Information processing apparatus, information processing method, and road projection system

Abstract

The present technology relates to an information processing device, an information processing method, and a road surface projection system that enable more reliable communication with surrounding traffic participants. The projection control section controls output of projection information for realizing communication with the other party based on a driving plan of the moving body and road surface condition information indicating a condition of a road surface on which the moving body travels, the projection information being projected onto the road surface from the moving body. The present technology can be applied to, for example, a vehicle that performs road surface projection.

Description

Technical Field

[0001] The present technology relates to an information processing device, an information processing method and a road surface projection system, and more specifically, to an information processing device, an information processing method and a road surface projection system capable of establishing more reliable communication with surrounding traffic participants. Background Art

[0002] In recent years, various technologies have been proposed for establishing communication with surrounding traffic participants by projecting information from a moving body onto a road surface on which the moving body is traveling.

[0003] For example, Patent Document 1 discloses a vehicle lighting system that emits light outward to visually present information for urging the oncoming vehicle to stop, based on the width of the oncoming vehicle and the width of the road ahead of the host vehicle.

[0004] [Citation list]

[0005] [Patent Document]

[0006] [PTL 1]

[0007] PCT Patent Publication No. WO2019 / 131329 Summary of the invention

[0008] [Technical issues]

[0009] However, in the case of road conditions that are not suitable for projection, there is a risk that communication with surrounding road users may be hampered.

[0010] This technology is proposed in view of the above situation. The purpose of this technology is to establish more reliable communication with surrounding traffic participants.

[0011] [Problem Solution]

[0012] An information processing device according to the present technology is an information processing device including a projection control part, which controls the output of projection information projected from the mobile body onto the road surface for establishing communication with another party based on the driving plan of the mobile body and road condition information indicating the condition of the road surface on which the mobile body is traveling.

[0013] The information processing method according to the present technology is an information processing method including the following: an information processing device controls the output of projection information projected from a mobile body onto a road surface for establishing communication with another party based on a driving plan of the mobile body and road surface condition information indicating the condition of a road surface on which the mobile body is traveling.

[0014] According to the present technology, the road surface projection system is a road surface projection system including a projection control part and a projection part, wherein the projection control part controls the output of projection information projected from the mobile body onto the road surface for establishing communication with other parties according to the driving plan of the mobile body and the road surface condition information indicating the condition of the road surface on which the mobile body is traveling, and the projection part projects the projection information onto the road surface.

[0015] The present technology controls output of projection information projected from a mobile body onto a road surface for establishing communication with another party, based on a driving plan of the mobile body and road surface condition information indicating the condition of a road surface on which the mobile body is traveling. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 : is a block diagram showing an outline of the configuration of a moving object according to the present technology.

[0017] Figure 2 : is a diagram showing an example of installation of a projection section and its projection range.

[0018] Figure 3 It is a flowchart showing the outline of the operation of the moving object.

[0019] Figure 4 is a diagram showing an example of projection information that is projected in a manner avoiding an inappropriate area.

[0020] Figure 5 is a diagram showing an example of projection information that is projected in a manner avoiding an inappropriate area.

[0021] Figure 6 is a diagram showing an example of projection information that is projected in a manner avoiding an inappropriate area.

[0022] Figure 7 is a block diagram showing a specific example of the configuration of a moving object.

[0023] Figure 8 Detailed description of the invention is a flowchart showing the flow of road surface projection processing executed by a mobile object.

[0024] Fig. 9 is a diagram illustrating an example of an optical system.

[0025] Fig.10 is a block diagram showing an example of the configuration of a computer. DETAILED DESCRIPTION

[0026] Embodiments for implementing the present technology (hereinafter referred to as embodiments) will now be described in the following order.

