern projected in front of the vehicle 1 in the direction of travel 4 and a second line pattern projected behind the vehicle 1 in the direction of travel 4.

[0055] exist Figure 2 A~ Figure 2 In diagram C, an arrow indicating the direction of travel 4 of vehicle 1 is schematically shown. The size of the arrow indicates the speed of vehicle 1. The pattern projected in front of this direction of travel 4 is the first pattern, while the pattern projected behind is the second pattern.

[0056] Furthermore, in this embodiment, a third pattern (the center line 3b described later) is used, which is projected onto the peripheral road surface (from below the vehicle 1 to the side of the road surface) of the central part of the vehicle 1.

[0057] As described below, the projection device 100 calculates the predicted trajectory 5 that the vehicle 1 will take and the passing trajectory 6 that the vehicle 1 has already taken. The predicted trajectory 5 and the passing trajectory 6 are indicated by a first pattern and a second pattern. That is, the first pattern is generated as the line pattern 3 indicating the predicted trajectory 5 of the vehicle 1, and the second pattern is generated as the line pattern 3 indicating the passing trajectory of the vehicle 1.

[0058] The following sections will explain the normal driving mode, low-speed driving mode, and reverse mode using line pattern 3, as well as the parking mode using patterns other than line pattern 3.

[0059] Figure 2 A shows an example of the projected pattern 2 in normal driving mode. Figure 2 The top and bottom images of A are schematic diagrams showing the view of vehicle 1 from the side and top, respectively.

[0060] Here, normal driving mode refers, for example, to the projection mode selected when vehicle 1 is moving forward normally without slowing down. For example, normal driving mode is selected when vehicle 1 is traveling at a speed higher than normal slow driving speed (e.g., less than 10 kilometers per hour). Thus, normal driving mode is used while moving forward in the driving lane, which is different from driving that requires slowing down, such as parking, right turn, left turn, and parking operations.

[0061] In normal driving mode, as projection pattern 2, three line patterns 3 are projected: the front line 3a, the center line 3b, and the rear line 3c. Each line 3a to 3c is configured as a pair of line patterns 3 projected on the left and right sides of the vehicle 1.

[0062] The forward line 3a is a line pattern 3 projected onto the road surface in front of vehicle 1. The left and right forward lines 3a, for example, are from... Figure 1 The projection units 10a and 10e shown are used for projection.

[0063] The center line 3b is a line pattern 3 projected from below the vehicle 1 onto the road surface to the side. The left center line 3b is projected, for example, from projection units 10b and 10c, and the right center line 3b is projected, for example, from projection units 10f and 10g.

[0064] The rear line 3c is a line pattern 3 projected onto the road surface behind the vehicle 1. For example, the left and right rear lines 3c are projected from projection units 10d and 10h.

[0065] It should be noted that the correspondence between each line 3a to 3c and the projection unit 10 is not limited to the above example. For example, a configuration in which two projection units 10 are used to project a single line pattern 3 can also be adopted.

[0066] As described above, during the forward movement of vehicle 1, projection Figure 2 Line pattern 3 shown in A.

[0067] Therefore, in normal driving mode, the forward line 3a is a linear first pattern projected in front of the vehicle 1 in the direction of travel, generated as a line pattern 3 indicating the predicted trajectory 5 of the vehicle 1. Specifically, the line shape of the forward line 3a is set to indicate the predicted trajectory 5 of the front wheels of the vehicle 1.

[0068] Furthermore, in normal driving mode, the rear line 3c is a second linear pattern projected behind the vehicle 1 in the direction of travel, generated as a line pattern 3 indicating the passage trajectory 6 of the vehicle 1. Specifically, the line shape of the rear line 3c is set to indicate the passage trajectory 6 of the rear wheels of the vehicle 1.

[0069] In addition, in normal driving mode, the center line 3b (third pattern) is used as linear lighting on both sides to illuminate the central part of the vehicle 1.

[0070] Figure 3 A schematic diagram illustrates a scenario where normal driving mode is applied. Here, on the road surface surrounding a vehicle 1 traveling at a relatively high speed in the driving lane, a forward line 3a indicating the predicted trajectory 5, a rear line 3c indicating the passing trajectory 6, and a center line 3b serving as linear illumination are projected.

[0071] In this way, line patterns 3 indicating the predicted trajectory 5, the passing trajectory 6, etc., are projected around the vehicle 1. Therefore, the direction of travel and past travel path of the vehicle 1 can be clearly indicated to pedestrians outside the vehicle, drivers of other vehicles, etc., and a good visual effect can be added to the vehicle 1 in motion.

[0072] Figure 2 B shows an example of the projection pattern 2 projected in low-speed driving mode. Figure 2 The top and bottom images of B are schematic diagrams showing the view of vehicle 1 from the side and top, respectively.

[0073] Here, low-speed driving mode refers, for example, to the projection mode selected when vehicle 1 is moving forward while moving slowly. Thus, low-speed driving mode is used, for example, during driving operations that require slow speed, such as stopping, turning right, turning left, and parking.

[0074] In low-speed driving mode, as in the normal driving mode described above, three line patterns 3—front line 3a, center line 3b, and rear line 3c—are projected as projection pattern 2.

[0075] and Figure 2 Similar to A, projection occurs during the forward movement of vehicle 1. Figure 2 Line pattern 3 shown in B.

[0076] Therefore, in low-speed driving mode, the forward line 3a is a linear first pattern projected in front of the vehicle 1 in the direction of travel, generated as a line pattern 3 indicating the predicted trajectory 5 of the vehicle 1. Specifically, the line shape of the forward line 3a is set to indicate the predicted trajectory 5 of the front wheels of the vehicle 1.

[0077] Furthermore, in low-speed driving mode, the rear line 3c is a second linear pattern projected behind the vehicle 1 in the direction of travel, generated as a line pattern 3 indicating the passage trajectory 6 of the vehicle 1. Specifically, the line shape of the rear line 3c is set to indicate the passage trajectory 6 of the rear wheels of the vehicle 1.

[0078] Furthermore, in low-speed driving mode, the center line 3b (third pattern) is generated as a line pattern 3 indicating the predicted trajectory 5 of the vehicle 1. Specifically, the center line 3b has a line shape set to indicate the predicted trajectory 5 of the rear wheels of the vehicle 1.

[0079] Therefore, when vehicle 1 moves slowly, the predicted trajectory of the rear wheels can be clearly indicated to pedestrians, etc. Thus, for example, the risk of cornering collisions in the case of right / left turns can be reduced.

[0080] Figure 3 B schematically illustrates the driving state of vehicle 1a in a parking lot, serving as an example of a scenario where low-speed driving mode is applied. Vehicle 1a moves forward, exiting the parking space on the right side of the diagram. Thus, when the already stopped vehicle 1a moves forward, it is driving slowly, therefore low-speed driving mode is used.

[0081] Here, a forward line 3a indicating the predicted trajectory 5 of the front wheels and a center line 3b indicating the predicted trajectory 5 of the rear wheels are projected onto the road surface surrounding vehicle 1a. It should be noted that... Figure 3 In B, the diagram of the rear line 3c indicating the trajectory 6 of the rear wheel of vehicle 1a is omitted.

[0082] In this way, line patterns 3, indicating the predicted trajectories 5 of the front and rear wheels, are projected around the vehicle 1a. This can attract the attention of pedestrians and effectively prevent accidents such as turning collisions and contact.

[0083] Furthermore, the front line 3a can be set to indicate the width of vehicle 1. For example, the distance between the right and left lines can be set to the maximum width of vehicle 1. This can encourage the driver to make steering wheel operations that take into account, for example, the width of the vehicle.

[0084] Figure 2 C shows an example of the projected pattern 2 in reverse mode.

[0085] Here, the reverse mode is the projection mode selected when vehicle 1 is moving backward (driving backward). For example, in a parking operation, the reverse mode is used when parking by moving backward.

[0086] In reverse mode, as in all the driving modes mentioned above, three line patterns 3 are projected as projection pattern 2: the front line 3a, the middle line 3b, and the rear line 3c.

[0087] Projected during the rearward movement of vehicle 1 Figure 2 Line pattern 3 shown in C.

[0088] Therefore, in reverse mode, the forward line 3a is a second linear pattern projected behind the vehicle 1 in the direction of travel. In this case, the forward line 3a is generated as a line pattern 3 indicating the trajectory 6 of the vehicle 1. Specifically, the line shape of the forward line 3a is set to indicate the trajectory 6 of the front wheels of the vehicle 1.

[0089] Furthermore, in reverse mode, the rear line 3c is a linear first pattern projected in front of the vehicle 1 in the direction of travel. In this case, the rear line 3c is generated as a line pattern 3 indicating the predicted trajectory 5 of the vehicle 1. Specifically, the line shape of the rear line 3c is set to indicate the predicted trajectory 5 of the rear wheels of the vehicle 1.

[0090] Furthermore, in reverse mode, the center line 3b (third pattern) is generated as a line pattern 3 indicating the predicted trajectory 5 of vehicle 1. Specifically, the center line 3b is set such that the line shape indicates the predicted trajectory 5 of the front wheels of vehicle 1.

[0091] Therefore, when vehicle 1 moves backward, the predicted trajectory of the front wheels can be clearly indicated to pedestrians, etc. Thus, for example, the risk of a cornering collision when the vehicle is parked can be reduced.

[0092] Figure 3 B schematically illustrates the driving state of vehicle 1b in a parking lot, as an example of a scenario where reverse mode is applied. Vehicle 1b moves backward to park in the parking space on the left side of the diagram.

[0093] Here, a rear line 3c indicating the predicted trajectory 5 of the rear wheels and a center line 3b indicating the predicted trajectory 5 of the front wheels are projected onto the road surface surrounding vehicle 1b. It should be noted that... Figure 3 In B, the forward line 3a of the trajectory 6 indicating the passage of the front wheel of vehicle 1b is omitted.

[0094] As described above, line patterns 3, such as the predicted trajectories 5 of the front and rear wheels, are projected around the vehicle 1b to indicate these trajectories, thus effectively preventing accidents such as turning collisions and contact during reversing.