[0027] 1. Conventional technologies and their problems

[0028] 2. Overview of Configuration and Operation of Moving Object According to the Present Technology

[0029] 3. Specific Example of Configuration of Moving Object and Road Surface Projection Processing

[0030] 4. Examples of optical systems

[0031] 5. Example of computer configuration

[0032] <1. Conventional technologies and their problems>

[0033] Conventionally, as a road surface projection device for a vehicle, a welcome light is known. When a vehicle door is opened or unlocked, the welcome light welcomes vehicle passengers. The illumination of the welcome light is for decorative purposes, and does not cause a big problem even in a case where the projection cannot be visually recognized due to, for example, road surface conditions not being suitable for projection.

[0034] Meanwhile, in recent years, various technologies have been proposed for establishing communication with surrounding traffic participants by projecting information from a mobile body onto the road surface on which the mobile body is traveling. When road surface projection is used to communicate with other traffic participants, the projected information should be visually recognizable by the traffic participants as much as possible.

[0035] However, there has been no proposed technology for adjusting the information to be projected when the road surface condition is not suitable for projection. Therefore, there is a risk that communication with surrounding traffic participants may be hampered.

[0036] In addition, in order to project information onto the road surface, the projected light needs to be scattered on the road surface. For example, in the case where information such as a video is projected onto a road surface that specularly reflects light, not only will the surrounding traffic participants be unable to visually recognize the video, but the strong reflected light may directly illuminate the surrounding traffic participants, thereby increasing the risk of traffic accidents.

[0037] In view of the above, the present technology can establish more reliable communication with surrounding traffic participants by controlling the output of projection information to be projected onto the road surface according to the driving plan of the mobile body and the road surface conditions.

[0038] <2. Overview of Configuration and Operation of Moving Body According to the Present Technology>

[0039] (Configuration of mobile body)

[0040] Figure 1 : is a block diagram showing an outline of the configuration of a moving object according to the present technology.

[0041] Figure 1 The illustrated moving body 1 is configured as, for example, an autonomous vehicle (car). However, alternatively, the moving body 1 may be configured as an autonomous mobile robot that moves in a public space.

[0042] The moving body 1 includes the information processing device 10 and the projection section 20 , and can be used as a road surface projection system that projects projection information such as a video onto a road surface on which the moving body 1 travels.

[0043] The information processing apparatus 10 includes, for example, an ECU (Electronic Control Unit), an additional control unit such as a dedicated processor, and a computer installed in the mobile body 1. Meanwhile, the projection section 20 includes, for example, a projection device such as a liquid crystal microdisplay.

[0044] Under the control of the information processing device 10, the projection section 20 projects projection information such as video onto the road surface on which the moving body 1 travels. The projection information to be projected by the projection section 20 is presentation information for communicating with the other party, and includes display of the behavior of the moving body 1 (the own vehicle), advance notification of the behavior of the own vehicle, promotion of the behavior of the other party, and warning to the other party.

[0045] The information processing device 10 includes a driving plan generating section 11 , a road surface condition detecting section 12 , and a projection control section 13 .

[0046] The driving plan generation part 11 generates a driving plan including, for example, the driving route and transfer points of the mobile body 1, the driving speed at each passing point and the destination based on the surrounding information about the mobile body 1, and supplies the generated driving plan and surrounding information to the projection control part 13.

[0047] The surrounding information includes, for example, projection information projected by others onto the road surface on which the moving body 1 is traveling (other-party projection information) and traffic condition information indicating the traffic conditions around the moving body 1. Here, others include other traffic participants (other vehicles and pedestrians) around the moving body 1 and, for example, smart poles installed in public spaces.

[0048] The surrounding information is acquired based on sensor information derived from various unillustrated sensors arranged on the moving body 1 and information derived from a device capable of communicating with the moving body 1 .

[0049] The road surface condition detection section 12 detects the condition of the road surface on which the moving body 1 travels based on the above-mentioned sensor information, and supplies road surface condition information indicating the detected road surface condition to the projection control section 13 .

[0050] The road surface condition information includes unsuitable area information indicating the positions of unsuitable areas, which are areas on the road surface on which the mobile body 1 is traveling and which are unsuitable for the projection of the projection information. Unsuitable areas on the road surface include puddles or other reflective surfaces, convex and concave surfaces, and obstacles. For example, the road surface condition detection part 12 is capable of detecting puddles reflected by mirrors as unsuitable areas based on polarization video derived from a polarization camera arranged on the mobile body 1. In addition, the road surface condition detection part 12 is capable of detecting convex and concave surfaces and obstacles on the road surface as unsuitable areas based on sensor information derived, for example, from a ToF (time of flight) sensor arranged on the mobile body 1.

[0051] The projection control section 13 controls the output of the projection information based on the driving plan and surrounding information derived from the driving plan generating section 11 and the road surface condition information derived from the road surface condition detecting section 12. In other words, the projection control section 13 controls the projection section 20 to project the projection information for communication with the other party onto the road surface from the projection section 20. In this case, the projection control section 13 controls the output of the projection information in a manner that avoids projection onto the unsuitable area based on the unsuitable area information included in the road surface condition information.

[0052] Figure 2 2 is a diagram showing an example of installation of the projection section 20 and its projection range.

[0053] like Figure 2 As shown in part A of the mobile body 1, projection devices P1 to P4 serving as components of the projection section 20 are installed at the front, left, right, and rear of the mobile body 1, respectively.

[0054] Therefore, if Figure 2 As shown in part B of FIG. 1 , the front area R1, the left area R2, the right area R3, and the rear area R4 of the moving body 1 become the projection ranges of the projection devices P1 to R4, respectively. Figure 2 In the portion B of FIG. 1 , the front region R1, the left region R2, the right region R3, and the rear region R4 are shown as having gaps between adjacent projection ranges. However, in actual use, such regions R1 to R4 may be set to overlap adjacent projection ranges. In other words, the projection section 20 is capable of projecting projection information onto the entire circumference of the moving body 1.

[0055] It should also be noted that, for example, the installation position and imaging range of a polarization camera configured to capture polarization video for detecting road conditions are similar to the installation position and projection range of the projection section 20 .

[0056] (Operation of moving objects)

[0057] Now refer to Figure 3The flowchart summarizes the operation of the mobile body 1 (information processing device 10).

[0058] In step S1 , the driving plan generating section 11 generates a driving plan for the moving body 1 (host vehicle) based on surrounding information about the surroundings of the moving body 1 .

[0059] In step S2, the road surface condition detection section 12 detects the condition of the road surface on which the moving body 1 is traveling based on the sensor information.

[0060] In step S3, the projection control part 13 controls the output of the projection information based on the driving plan generated by the driving plan generating part 11, the surrounding information, and the road surface condition information indicating the road surface condition detected by the road surface condition detecting part 12. Specifically, the projection control part 13 controls the output of the projection information in a manner to avoid projection onto the unsuitable area based on the unsuitable area information included in the road surface condition information.

[0061] (Example of avoiding projection information that is not suitable for regional projection)

[0062] Now refer to Figures 4 to 6 An example of projecting information in a manner that avoids projection onto an inappropriate area is described.

[0063] Figure 4 : is a diagram showing a first example of projection information projected in a manner avoiding projection onto an unsuitable area.

[0064] exist Figure 4 In the example of FIG. 1 , projection information C11 including a character string “After you” as a message to pedestrians is projected from the moving body 1 onto the road surface in front of the moving body 1. The projection information C11 can be projected within the projection range PA of the projection section 20. The unsuitable area detection range DA is set to include the projection range PA, in which the unsuitable area can be detected by various sensors arranged on the moving body 1.

[0065] like Figure 4 As shown in part A of FIG. 1 , in the case where the mirror-reflective puddle U1 is detected as an unsuitable area at the projection position of the projection information C11, there is a possibility that the projection light of the projection information C11 is reflected and cannot be visually recognized by pedestrians. Therefore, it is desirable that the projection light of the projection information C11 is projected onto the road surface where the projection light is scattered.

[0066] In the case where the intention of a message such as a message to a pedestrian is not lost even after the projection position is changed, such as Figure 4 As shown in part B of FIG. 1 , the road surface projection may be performed after the projection position of the projection information C11 is changed to avoid the puddle U1 within the projection range PA.