[0095] Furthermore, as in the forward operation, the rear line 3c can be set to indicate the width of vehicle 1. Therefore, the driver can check the vehicle width while reversing, etc.

[0096] Figure 2 D shows an example of the projected pattern 2 in parking mode.

[0097] Here, the parking mode is the projection mode selected when the vehicle 1 is in the parking gear ("P"), that is, when the vehicle 1 is already parked.

[0098] In parking mode, the aforementioned line pattern 3 is not displayed; instead, a lighting pattern (hereinafter referred to as parking pattern 7) is projected around the entire perimeter of vehicle 1 as projection pattern 2. Here, parking pattern 7 uses front lighting 7a, side lighting 7b, and rear lighting 7c. Each of the lighting 7a to 7c is a gradient pattern whose color lightens as it moves away from vehicle 1. It should be noted that the design of parking pattern 7 is not limited.

[0099] In this way, the projected pattern 2 includes a parking pattern 7 that is different from the line pattern 3. In this embodiment, the parking pattern 7 is another exemplary pattern.

[0100] The use of parking symbol 7 can indicate to pedestrians and others outside the vehicle that vehicle 1 has been put into parking gear and has stopped, that is, vehicle 1 is stationary. Therefore, for example, pedestrians and other vehicles can safely pass around vehicle 1.

[0101] It should be noted that this technology is not limited to the projection mode described above, and other modes can be set. For example, a welcome light mode can be set to display a predetermined lighting pattern when, for example, the driver unlocks the vehicle 1 with a key, opens the door, or starts the engine.

[0102] Figure 4 This is a block diagram illustrating an example configuration of the projection device 100 according to the first embodiment.

[0103] In the projection device 100, the display of the various projection patterns 2 is controlled based on speed-related information related to the speed of the vehicle 1. That is, the projection patterns 2 are adjusted using information such as the speed of the vehicle 1, changes in speed (acceleration), or accelerator and brake operations that cause changes in the speed of the vehicle 1.

[0104] The projection device 100 includes the aforementioned projection unit 10, vehicle information sensor unit 11, storage unit 15, and controller 20.

[0105] The projection unit 10 is an element that emits light and projects the projection pattern 2. The projection unit 10 is configured to change the shape, color, etc. of the projection pattern 2.

[0106] As the projection unit 10, a projector that uses a laser as the illumination light can be used, for example. The use of a laser enables the projection pattern 2 to be displayed with high brightness at a distance. It should be noted that, in addition to laser light sources, LED light sources, lamp light sources, etc., can also be used.

[0107] The method for modulating the illumination light is not limited. For example, a light modulator utilizing a transmissive liquid crystal panel, a microelectromechanical system (MEMS), or the like can be used. Furthermore, projection can be achieved by combining phase modulation elements such as a reflective liquid crystal panel, so that the light is concentrated within a predetermined range. Therefore, the brightness of the projected pattern 2 can be significantly improved.

[0108] Furthermore, the specific configuration of the projection unit 10 is not limited. For example, a projection lamp or laser light source capable of modulating the illumination light can be used.

[0109] The vehicle information sensor unit 11 has sensors that detect information about the state of various parts of the vehicle 1.

[0110] Specifically, a steering angle sensor for detecting the steering angle of the steering wheel, a speed sensor for detecting the driving speed of vehicle 1, and an acceleration sensor for detecting the acceleration applied to vehicle 1 are provided.

[0111] In addition, the vehicle information sensor unit 11 has an accelerator opening sensor for detecting the opening degree of the accelerator and a brake opening sensor for detecting the opening degree (braking degree) of the brake.

[0112] In addition, the vehicle information sensor unit 11 has an accelerator pedal pressure sensor (see [reference]) that detects the pressure (operating force of the accelerator) pressed on the accelerator pedal. Figure 6 And brake pedal pressure sensors that detect the pressure applied to the brake pedal (the operating force of the brake). These pressure sensors can be sensors that detect the overall pressure applied to the pedal, or sensors that detect the pressure distribution.

[0113] In addition, the vehicle information sensor unit 11 has a gear position sensor for detecting the shift position (gear) and a parking brake sensor for detecting the opening / closing of the parking brake.

[0114] In addition, ignition sensors can be installed to detect the on / off state of the ignition switch, signal light sensors to detect the on / off state of the indicator lights, hazard sensors to detect the on / off state of the hazard warning lights, and light sensors to detect the on / off state of the headlights and the switching between high beam and low beam (headlight flashing).

[0115] In addition, any sensor that detects information about the vehicle 1 can be used as the vehicle information sensor unit 11.

[0116] Storage unit 15 is a non-volatile storage device. Storage unit 15 can be, for example, a recording medium using solid-state components such as a solid-state drive (SSD) or a magnetic recording medium such as a hard disk drive (HDD). Furthermore, the type of recording medium used as storage unit 15 is not limited. For example, any recording medium used for recording non-temporary data can be used.

[0117] The storage unit 15 stores a control program for controlling the general operation of the projection device 100. The control program corresponds to the program according to this embodiment. Furthermore, the storage unit 15 functions as a computer-readable recording medium on which the program is recorded.

[0118] Furthermore, the storage unit 15 stores specification data for specifying the shape, color, etc., of the projected pattern 2. Additionally, the types of data stored in the storage unit 15 are not limited; any data required for the operation of the projection device 100 can be stored.

[0119] The controller 20 controls the operation of various blocks of the projection device 100. For example, the controller 20 has the hardware components required by a computer, such as a CPU and memory (RAM, ROM). The CPU loads the control program stored in the storage unit 15 into the RAM and executes the control program to perform various processes. The controller 20 functions as an information processing device according to this embodiment.

[0120] As the controller 20, for example, a programmable logic device (PLD) such as a field-programmable gate array (FPGA) or other devices such as an application-specific integrated circuit (ASIC) can be used. Furthermore, as the controller 20, for example, a processor such as a graphics processing unit (GPU) can be used.

[0121] In this embodiment, the CPU of the controller 20 executes the program according to this embodiment, which, as functional blocks, implements the vehicle information acquisition unit 21, the trajectory calculation unit 22, the projected image determination unit 23, and the video data generation unit 24. These functional blocks then execute the information processing method according to this embodiment. It should be noted that dedicated hardware such as integrated circuits (ICs) can be appropriately used to implement each functional block. Furthermore, these functional blocks can, for example, be implemented by other computers capable of communicating with the controller 20.

[0122] The vehicle information acquisition unit 21 acquires information about the vehicle 1 (vehicle information) detected by each sensor of the vehicle information sensor unit 11.

[0123] In this embodiment, the vehicle information acquisition unit 21 acquires speed-related information related to the speed of the vehicle 1. The speed-related information includes information indicating the speed of the vehicle 1 and acceleration / deceleration that changes with speed, as well as information about operations that change their physical quantities (accelerator operation / brake operation).

[0124] As speed-related information, speed information indicating the speed of vehicle 1 and acceleration information indicating the acceleration of vehicle 1 are obtained. For example, the detection results of the speed sensor and the acceleration sensor are read as speed information and acceleration information.

[0125] In addition, as speed-related information, accelerator and brake information are acquired. The accelerator information includes the accelerator opening degree and the pressure applied to the accelerator pedal (accelerator operating force). The brake information includes the brake opening degree and the pressure applied to the brake pedal (brake operating force). For example, the detection results from the accelerator opening degree sensor and the accelerator pedal pressure sensor are read as the accelerator opening degree and operating force. Similarly, the detection results from the brake opening degree sensor and the brake pedal pressure sensor are read as the brake opening degree and operating force.

[0126] In addition, the vehicle information acquisition unit 21 acquires driving status information regarding the driving status of the vehicle 1. As driving status information, it acquires gear shift information and parking brake information. The gear shift information includes information indicating the gear position of the vehicle 1. Furthermore, the parking brake information includes information indicating the state of the parking brake of the vehicle 1. For example, the detection results of the gear position sensor and the parking brake sensor are read as gear shift information and parking brake information.

[0127] In addition, the vehicle information acquisition unit 21 acquires steering angle information that indicates the steering angle of the steering wheel. For example, the detection result of the steering angle sensor is read as steering angle information.

[0128] In addition, the detection results of each sensor that makes up the vehicle information sensor unit 11 are appropriately acquired.

[0129] In this embodiment, the vehicle information acquisition unit 21 corresponds to the acquisition unit.

[0130] Trajectory calculation unit 22 calculates the predicted trajectory 5 and the passing trajectory 6 of vehicle 1 (see Figure 2 and Figure 3 ).

[0131] In this embodiment, the trajectory calculation unit 22 estimates the predicted trajectory 5 that the vehicle 1 will take based on the vehicle 1's steering angle information, speed information, and acceleration information. Here, for example, the predicted trajectory of the front wheels (or rear wheels) is estimated when the vehicle 1 is moving forward with the current steering angle, speed, and acceleration. At this time, appropriate corrections can be made according to centrifugal force, wheel grip, etc.

[0132] It should be noted that, for example, instead of the predicted trajectory 5 of the wheels, the trajectory of the center of vehicle 1 can be estimated.

[0133] There are no restrictions on the methods used to estimate the predicted trajectory. For example, techniques such as trajectory prediction used in autonomous driving can be applied.

[0134] Furthermore, in this embodiment, the trajectory 6 that vehicle 1 has already traversed is calculated by recording the movements of vehicle 1. Here, the trajectory 6 of the front wheels (or rear wheels) is calculated based on the recorded steering angle, speed, and acceleration of vehicle 1. For example, techniques such as dead reckoning can be used for this process. Alternatively, GPS location measurement, Wi-Fi location measurement, etc., can be used.

[0135] Alternatively, for example, the recorded predicted trajectory 5 can be used as a path through trajectory 6.

[0136] The method used to estimate trajectory 6 is unrestricted. For example, any processing capable of reproducing the trajectory of vehicle 1 can be used.

[0137] In this embodiment, the trajectory calculation unit 22 serves as both a trajectory prediction unit and a trajectory calculation unit.

[0138] The projection image determination unit 23 determines the display content and display parameters of the projection pattern 2, and outputs data about the projection pattern 2. This process controls the display of the projection pattern 2.

[0139] In the projection device 100, the projection image determination unit 23 controls the display of the projection pattern 2 projected from the projection unit 10 mounted on the vehicle 1 onto the road surface surrounding the vehicle 1 based on speed-related information.

[0140] For example, processing involves setting specific display parameters for the projected pattern 2 based on speed-related information. In this process, the line pattern 3 in the projected pattern 2 is typically set (see...). Figure 2 A~ Figure 2 C) Display parameters (color, width, length, and blink).

[0141] In this embodiment, the projection image determination unit 23 controls the display parameters of the line pattern 3 according to at least one of the accelerator operation or brake operation of the vehicle 1.

[0142] For example, when the accelerator / brake of vehicle 1 is operated, the speed or acceleration of vehicle 1 changes. Information indicating such changes in the movement of vehicle 1 is acquired as speed-related information, and the display of line pattern 3 is adjusted accordingly. Thus, the movement of vehicle 1, whether it is accelerating or decelerating, can be presented to a person outside the vehicle as line pattern 3.

[0143] In addition, the projection image determination unit 23 controls the shape of the line pattern 3 to indicate the trajectory of the vehicle 1 calculated by the trajectory calculation unit 22 (predicted trajectory 5 and passing trajectory 6).

[0144] Specifically, the projection image determination unit 23 generates a first pattern indicating the predicted trajectory 5. For example, when the vehicle 1 is moving forward (or backward), the shape of the forward line 3a (rear line 3c) as the first pattern is set to the shape along the predicted trajectory 5.

[0145] Furthermore, the projection image determination unit 23 generates a second pattern indicating the passage of the trajectory 6. For example, when the vehicle 1 is moving forward (or backward), the shape of the rear line 3c (front line 3a) as the second pattern is set to follow the shape of the passage of the trajectory 6.

[0146] In addition, the distance between the left and right lines in the front line 3a (or rear line 3c) can be set to indicate the vehicle width.

[0147] In this embodiment, the projected image determination unit 23 corresponds to the projection control unit.

[0148] The video data generation unit 24 generates video data to be output to each projection unit 10 based on the data about the projection pattern 2 output from the projection image determination unit 23.

[0149] For example, a frame image indicating the shape of the projected pattern 2 when viewed from above the vehicle 1 is generated. This frame image is then processed to correct for distortions, brightness deviations, etc., caused by projection, according to the projection angles of each projection unit 10. This series of frame images, with their distortions corrected in this way, constitutes video data.

[0150] In addition, arbitrary image processing can be performed as appropriate for projecting the projection pattern 2.

[0151] Figure 5 This is a flowchart illustrating a basic operational example of the projection device 100. Figure 5 The processing shown is, for example, a loop process that is repeated during the operation of the projection device 100. Here, the display control under the projection modes (normal driving mode, low-speed driving mode, and reversing mode) of the projection image 2 and projection line pattern 3 will be described.

[0152] First, the vehicle information acquisition unit 21 acquires speed-related information (step 101).

[0153] Specifically, speed information, acceleration information, accelerator information (position and operating force of the accelerator), and brake information (position and operating force of the brake) are read from sensors installed in various parts of vehicle 1 as speed-related information.

[0154] In addition, driving status information (gear shift information, parking brake information) and steering angle information are also read at this time.

[0155] Next, the trajectory calculation unit 22 calculates the trajectory of vehicle 1 (predicted trajectory 5 and passing trajectory 6) (step 102).

[0156] For example, such as Figure 2 A and Figure 2 As shown in B, under the projection mode (normal driving mode, low speed driving mode) used during forward driving, the predicted trajectory 5 of the front wheels and the passing trajectory 6 of the rear wheels of vehicle 1 are calculated.

[0157] On the other hand, such as Figure 2 As shown in Figure C, in the projection mode (reverse mode) used during backward driving, the trajectory 6 of the front wheels and the predicted trajectory 5 of the rear wheels of vehicle 1 are calculated.

[0158] It should be noted that during parking mode, the predicted trajectory 5 can be calculated based on factors such as the steering angle. Alternatively, trajectory calculation is not required during parking mode.

[0159] Next, the projection image determination unit 23 determines the projection pattern 2 (step 103).

[0160] Specifically, the length of line pattern 3 is adjusted according to the vehicle's speed (speed information).

[0161] In addition, the width of the line pattern 3 is adjusted according to the opening degree of the accelerator or the opening degree of the brake.

[0162] Additionally, the color of the line pattern 3 can be adjusted according to the speed or acceleration of vehicle 1, or the presence or absence of flashing can be set.

[0163] In this way, in this embodiment, the display parameters of at least one of the length, width, color, or blinking of the control line pattern 3 are controlled.

[0164] It should be noted that, as described above, the shape of the line pattern 3 is appropriately set to indicate the predicted trajectory 5 and the passing trajectory 6.

[0165] Next, the video data generation unit 24 generates video data to be output to each projection unit 10 based on the data about the line pattern 3 (step 104). For example, a frame image indicating the line pattern 3 is generated. By performing correction processing on the frame image corresponding to the projection angle of the projection unit 10, video data is generated. The generated video data is output to each projection unit 10.

[0166] Then, each projection unit 10 installed in vehicle 1 projects a corresponding line pattern 3 based on the video data (step 105). For example, Figure 1 The projection units 10a and 10e project the front line 3a, the projection units 10b, 10c, 10f and 10g project the center line 3b, and the projection units 10d and 10h project the rear line 3c.

[0167] Figure 6 This is a timeline showing an example of the display control for line pattern 3. References will be made below. Figure 6 The specific description relates to the display control of line pattern 3, which corresponds to the operation of the accelerator.

[0168] exist Figure 6 The upper diagram is a schematic diagram showing the accelerator operation of the driver 30 at various time points. Here, the driver 30's foot, accelerator pedal 31, and accelerator pedal pressure sensor (pressure sensor 32) are schematically shown respectively.

[0169] exist Figure 6 The graphs in the middle are schematic time-varying plots showing changes in speed-related information associated with accelerator operation. Here, from top to bottom, graphs are shown illustrating the changes over time in various parameters, including the pressure applied to the brake pedal (brake operating force), the pressure applied to the accelerator pedal (accelerator operating force), the accelerator opening (drive torque), and the driving speed.

[0170] exist Figure 6 The lower diagram is a schematic diagram showing examples of the projection pattern 2 at various timings. Here, as projection pattern 2, parking pattern 7 and line pattern 3 (front line 3a and rear line 3c) are shown. It should be noted that the illustration of the center line 3b is omitted.

[0171] As in Figure 6 As shown at the top, a pressure sensor 32 is provided on the front of the accelerator pedal 31. This pressure sensor 32 can detect the operating force of the accelerator when the driver 30 operates the accelerator. For example, based on the operating force, the following states can be detected: the driver 30 does not place his foot on the pedal; the driver 30 places his foot on the pedal (without applying force); the driver 30 depresses the pedal through free play (not exceeding the reaction force); the driver 30 depresses the pedal more deeply; the driver 30 maintains the pedal opening; and the driver 30 is releasing the pedal.

[0172] In the following text, it is assumed that the gear of vehicle 1 is drive gear "D". Furthermore, the explanation will be divided into T0 to T5 periods when the display content and control content of the projected pattern 2 are changed.

[0173] The time period T0 (times t0 to t1) is the period until the driver 30, who is pressing the brake pedal, removes his foot from the brake pedal. During this time, the driver 30's foot is not in contact with the accelerator pedal 31, so the load (pressure) applied to the brake pedal is 0.

[0174] like Figure 6 As shown, time period T0 is the period when the speed is 0 and the brakes are engaged. This state is when vehicle 1 has stopped and vehicle 1 is not moving according to the accelerator operation of vehicle 1 (first state). In this case, the projection image determination unit 23 sets the parking mode and selects parking pattern 7 as projection pattern 2. That is, in the first state, parking pattern 7 is projected.

[0175] The state after time t1 is the state where vehicle 1 becomes movable according to the accelerator operation (second state). In this case, the projection image determination unit 23 sets the low-speed driving mode and selects line pattern 3 as projection pattern 2. That is, in the second state, line pattern 3 is projected.

[0176] exist Figure 6 In the middle, from time t1 until time t12 when vehicle 1 stops through brake operation, the irradiation pattern 3 is shown.

[0177] In this way, Figure 6 In the example shown, when vehicle 1 has stopped and no braking operation has been performed, the parking mode is switched to the low-speed driving mode. This can be described as an example of control used to switch the projection pattern 2 (projection mode) based on braking information.

[0178] Time period T1 (times t1 to t3) is the period from when the driver 30 removes their foot from the brake and accelerator until the driver 30 places their foot on the accelerator pedal 31. For example, when the driver 30 places their foot on the accelerator pedal 31 at time t2, the output of the pressure sensor 32 increases to the pressure when only the foot is placed on the pedal without applying force (time t3).

[0179] It should be noted that when the accelerator is operated, the accelerator opening will not change until the pedal is depressed beyond a certain reaction force (the clearance of the accelerator pedal 31). The pressure at time t3 is equal to or less than the reaction force.

[0180] During this period T1, a pattern with a shorter length and narrower width is projected as the forward line 3a. Alternatively, for example, a pattern with a certain length and width is projected as the rear line 3c.

[0181] Time period T2 (times t3 to t5) is the period from when the driver 30 places their foot on the accelerator pedal 31 until the driver depresses the accelerator pedal 31 to open the accelerator. For example, when the driver 30 depresses the accelerator at time t4, the force (load) applied to the pedal increases and exceeds the reaction force at time t5. Therefore, after time t5, the accelerator opening increases, and the vehicle 1 begins to move.

[0182] In time period T2, a pattern with a shorter projection length and a moderate width is designated as the forward line 3a. Additionally, for example, a pattern with a projection length and width similar to that in time period T1 is designated as the backward line 3c.

[0183] In this way, in this embodiment, based on the operating force of the accelerator, the state of quickly starting accelerator operation (time period T1) and the state of being able to quickly start accelerator operation (time period T2) are detected respectively, and the width of the front line 3a is switched accordingly. Therefore, it is possible to indicate to pedestrians or other persons outside the vehicle whether the driver 30 is moving the vehicle 1 quickly.

[0184] Time period T3 (times t5 to t9) is the period during which vehicle 1 accelerates to a certain speed and then maintains that speed. For example, after the accelerator is engaged at time t5, the accelerator pedal 31 is depressed until time t6. The force applied to the pedal continues to increase. Then, the amount of pressure applied (the force applied to the pedal) is maintained until time t7, at time t8 the pedal is returned a certain amount to maintain speed. After time t8, the force applied to the pedal is balanced by the reaction force.

[0185] like Figure 6 As shown, the operations up to time t5 to t8 are transmitted to vehicle 1 as acceleration commands. As a result, the accelerator opening and the speed of vehicle 1 increase until time t8.

[0186] Furthermore, the operation up to time t8-t9 is a speed-maintaining operation. Therefore, during this period, the accelerator opening and the speed of vehicle 1 are maintained.

[0187] In the projection device 100, the speed of vehicle 1 is monitored during the acceleration period up to time t5 to t8. Then, when the speed of vehicle 1 exceeds a predetermined threshold speed (slow speed), the projection mode switches from low-speed driving mode to normal driving mode. In this case, for example, the center line 3b (not shown) switches from a pattern indicating the predicted trajectory 5 to an illumination pattern (see [link to relevant documentation]). Figure 2 wait).

[0188] This control is an example of a control used to switch the control content (projection mode) of projection pattern 2 based on speed information. The control in normal driving mode will be mainly described below.

[0189] During time period T3, the length of the leading line 3a (first pattern) is set to increase with the increase of the speed of vehicle 1 (see [reference]). Figure 9 Furthermore, the width of the forward line 3a (first pattern) is set to increase with the increase of the accelerator opening (see...). Figure 8 ).

[0190] As a result, compared with time periods T1 and T2, the length and width of the forward line 3a in time period T3 increased.

[0191] Therefore, the speed and acceleration of vehicle 1 can be displayed in front of the direction of travel of vehicle 1.

[0192] Furthermore, during time period T3, for example, the length and width of the rear line 3c are controlled similarly to those of the front line 3a. That is, the length of the rear line 3c (second pattern) is set to increase as the speed of vehicle 1 increases. Furthermore, the width of the rear line 3c (second pattern) is set to increase as the accelerator opening increases.

[0193] Therefore, the speed and acceleration of vehicle 1 can also be shown from behind in the direction of travel of vehicle 1.

[0194] It should be noted that during times t5 to t8, the speed of vehicle 1 and the opening of the accelerator are maintained. Therefore, the length and width of the forward line 3a and the rear line 3c are also maintained.

[0195] In addition, in time period T3, fixed values ​​can be used as the length and width of the rear line 3c.

[0196] Time period T4 (times t9 to t12) is the period until vehicle 1 comes to a stop. For example, when driver 30 reduces the force applied to accelerator pedal 31, the accelerator opening decreases, thereby reducing the speed of vehicle 1. Figure 6 At time t10, the accelerator opening becomes 0.

[0197] After time t10, vehicle 1 continues to move due to inertia as its speed continues to decrease. Then, driver 30 depresses the brake pedal at time t12, causing vehicle 1 to stop at time t12.

[0198] exist Figure 6 In the example shown, as in time period T4, when deceleration of vehicle 1 (negative acceleration relative to the direction of travel) is detected, the width of the front line 3a is fixed to a small value, while the width of the rear line 3c is fixed to a large value. Therefore, the fact that vehicle 1 is decelerating can be easily and intuitively presented to people outside the vehicle.

[0199] This is an example of control that sets the width of the front line 3a and the rear line 3c based on the deceleration (acceleration information) of vehicle 1 or the reduction of speed or accelerator opening.

[0200] It should be noted that, as in time period T3, the lengths of the front line 3a and the rear line 3c are adjusted according to the speed of vehicle 1.

[0201] During time period T5 (after time t12), vehicle 1 comes to a complete stop. At time t12, for example, while the gear is still in drive "D", the brake pedal is depressed. In this case, the projection mode is switched to parking mode, and parking pattern 7 is projected as projection pattern 2.

[0202] In this way, in this embodiment, at least the display parameters of the forward line 3a (first pattern) are controlled according to the accelerator operation. In this case, the projection device functions as a device for presenting accelerator operation information. Therefore, by presenting the degree of speed of vehicle 1 and information indicating whether it is accelerating or decelerating relative to the direction of travel of vehicle 1, the actions of vehicle 1 can be simply and easily understood. As a result, for example, it can attract the attention of pedestrians and others outside the vehicle.

[0203] In addition, when performing brake operation, it can be applied with Figure 6 The accelerator operation shown is controlled by the corresponding projection pattern 2. In the case of braking, it is important to indicate the movement of vehicle 1 from the rear relative to its direction of travel. Thus, for example, when vehicle 1... Figure 6 When moving forward as shown (gear "D"), the display parameters control the rear line 3c (second pattern) projected at least behind the direction of travel 4.

[0204] For example, similar to the control of the accelerator opening during time period T3, the width of the rear line 3c is set to increase with the increase of the brake opening (brake torque). Furthermore, the length of the rear line 3c can be controlled according to the speed during brake operation (deceleration). In this case, the length of the rear line 3c is set to decrease as the speed decreases. Alternatively, the length of the rear line 3c can be set to increase as the speed decreases. This control is applicable, for example, to the time period in which a forward-moving vehicle 1 stops by braking (e.g., times t11 to t12).

[0205] It should be noted that the control of the line width, etc., using the opening of the brake can be applied to the front line 3a.

[0206] In this way, in this embodiment, the display parameters of at least the rear line 3c (second pattern) are controlled according to the brake operation. In this case, the projection device functions as a device for presenting brake operation information.

[0207] Therefore, by presenting the speed and deceleration of vehicle 1 from behind relative to its direction of travel, the action of braking can be easily and clearly represented. As a result, for example, it can attract the attention of drivers of following vehicles.

[0208] Figure 7 This is a schematic diagram showing an example of line pattern 3 corresponding to the driving state of vehicle 1.

[0209] Figure 7 A schematically illustrates an example of a projected pattern 2 when vehicle 1 is moving forward (in gear "D"). These are examples of projected patterns 2 used in low-speed driving mode and normal driving mode. In the following text, these modes will sometimes be collectively referred to as driving modes.

[0210] In this case, the projected pattern 2 is a line pattern 3, and includes a front line 3a and a rear line 3c. Furthermore, the front line 3a is a first pattern projected in front of the vehicle 1 in the direction of travel, while the rear line 3c is a second pattern projected behind the vehicle 1 in the direction of travel.

[0211] exist Figure 7 In the example shown in A, the forward line 3a and the rear line 3c are set to have different colors. Setting the forward and rear lines to have different colors clearly indicates the direction of travel.

[0212] For example, the front line 3a is set to a blue color. This makes it possible to distinguish the front line 3a from the headlights and brake lights, and enhances the visibility of the front line 3a.

[0213] The rear line 3c is, for example, set to a reddish color. This enables the extended display of the red brake lights.

[0214] Figure 7 B schematically illustrates an example of the projected pattern 2 when vehicle 1 is stopped (in "P" gear). In this case, the projected pattern 2 is the parking pattern 7. Here, the front lighting 7a and the rear lighting 7c are set to have different colors from each other.

[0215] For example, front lighting 7a with Figure 7 Like the front lighting 3a in A, it is set to a blue-toned color. Furthermore, the rear lighting 7c, for example, is similar to... Figure 7 Like the rear line in A (3c), it is set to a reddish color. This helps reduce discomfort when switching between driving and parking modes.

[0216] Figure 7 C schematically illustrates an example of a projection pattern 2 projected when vehicle 1 is moving backward (in "R" gear). These are, for example, projection patterns 2 used in reverse mode.

[0217] In this case, the projected pattern 2 is the line pattern 3, and includes a front line 3a and a rear line 3c. Furthermore, the front line 3a is a second pattern projected behind the vehicle 1 in the direction of travel, while the rear line 3c is a first pattern projected in front of the vehicle 1 in the direction of travel.

[0218] exist Figure 7 In the example shown in C, the front line 3a and the rear line 3c are set to have the same color. Setting the front and rear lines to have the same color clearly indicates a difference from the driving mode, that is, the vehicle 1 is moving backward.

[0219] For example, the front line 3a and the rear line 3c are set to a color with a blue hue. Therefore, on the rear side, which is the direction of travel of vehicle 1, a color different from the brake light color is presented, thereby indicating that vehicle 1 is moving backward.

[0220] It should be noted that, in addition to the settings mentioned above, any color can be set. For example, in driving mode, the front and rear lines can be set to similar colors, or in reversing mode, the front and rear lines can be set to different colors. Furthermore, other colors such as green, purple, and orange can also be used.

[0221] Alternatively, the color or brightness can be adjusted according to the state of the projection target (e.g., the road surface) or the illumination environment, so that the projected pattern 2 can be easily seen.

[0222] Figure 8This is a table showing an example of width control for line pattern 3.

[0223] Here, the width of line pattern 3 means the width of the lines projected onto the right and left sides of vehicle 1, respectively (see...). Figure 7 In the following text, the width of the first pattern is represented by W1, and the width of the second pattern is represented by W2.

[0224] Figure 8 Table A shows examples of settings for the width of the first pattern corresponding to accelerator operation. The table shows the driver's foot on the brake pedal and accelerator pedal ("Foot on" item) and the driver's foot not on the brake pedal ("No Foot" item), respectively. The three columns on the left of the table show examples of settings for the gear being Park ("P"), Neutral ("N"), and Drive / Reverse ("D or R"), respectively.

[0225] For example, the first pattern in the driving position is the front line 3a, and the first pattern in the reversing position is the rear line 3c.

[0226] Furthermore, the first pattern for the neutral position is a line pattern 3 (front line 3a or rear line 3c) projected in front of the vehicle 1 in the direction of travel when control is being performed.

[0227] It should be noted that in neutral position, when vehicle 1 has stopped, both the forward line 3a and the rear line 3c become the first pattern and the control target.

[0228] For example, when the gear is in park, regardless of the accelerator pedal opening ("accelerator pedal opening") or the position of the driver's foot 30, the projected pattern 2 is set to the parking pattern 7 ("parking sign").

[0229] Furthermore, when the gear is in neutral, regardless of the accelerator opening or the position of the driver's foot, the width W1 of the line pattern 3 projected in front of the direction of travel 4 is set to 1%, assuming the maximum line width is 100%.

[0230] Next, examples of setting the drive position and reverse position will be explained.

[0231] like Figure 8 As shown in Figure A, when the brake pedal is "foot on" and the accelerator pedal is "no foot," W1 is set to 1%. This corresponds to, for example... Figure 6 The state within time period T0. Here, with... Figure 6 The control is different; instead of parking pattern 7, a first pattern with a width of 1% is projected.

[0232] Furthermore, when both the brake pedal and accelerator pedal are "footless," W1 is set to 3%. This corresponds to, for example... Figure 6 The state within time period T1.

[0233] It should be noted that when the accelerator pedal is "foot on" and the load applied to the accelerator is equal to or less than the reaction force (see [reference]). Figure 6 During time period T2, the width of the first pattern can be increased.

[0234] When the brake pedal is "no foot" and the accelerator pedal is "foot on", the width of the first pattern is controlled according to the accelerator pedal opening. This corresponds to, for example... Figure 6 The state within time period T3.

[0235] For example, when the accelerator opening is equal to or greater than 0% and less than 10%, W1 is set to 5%. Furthermore, when the accelerator opening is equal to or greater than 10% and less than 20%, W1 is set to 10%. Thereafter, whenever the accelerator opening increases by 10%, the width W1 of the first pattern is set to increase by 10% respectively.

[0236] In this way, in this embodiment, the width W1 of the first pattern is set to increase as the opening of the accelerator increases. Therefore, the degree of acceleration of the vehicle 1 in the direction of travel can be expressed as the width of the line pattern 3.

[0237] It should be noted that, Figure 8 The width control shown in A, which corresponds to the accelerator operation, can be applied to the control of the width W2 of the second pattern projected behind the direction of travel.

[0238] Figure 8 Table B shows examples of the setting of the width W2 of the second pattern corresponding to brake operation. The table shows the state where the driver 30 has his foot on the brake pedal (“Foot on” item) and the state where the driver does not have his foot on the brake pedal (“No Foot” item). In addition, the three columns on the left side of the table show examples of the setting of each gear (“P”, “N”, “D”, or “R”).

[0239] For example, when the gear is in the parking position, regardless of the brake opening ("brake pedal opening") and the position of the driver's foot 30, the projected pattern 2 is set to the parking pattern 7 ("parking sign").

[0240] Furthermore, when the gear is in neutral, regardless of the brake opening and the position of the driver's foot 30, the line pattern 3 projected behind the direction of travel 4 is set to an extremely fine line. An extremely fine line is, for example, a line with a width of less than 1%.

[0241] Next, examples of setting the drive position and reverse position will be explained.

[0242] like Figure 8 As shown in B, when the brake pedal is "without foot", the second pattern is set to an extremely fine line.

[0243] Furthermore, when the brake pedal is "foot on", the width W2 of the second pattern is controlled according to the opening degree of the brake.

[0244] For example, when the brake opening is equal to or greater than 0% and less than 10%, W2 is set to the width of an extremely fine line. Furthermore, when the brake opening is equal to or greater than 10% and less than 20%, W2 is set to 10%. Under this state of reliable brake operation, the width W2 of the second pattern changes rapidly. Thereafter, whenever the brake opening increases by 10%, the width W2 of the second pattern is set to increase by 10% respectively.

[0245] In this way, in this embodiment, the width W2 of the second pattern is set to increase as the brake opening increases. Therefore, the degree of deceleration of vehicle 1 can be represented as the width of the line pattern 3 in the rear of the travel direction.

[0246] exist Figure 8 A and Figure 8 In section B, the display content and control parameters of the projected pattern 2 are changed according to the gear position. This technology is not limited to this; the display content and control parameters can be changed by referring to factors such as the state of the parking brake. For example, even in neutral, if the parking brake is engaged, the projected parking pattern 7 can still be controlled.

[0247] As described above, in this embodiment, the control content for changing the type of projection pattern 2 or the display parameters of projection pattern 2 is based on information about the gear position or the parking brake state (driving state information). Therefore, projection patterns 2 suitable for the driving state of vehicle 1 can be appropriately changed and projected.

[0248] Figure 9 This is a table showing an example of length control for line pattern 3.

[0249] Here, the length of line pattern 3 means the length of the lines projected onto the right and left sides of vehicle 1, respectively (see...). Figure 7 The shape of line pattern 3 is a straight line or a curve, and its length is indicated as line length or arc length. In the following text, the length of the first pattern will be represented by L1, and the length of the second pattern will be represented by L2.

[0250] Figure 9Table A shows examples of settings for the length L1 of the first pattern projected in front of the direction of travel, corresponding to the speed (“speed”) of vehicle 1. These settings can be applied, for example, when vehicle 1 is moving forward (drive mode) and when vehicle 1 is moving backward (reverse mode).

[0251] As in Figure 9 As shown in the table outside A, in this embodiment, the value obtained by adding the standard blind spot distance L0 and distance L1' of each vehicle 1 is set as the length L1 of the first pattern.

[0252] Figure 10 This is a schematic diagram used to illustrate the standard blind zone distance L0.

[0253] The standard blind spot distance L0 is the blind spot distance calculated by assuming the standard viewpoint position P of the driver 30 in vehicle 1. Figure 10 The blind spot area relative to the front of vehicle 1 is schematically shown (shaded area in the figure).

[0254] The standard blind spot distance L0 is, for example, the distance from the point of view P where the road surface is seen (the end of the blind spot area) to the front of vehicle 1. This distance L0 depends on the shape of vehicle 1, seat position, etc. Distance L0 is calculated by setting a viewpoint P for each vehicle 1.

[0255] Furthermore, the standard blind spot distance L0 relative to the rear of vehicle 1 can be calculated using a similar method.

[0256] Figure 9 The setting shown in A is the distance L1' obtained by subtracting the standard blind spot distance L0 from the length L1 of the first pattern. Therefore, the length L1 of the first pattern can be appropriately set regardless of the difference in blind spots for each vehicle 1.

[0257] When the speed is less than 10 kilometers per hour, set L1' = 3m.

[0258] When the speed is above 10 km / h but less than 20 km / h, set L1' = 5m.

[0259] When the speed is above 20 km / h but less than 30 km / h, set L1' = 10m.

[0260] When the speed is above 30 km / h but less than 40 km / h, set L1' = 18m.

[0261] When the speed is above 40 km / h but less than 50 km / h, set L1' = 28m.

[0262] When the speed is above 50 km / h but less than 60 km / h, set L1' = 40m.

[0263] When the speed is above 60 km / h but less than 70 km / h, set L1' = 54m.

[0264] When the speed is above 70 km / h but less than 80 km / h, set L1' = 72m.

[0265] When the speed is above 80 km / h but less than 90 km / h, set L1' = 89m.

[0266] When the speed is above 90 km / h but less than 100 km / h, set L1' = 108m.

[0267] Subsequently, at speeds exceeding 100 kilometers per hour, L1' was set to 108m.

[0268] These distances are values ​​calculated based on the stopping distance of vehicle 1 within each speed range.

[0269] Figure 9 Table B shows an example setting of the length L2 of the second pattern projected behind the vehicle in the direction of travel, corresponding to the speed (“speed”) of vehicle 1. The length L2 is, for example, as shown in... Figure 7 The distance shown is from the rear end of vehicle 1 in the direction of travel to the end of the pattern.

[0270] When the speed is less than 10 kilometers per hour, set L2 = 3m.

[0271] When the speed is above 10 km / h but less than 20 km / h, set L2 = 6m.

[0272] When the speed is above 20 km / h but less than 30 km / h, set L2 = 8m.

[0273] When the speed is above 30 km / h but less than 40 km / h, set L2 = 11m.

[0274] When the speed is above 40 km / h but less than 50 km / h, set L2 = 14m.

[0275] When the speed is above 50 km / h but less than 60 km / h, set L2 = 17m.

[0276] When the speed is above 60 km / h but less than 70 km / h, set L2 = 19m.

[0277] When the speed is above 70 km / h but less than 80 km / h, set L2 = 22m.

[0278] When the speed is above 80 km / h but less than 90 km / h, set L2 = 25m.

[0279] When the speed is above 90 km / h but less than 100 km / h, set L2 = 28m.

[0280] Subsequently, at speeds exceeding 100 kilometers per hour, L2 was set to 28m.

[0281] These distances are values ​​calculated based on the braking reaction distance of vehicle 1 within each speed range.

[0282] In this way, in this embodiment, the lengths of the first pattern and the second pattern are set to increase as the speed of vehicle 1 increases. Thus, for example, in situations where it is difficult to grasp the speed of vehicle 1 (e.g., evening, night, rainy days), the degree of speed of vehicle 1 can be presented simply and easily.

[0283] It should be noted that the length of line pattern 3 is not limited. For example, it is possible to set a minimum distance below a certain speed, and to set a length of travel distance depending on several seconds (e.g., 3 seconds) above that speed.

[0284] Alternatively, for example, the optimal distance between vehicles can be set at various driving speeds. For this purpose, the parking distance of vehicle 1 can be referenced as described above, or statistical values ​​calculated based on traffic accident data can be used.

[0285] In the controller 20 according to this embodiment, the projection unit 10 installed in the vehicle 1 projects the projection pattern 2 onto the surrounding road surface. The display of the projection pattern 2 is controlled based on speed-related information related to the speed of the vehicle 1. Therefore, the projection pattern 2 can change according to the movement of the vehicle 1, and the movement of the vehicle 1 can be easily and clearly indicated to people outside the vehicle.

[0286] As a means of indicating the driver's actions to people outside the vehicle, signal lights, brakes, and hazard lights can be used. However, these means are insufficient for indicating actions such as accelerator and brake operation, and the degree of acceleration. Therefore, others around the vehicle cannot discern whether the car is accelerating.

[0287] Furthermore, it is difficult to discern the speed at which cars are traveling, making it challenging for pedestrians to determine whether it is safe for them to cross the street. This can potentially obstruct the flow of traffic.

[0288] Furthermore, engine sound can be used as a means of indicating a car's acceleration. However, this is only suitable for situations involving excessive acceleration. Additionally, electric vehicles (EVs) are equipped with sound output devices to inform pedestrians and others about the vehicle's movement. However, these are less effective at indicating acceleration, speed, etc., as they are primarily used to communicate the vehicle's movement.

[0289] In this embodiment, the display of the projection pattern 2 is controlled based on speed-related information. For example, by controlling the display parameters of the line pattern 3, which is the projection pattern 2, according to speed or other parameters, the speed or acceleration of vehicle 1 can be displayed on the road surface. Therefore, it is possible to indicate to pedestrians outside the vehicle, drivers of other vehicles, etc., whether vehicle 1 is accelerating or how fast vehicle 1 is traveling, so that they can intuitively recognize it. As a result, it can draw attention to the surrounding communication situation.

[0290] Furthermore, since visually recognizable signs such as projected pattern 2 are used, a quiet traffic environment can be maintained compared to manually outputting sounds. Moreover, even in environments with low visibility, such as at night or in rainy weather, the use of projected pattern 2 can reliably indicate the movement of vehicle 1. As a result, the risk of traffic accidents can be significantly reduced.

[0291] <Second Embodiment>

[0292] The projection apparatus according to a second embodiment of the present technology will be described. In the following, descriptions of parts having similar configurations and functions to the projection apparatus 100 described in the above embodiments will be omitted or simplified.

[0293] Figure 11 This is a block diagram illustrating an example of the configuration of a projection device according to the second embodiment.

[0294] In this embodiment, as a display control of the projection pattern 2 using speed-related information related to the speed of vehicle 1, the display of the second pattern projected behind the direction of travel is gradually controlled according to the degree of brake operation.

[0295] like Figure 11 As shown, the projection device 200 includes a projection unit 210, a vehicle information sensor unit 211, an ambient environment sensor unit 212, a storage unit 215, and a controller 220. The projection unit 210, vehicle information sensor unit 211, and storage unit 215 are, for example, in a manner similar to... Figure 4 The projection unit 10, vehicle information sensor unit 11, and storage unit 15 shown are configured in this manner.

[0296] The ambient environment sensor unit 212 has sensors that detect the condition of the surrounding environment of the vehicle 1.

[0297] In this embodiment, a rear sensor is provided as the surrounding environment sensor unit 212 for detecting objects behind the vehicle 1.

[0298] As a rear-view sensor, for example, a rear-view camera (rear-facing camera) mounted at the rear of vehicle 1 can be used. The rear-view camera captures the view behind vehicle 1, including following vehicles and the like. Alternatively, as a rear-view sensor, a radar sensor, ultrasonic sensor, LiDAR sensor, etc., mounted at the rear of vehicle 1 can be used. These sensors detect the position of objects located behind vehicle 1, such as following vehicles.

[0299] Additionally, cameras (front camera and side camera) facing the front and sides of vehicle 1, as well as distance sensors, can be installed.

[0300] The controller 220 controls the operation of each block of the projection device 200. In this embodiment, the CPU of the controller 220 executes the program stored in the storage unit 215 according to this embodiment, which serves as a functional block to realize the vehicle information acquisition unit 221, the trajectory calculation unit 222, the projection image determination unit 223, the video data generation unit 224, and the surrounding environment recognition unit 225.

[0301] The vehicle information acquisition unit 221, trajectory calculation unit 222, and video data generation unit 224 are, for example, similar to... Figure 4 The vehicle information acquisition unit 21, trajectory calculation unit 22 and video data generation unit 24 shown are combined.

[0302] The projection image determination unit 223 determines the display content and display parameters of the projection pattern 2, and outputs data about the projection pattern 2.

[0303] In this embodiment, the projected image determination unit 223 estimates the degree of brake operation based on the deceleration parameters and changes the second pattern discontinuously according to the degree of brake operation.

[0304] Here, the deceleration parameter is speed-related information that can indicate the deceleration of vehicle 1. Specifically, at least one of the following is used as the deceleration parameter: the deceleration of vehicle 1 (negative acceleration relative to the direction of travel), the operating force of the brake, and the opening degree of the brake.

[0305] In addition, the degree of brake operation refers to the intensity of the driver's brake operation at 30.

[0306] In the projected image determination unit 223, normal braking operation, force braking operation, and sudden braking operation are detected according to the degree of braking operation. Then, the display parameters of the second pattern are set to change gradually according to these operations.

[0307] Figure 12 This is a block diagram illustrating an example of the configuration of the surrounding environment recognition unit 225.

[0308] The surrounding environment recognition unit 225 performs recognition processing related to the surrounding environment of the vehicle 1 based on the output of the surrounding environment sensor unit 212. Then, the surrounding environment recognition unit 225 detects objects (e.g., pedestrians, other vehicles, curbs) located around the vehicle 1 and calculates various information about the objects.

[0309] The surrounding environment recognition unit 225 includes an object detection unit 230 and a relative velocity calculation unit 231.

[0310] The object detection unit 230 detects objects around the vehicle 1 based on the detection results of the surrounding environment sensor unit 212. The object detection unit 230 uses a learning device for image recognition processing, such as through machine learning.

[0311] For example, in a configuration where a camera is set as an ambient environment sensor unit 212, the image captured by the camera is input to the object detection unit 230.

[0312] In this scenario, objects in the input image are detected and their attributes are determined using pre-generated reference information learned from it. The reference information could be, for example, dictionary information that associates object types with object features. Furthermore, when using a deep neural network (DNN) or similar learning device, recognition model information is used as reference information. In this process, objects surrounding vehicle 1 are detected, and the attributes of objects such as cars (e.g., including passenger cars, large vehicles such as trucks and buses), motorcycles, bicycles, and people are determined. For example, an ID, serving as a sequence number, is applied to each detected object.

[0313] Furthermore, for each detected object, its position in the image is determined. At this point, the distance (relative distance) between the position in the image and the object can be calculated.

[0314] The object detection unit 230 outputs ID information, attribute information, and distance information (or position information) for each object. This information is then input into the relative velocity calculation unit 231.

[0315] The relative velocity calculation unit 231 calculates the relative velocity of the object relative to the vehicle 1 based on the information about the object output from the object detection unit 230.

[0316] For example, for each object, calculate the change in distance per unit time, and calculate the relative speed with respect to the vehicle (vehicle 1) based on the change in distance.

[0317] The relative velocity calculation unit 231 outputs ID information, attribute information, distance information (or position information), and velocity information for each object. This information is then input into the projection image determination unit 223.

[0318] Furthermore, when using radar sensors, ultrasonic sensors, LiDAR sensors, etc., other than cameras as the ambient environment sensor unit 212, the object detection unit 230 detects the position and distance of objects and applies an ID to the detected objects. Then, the relative velocity calculation unit 231 calculates the relative velocity of the detected objects. In this case, the output from the ambient environment recognition unit 225 is the object's ID information, distance information (or position information), and velocity information. It should be noted that the distance information can be information only about distance, or it can be information related to distance.

[0319] In this embodiment, objects are detected around vehicle 1, particularly behind vehicle 1. Specifically, the surrounding environment recognition unit 225 calculates subsequent vehicle information about vehicles following vehicle 1 based on detection results from a rear camera or similar source. Therefore, the surrounding environment recognition unit 225 calculates and acquires subsequent vehicle information. This subsequent vehicle information includes the vehicle's ID information, attribute information, distance information indicating the distance between vehicles (or position information indicating relative position), and speed information indicating relative speed. It should be noted that subsequent vehicles are those traveling behind vehicle 1, including cars, motorcycles, bicycles, etc.

[0320] In this embodiment, the vehicle information acquisition unit 221 and the surrounding environment recognition unit 225 described above are implemented as acquisition units.

[0321] Figure 13 This is a flowchart illustrating a basic operational example of the projection device 200. Figure 14 This is a schematic diagram showing an example of a rear pattern (second pattern) corresponding to the degree of brake operation.

[0322] Figure 13 The process shown is, for example, a cyclical process that is repeated during the operation of the projection device 200. Furthermore, this process can be performed, for example, when a following vehicle is detected, when the relative speed of the following vehicle is high, or when the distance between the following vehicles is close.

[0323] First, the vehicle information acquisition unit 221 acquires speed-related information (step 201). Then, the trajectory calculation unit 222 calculates the trajectory of vehicle 1 (predicted trajectory 5 and passing trajectory 6) (step 202).

[0324] Next, the projected image determination unit 223 estimates the degree of brake operation (step 203).

[0325] For example, the degree of brake operation can be estimated by considering the operating force of the brake (the load applied to the brake), the brake opening (braking torque), and the values ​​and changes in deceleration during brake operation. Alternatively, the degree of brake operation can be estimated by combining these deceleration parameters. Furthermore, there are no restrictions on the methods used to estimate the degree of brake operation.

[0326] Next, it is determined whether the degree of brake operation is equal to or greater than a first threshold (step 204). The first threshold is, for example, a threshold used to detect relatively forceful brake operation. For example, a value of approximately 50%, 60%, or 70% of the estimated degree of brake operation during sudden braking is set as the first threshold. Alternatively, the first threshold can be set appropriately.

[0327] If the brake operation level is less than the first threshold (No in step 204), the projection image determination unit 223 determines that the second pattern will be projected through normal display (step 205). Normal display is a display method during normal brake operation. For example, a reference is used as a normal display. Figure 6 , Figure 8 The instructions include display methods for adjusting the width according to the opening degree of the accelerator or brake, and methods for setting a predetermined fixed width.

[0328] Figure 14 A schematic illustration shows an example of the second pattern (rear line 3c) in normal display. Here, the projection is set to a narrower rear line 3c. Furthermore, the rear line 3c is set to a red color, for example, similar to the color of the brake light 35.

[0329] See back Figure 13 If the degree of brake operation is equal to or greater than a first threshold ("Yes" in step 204), it is determined whether the degree of brake operation is equal to or greater than a second threshold (step 206). The first threshold is, for example, a threshold used to detect sudden braking operation. For example, a value of approximately 80% or 90% of the estimated degree of brake operation during sudden braking is set as the second threshold. Alternatively, the second threshold can be set appropriately.

[0330] If the brake operation level is less than the second threshold (No in step 206), the projection image determination unit 223 determines to display the width of the second pattern as a thicker fixed width (step 205). This method can be described as a statically and clearly displayed method for the second pattern. For example, the width of the second pattern is set to the maximum width. Alternatively, the width of the second pattern can be set to approximately 90% or 80% of the maximum width.

[0331] Figure 14B schematically illustrates an example of a second pattern (rear line 3c) displayed with a thicker width. Here, the projection is set to a rear line 3c with a fixed width that is thicker than the normal display width. Therefore, since a thick rear line 3c is projected in addition to the brake light 35, the strong braking operation of vehicle 1 can be clearly indicated to following vehicles.

[0332] See back Figure 13 If the degree of brake operation is equal to or greater than the second threshold ("Yes" in step 206), the projection image determination unit 223 determines to display the projected second pattern in a flashing manner (step 208).

[0333] A blinking display is a method of displaying a second pattern in a blinking manner. In other words, a blinking display is a method of dynamically and clearly displaying a second pattern.

[0334] Figure 14 c schematically illustrates an example of a second pattern (back line 3c) in a blinking display. In the blinking display, for example, the width of the back line 3c is set to be equal to or greater than... Figure 14 The width of B is fixed. Then, the rear line 3c is displayed, causing at least a portion of the rear line 3c to flash. Furthermore, even when only a portion of the rear line 3c is flashing, the flashing portion can be displayed in a movable manner. That is, the rear line 3c can be displayed as an animation. Therefore, in addition to the brake light 35, the flashing rear line 3c is also projected, thus clearly indicating a sudden braking operation of vehicle 1, etc. As a result, the attention of following vehicles, etc., can be effectively drawn.

[0335] See back Figure 13 In steps 205, 207, and 208, after setting the display of the second pattern, the video data generation unit 224 generates video data to be output to each projection unit 210 based on the set data (step 209). Then, each projection unit 210 set in the vehicle 1 projects the corresponding line pattern 3 based on the video data (step 210).

[0336] In this way, in this embodiment, when the degree of brake operation is equal to or greater than the first threshold and less than the second threshold which is greater than the first threshold, the projection image determination unit 223 increases the width of the second pattern and causes the second pattern to flash when the degree of brake operation is equal to or greater than the second threshold.

[0337] Therefore, it is easy to understand to following vehicles outside the vehicle that indicate, for example, that vehicle 1 is decelerating rapidly or that a sudden stop is expected.

[0338] exist Figure 13The operational example shown illustrates discontinuous display control of the second pattern corresponding to the degree of brake operation. Instead of controlling the degree of brake operation, the second pattern can also be controlled discontinuously according to the risk of collision with subsequent vehicles.

[0339] Specifically, the projected image determination unit 223 estimates the collision risk with subsequent vehicles based on subsequent vehicle information. Then, it performs a process of progressively changing the display of the rear pattern (second pattern) according to the collision risk. This process is performed, for example, by using the collision risk with subsequent vehicles rather than the degree of brake operation. Figure 13 The process shown is a processing method.

[0340] For example, as referenced Figure 12 The surrounding environment recognition unit 225 in the projection device 200 calculates subsequent vehicle information (information about the relative distance, relative speed, etc. to subsequent vehicles). By using this subsequent vehicle information, the collision risk is estimated (corresponding to step 205).

[0341] For example, as the relative distance to following vehicles decreases, and as the speed relative to following vehicles increases, the collision risk is set to a higher value. For instance, the relative speed / relative distance can be calculated as the collision risk. Alternatively, the collision risk can be calculated based on either relative distance or relative speed. Furthermore, the collision risk can be calculated by referring to information such as brakes and taking into account factors such as the amount of deceleration of vehicle 1.

[0342] Furthermore, a first threshold and a second threshold are set for determining the collision risk. The first threshold is, for example, set to a value approximately 30% to 50% of the maximum collision risk. Furthermore, the second threshold is, for example, set to a value greater than 50% of the maximum collision risk. Of course, this technique is not limited to this; various thresholds can be set to draw attention at appropriate times.

[0343] For example, when the collision risk is estimated, it is determined whether the collision risk is equal to or greater than a first threshold (corresponding to step 204). For example, if the collision risk is less than the first threshold, the second pattern is displayed normally (corresponding to step 205).

[0344] Furthermore, if the collision risk is equal to or greater than the first threshold, it is determined whether the collision risk is equal to or greater than the second threshold (corresponding to step 206). For example, if the collision risk is less than the second threshold, the second pattern is displayed with a thicker width (corresponding to step 207). Furthermore, if the collision risk is equal to or greater than the second threshold, the second pattern is flashed (corresponding to step 208).

[0345] Therefore, the display of the second pattern (typically, the rear line 3c) is changed discontinuously according to the risk of collision with following vehicles. As a result, it is easy to understand to following vehicles traveling outside the vehicle that the possibility of a collision with vehicle 1 is increasing.

[0346] Accidents have been reported where, for example, a car stops at a traffic light or at the end of a traffic jam, and a vehicle behind it crashes into it. As a countermeasure to protect drivers from these accidents, it is recommended that drivers activate either the brake lights by repeatedly pressing and releasing the brake pedal or the hazard lights. One possible method to automate these actions is to monitor following vehicles and automatically flash the hazard lights if a collision is possible. However, these methods are not always effective enough. Therefore, it is desirable to provide an effective warning method, etc., to make drivers of following vehicles aware that the vehicle in front is stopping.

[0347] In this embodiment, rear lines 3c (second patterns) showing the wheel tracks are projected behind the moving vehicle 1. Depending on the degree of brake operation, these second patterns are switched to a display with increased line width (see reference). Figure 14 B) or flashing display (see B) Figure 14 C). Therefore, by using not only static displays but also dynamic displays, the attention of drivers of following vehicles can be drawn to the road ahead. Consequently, collisions with following vehicles can be largely avoided.

[0348] <Other Embodiments>

[0349] This technology is not limited to the above embodiments and can be implemented in various other ways.

[0350] In the above embodiments, the pattern indicating the vehicle's trajectory (both the actual trajectory and the predicted trajectory) is primarily set as a line pattern. This technology is not limited to this; for example, a straight line pattern extending along the longitudinal direction of the vehicle 1 can be used. Alternatively, a pattern with closed ends, such as a left and right side line, can be used. Furthermore, a line pattern of any shape, size, and color can be used as the projection pattern.

[0351] Reference Figure 13 In the processing of instructions, the pattern (rear line) is changed and displayed as a warning to following vehicles. Alternatively, for example, a directional speaker or similar device can be used to emit a warning sound to following vehicles. In this case, since an audible warning is provided along with a warning such as a flashing display, it can effectively indicate brake operation or collision risk.

[0352] In the above description, a single controller is illustrated as an embodiment of the information processing apparatus according to the present technology. However, the controller can be configured independently, and any computer connected to the controller, whether wired or wireless, can implement the information processing apparatus according to the present technology. For example, a cloud server can execute the information processing method according to the present technology. Alternatively, the information processing method according to the present technology can be executed through cooperation between the controller and other computers.

[0353] That is, the information processing methods and procedures according to this technology can be executed not only in computer systems consisting of a single computer, but also in computer systems in which multiple computers operate collaboratively. It should be noted that in this disclosure, a system means a group of multiple components (devices, modules (components), etc.), and it is not important whether all components are housed in the same enclosure. Thus, multiple devices housed in separate enclosures and connected via a network, as well as a single device in which multiple modules are housed in a single enclosure, are both systems.

[0354] The execution of information processing methods and programs according to this technology by a computer system includes, for example, cases where speed-related information acquisition and projected pattern display control are performed by a single computer, and cases where various processes are performed by different computers. Furthermore, the execution of various processes by a predetermined computer includes causing other computers to perform some or all of the processes to obtain results.

[0355] That is, the information processing methods and procedures according to this technology can also be applied to cloud computing in which a single function is shared and collaboratively processed by multiple devices through a network.

[0356] At least two features described above according to the present technology can be combined. That is, the various features described in the various embodiments can be arbitrarily combined between the various embodiments. Furthermore, the various effects described above are merely exemplary and not limiting, and may provide other effects.

[0357] In this disclosure, "same," "equal," "orthogonal," etc., are concepts that include "substantially the same," "substantially equal," "substantially orthogonal," etc. For example, it also includes situations that are included within a predetermined range (e.g., a range of ±10%) based on "completely identical," "completely equal," "completely orthogonal," etc.

[0358] It should be noted that this technology can also be configured as follows.

[0359] (1) An information processing device, comprising:

[0360] The acquisition unit acquires speed-related information related to the vehicle's speed; and

[0361] A projection control unit controls the display of a projection pattern projected onto the road surface surrounding the vehicle from a projection unit mounted on the vehicle, based on the speed-related information.

[0362] (2) The information processing apparatus according to (1), wherein

[0363] The projected pattern includes a linear pattern, and

[0364] The projection control unit controls at least one of the following display parameters: length, width, color, or blinking of the linear pattern.

[0365] (3) The information processing apparatus according to (2), wherein

[0366] The projection control unit controls the display parameters of the line pattern according to at least one of the accelerator operation or brake operation of the vehicle.

[0367] (4) The information processing apparatus according to (3), wherein

[0368] The line pattern includes a first linear pattern projected in front of the vehicle's direction of travel and a second linear pattern projected behind the vehicle's direction of travel.

[0369] The projection control unit controls at least the display parameters of the first pattern according to the accelerator operation, and controls at least the display parameters of the second pattern according to the brake operation.

[0370] (5) The information processing apparatus according to (4), wherein

[0371] The speed-related information includes the accelerator opening degree, and

[0372] The projection control unit increases the width of the first pattern as the opening of the accelerator increases.

[0373] (6) The information processing apparatus according to (4) or (5), wherein

[0374] The speed-related information includes the brake opening degree, and

[0375] The projection control unit increases the width of the second pattern as the opening degree of the brake increases.

[0376] (7) The information processing apparatus according to any one of (4) to (6), wherein

[0377] The speed-related information includes the vehicle's speed, and

[0378] The projection control unit increases the length of the first pattern and the second pattern as the vehicle's speed increases.

[0379] (8) The information processing apparatus according to any one of (4) to (7), wherein

[0380] The speed-related information includes deceleration parameters, which include at least one of the vehicle's deceleration, the operating force of the brakes, or the opening degree of the brakes.

[0381] The projection control unit estimates the degree of brake operation based on the deceleration parameters, and causes the second pattern to change discontinuously according to the degree of brake operation.

[0382] (9) The information processing apparatus according to (8), wherein

[0383] The projection control unit increases the width of the second pattern when the degree of brake operation is equal to or greater than a first threshold and less than a second threshold that is greater than the first threshold, and causes the second pattern to flash when the degree of brake operation is equal to or greater than the second threshold.

[0384] (10) The information processing apparatus according to any one of (4) to (7), wherein

[0385] The acquisition unit acquires information about subsequent vehicles following the vehicle, and

[0386] The projection control unit estimates the collision risk with the subsequent vehicle based on the subsequent vehicle information, and causes the second pattern to change discontinuously according to the collision risk.

[0387] (11) The information processing apparatus according to any one of (4) to (10) further includes

[0388] The predicted trajectory calculation unit calculates a predicted trajectory that the vehicle will travel, wherein...

[0389] The projection control unit generates the first pattern that indicates the predicted trajectory.

[0390] (12) The information processing apparatus according to any one of (4) to (11) further includes

[0391] The trajectory calculation unit calculates the trajectory that the vehicle has already traversed, wherein...

[0392] The projection control unit generates a second pattern that indicates the trajectory.

[0393] (13) The information processing apparatus according to any one of (2) to (12), wherein

[0394] The projected pattern includes other patterns different from the line pattern, and

[0395] The projection control unit selects the other pattern as the projection pattern in a first state where the vehicle has stopped and is not moving according to the vehicle's accelerator operation, and selects the line pattern as the projection pattern in a second state where the vehicle becomes movable according to the vehicle's accelerator operation.

[0396] (14) The information processing apparatus according to any one of (1) to (13), wherein

[0397] The acquisition unit acquires driving status information about the vehicle's driving status, and

[0398] The projection control unit controls the switching of the type of projection pattern or the display parameters of the projection pattern based on the driving status information.

[0399] (15) The information processing apparatus according to (14), wherein

[0400] The driving status information includes at least one of the vehicle's gear position or the vehicle's parking brake position.

[0401] (16) An information processing method, comprising:

[0402] Through computer system

[0403] Obtain speed-related information related to the vehicle's speed; and

[0404] Based on the speed-related information, the display of the projection pattern projected onto the road surface surrounding the vehicle from the projection unit mounted on the vehicle is controlled.

[0405] (17) A program that causes a computer system to perform:

[0406] The steps to obtain speed-related information about a vehicle's speed; and

[0407] Based on the speed-related information, the step of controlling the display of the projection pattern projected from the projection unit mounted on the vehicle onto the road surface surrounding the vehicle.

[0408] (18) A projection device, comprising:

[0409] A projection unit, which is mounted on the vehicle, projects a pattern onto the road surface surrounding the vehicle.

[0410] The acquisition unit acquires speed-related information related to the speed of the vehicle; and

[0411] A projection control unit controls the display of the projection pattern projected from the projection unit based on the speed-related information.

[0412] List of reference numerals

[0413] Vehicles 1, 1a, and 1b

[0414] 2 Projected Patterns

[0415] 3-line pattern

[0416] 3a Forward Line

[0417] 3b center line

[0418] 3C rear line

[0419] 4. Direction of travel

[0420] 5. Predicted trajectory

[0421] 6. Through the trajectory

[0422] 7 parking patterns

[0423] Projection units 10, 10a~10h, and 210

[0424] 15, 215 memory units

[0425] 20, 220 controllers

[0426] Vehicle Information Acquisition Units 21 and 221

[0427] 22, 222 Trajectory Calculation Unit

[0428] 23, 223 Projection Image Determination Unit

[0429] 30 drivers

[0430] 225 Surrounding Environment Recognition Unit

[0431] 100 and 200 projection devices

Claims

1. An information processing apparatus, comprising: The acquisition unit acquires speed-related information related to the vehicle's speed; as well as A projection control unit, based on the speed-related information, controls the display of a projection pattern projected onto the road surface surrounding the vehicle from a projection unit mounted on the vehicle. The projected pattern includes a linear pattern, and The projection control unit controls the display parameters of at least one of the following: length, width, color, or blinking of the linear pattern. The projection control unit controls the display parameters of the linear pattern according to at least one of the vehicle's accelerator or brake operations. The linear pattern includes a first linear pattern projected in front of the vehicle's direction of travel and a second linear pattern projected behind the vehicle's direction of travel. The projection control unit controls at least the display parameters of the first pattern according to the accelerator operation, and controls at least the display parameters of the second pattern according to the brake operation. The speed-related information includes the accelerator opening degree, and The projection control unit increases the width of the first pattern as the opening of the accelerator increases, and / or The speed-related information includes the brake opening degree, and The projection control unit increases the width of the second pattern as the opening degree of the brake increases.

2. The information processing apparatus according to claim 1, wherein The speed-related information includes the vehicle's speed, and The projection control unit increases the length of the first pattern and the second pattern as the vehicle's speed increases.

3. The information processing apparatus according to claim 1, wherein The speed-related information includes deceleration parameters, which include at least one of the vehicle's deceleration, the operating force of the brakes, or the opening degree of the brakes. The projection control unit estimates the degree of brake operation based on the deceleration parameters, and causes the second pattern to change discontinuously according to the degree of brake operation.

4. The information processing apparatus according to claim 3, wherein The projection control unit increases the width of the second pattern when the degree of brake operation is equal to or greater than a first threshold and less than a second threshold that is greater than the first threshold, and causes the second pattern to flash when the degree of brake operation is equal to or greater than the second threshold.

5. The information processing apparatus according to claim 1, wherein The acquisition unit acquires information about subsequent vehicles following the vehicle, and The projection control unit estimates the collision risk with the subsequent vehicle based on the subsequent vehicle information, and causes the second pattern to change discontinuously according to the collision risk.

6. The information processing apparatus according to claim 1, further comprising: The predicted trajectory calculation unit calculates a predicted trajectory that the vehicle will travel, wherein... The projection control unit generates the first pattern that indicates the predicted trajectory.

7. The information processing apparatus according to claim 1, further comprising: The trajectory calculation unit calculates the trajectory that the vehicle has already traversed, wherein... The projection control unit generates a second pattern that indicates the trajectory.

8. The information processing apparatus according to claim 1, wherein The projected pattern includes other patterns different from the linear pattern, and The projection control unit selects the other pattern as the projection pattern in a first state where the vehicle has stopped and is not moving according to the operation of the vehicle's accelerator, and selects the line pattern as the projection pattern in a second state where the vehicle becomes movable according to the operation of the vehicle's accelerator.

9. The information processing apparatus according to claim 1, wherein The acquisition unit acquires driving status information about the vehicle's driving status, and The projection control unit controls the switching of the type of projection pattern or the display parameters of the projection pattern based on the driving status information.

10. The information processing apparatus according to claim 9, wherein The driving status information includes at least one of the vehicle's gear position or the vehicle's parking brake position.

11. An information processing method, comprising: Through computer system Obtain speed-related information concerning the vehicle's speed; as well as Based on the speed-related information, the display of the projected pattern projected onto the road surface surrounding the vehicle from the projection unit mounted on the vehicle is controlled, wherein... The projected pattern includes a linear pattern, and Display parameters that control at least one of the following: length, width, color, or blinking of the linear pattern. The display parameters of the linear pattern are controlled according to at least one of the accelerator or brake operations of the vehicle. The linear pattern includes a first linear pattern projected in front of the vehicle's direction of travel and a second linear pattern projected behind the vehicle's direction of travel. The accelerator operation controls at least the display parameters of the first pattern, and the brake operation controls at least the display parameters of the second pattern. The speed-related information includes the accelerator opening, and the width of the first pattern increases with the increase of the accelerator opening, and / or The speed-related information includes the brake opening degree, and the width of the second pattern increases as the brake opening degree increases.

12. A program product that causes a computer system to execute: The steps to obtain speed-related information about a vehicle's speed; and Based on the speed-related information, the step of controlling the display of a projection pattern projected from a projection unit mounted on the vehicle onto the road surface surrounding the vehicle, wherein... In the process of implementing control... The projected pattern includes a linear pattern, and Display parameters that control at least one of the following: length, width, color, or blinking of the linear pattern. The display parameters of the linear pattern are controlled according to at least one of the accelerator or brake operations of the vehicle. The linear pattern includes a first linear pattern projected in front of the vehicle's direction of travel and a second linear pattern projected behind the vehicle's direction of travel. The accelerator operation controls at least the display parameters of the first pattern, and the brake operation controls at least the display parameters of the second pattern. The speed-related information includes the accelerator opening, and the width of the first pattern increases with the increase of the accelerator opening, and / or The speed-related information includes the brake opening degree, and the width of the second pattern increases as the brake opening degree increases.

13. A projection device, comprising: A projection unit, which is mounted on the vehicle, projects a pattern onto the road surface surrounding the vehicle. as well as The information processing apparatus according to any one of claims 1 to 10.

Images