[0067] Figure 5 : is a diagram showing a second example of projection information projected in a manner avoiding projection onto an unsuitable area.

[0068] Figure 5 The example also depicts a case where projection information C11 including a character string “behind you” as a message to pedestrians is projected from the moving body 1 onto the road surface in front of the moving body 1 .

[0069] In such Figure 5 In the case where the cat's eye U2 is detected as an obstacle at the projection position of the projection information C11 and is regarded as an unsuitable area as shown in part A of FIG. 1 , the projection light in the projection information C11 may be distorted and cannot be visually recognized by pedestrians. Therefore, it is desired that the projection light of the projection information C11 is projected onto a flat road surface without obstacles.

[0070] If the intent is not lost even after the projection position changes, such as in Figure 4 The example shows the case of a message to pedestrians, such as Figure 5 As shown in part B of FIG. 1 , the projection position of the projection information C11 can be changed and projected onto the road surface in a manner avoiding the cat's eye U2 within the projection range PA.

[0071] Figure 6 is a diagram showing a third example of projection information projected in a manner avoiding projection onto an inappropriate area.

[0072] exist Figure 6 In the example of , projection information C21 indicating a future travel path as an indication of the behavior of the mobile body 1 is projected from the mobile body 1 onto the road surface in front of the mobile body 1 .

[0073] In such Figure 6 In the case where the mirror-reflective puddle U3 shown in part A is detected as an unsuitable area at the projection position of the projection information C21, there is a possibility that the projection light of the projection information C21 in the range REF corresponding to the puddle U3 is reflected and cannot be visually recognized by surrounding traffic participants. However, if the projection position of the projection information C21 is changed in this case, the result of such change may be different from or deviate from the original intention.

[0074] In situations where changing the projection position would compromise the intent, such as in the case of a driving path, e.g. Figure 6 As shown in part B of FIG. 2 , road surface projection can be performed by deleting a portion within a range REF corresponding to the puddle U3 in the projection light of the projection information C21.

[0075] Executing the above processing enables outputting projection information that avoids projection onto unsuitable areas according to the driving plan of the mobile body and the condition of the road surface. This enables surrounding traffic participants to visually recognize the projection information projected onto the road surface with improved accuracy and enables more reliable communication with surrounding traffic participants.

[0076] In particular, since the projection information can be prevented from being projected onto puddles or other specular reflective objects, surrounding traffic participants can visually recognize the projection information, and strong reflected light can also be prevented from directly irradiating surrounding traffic participants, thereby reducing the risk of traffic accidents.

[0077] <3. Specific Example of Configuration of Moving Object and Road Surface Projection Processing>

[0078] A specific example of the configuration of the above-mentioned moving body 1 and a flow of road surface projection processing performed by the moving body 1 are described below.

[0079] (Specific example of configuration of moving body)

[0080] Figure 7 2 is a block diagram showing a specific example of the configuration of the moving object 1 .

[0081] Figure 7 The mobile body 1 shown includes an imaging part 111, a distance measuring part 112, an other road surface projection detection part 113, a traffic condition recognition part 114, a map data 115, a driving measurement part 116, a vehicle position estimation part 117, a user setting / operation storage part 118, a driving plan generation part 119 and a driving control part 120.

[0082] The imaging section 111 includes a visible light camera that captures an image of the surroundings of the moving body 1. The imaging section 111 supplies the visible light video acquired by capturing an image of the surroundings of the moving body 1 to the other-side road surface projection detection section 113 and the traffic condition recognition section 114.

[0083] The distance measuring section 112 includes a sensor capable of measuring distance, such as a ToF sensor or a LiDAR (Light Detection and Ranging) sensor. The distance measuring section 112 acquires a distance image indicating a distance in a depth direction, and supplies the acquired distance image to the traffic condition recognition section 114.

[0084] The other party road projection detection part 113 detects other party projection information based on the distance image supplied from the distance measurement part 112. Other party projection information (hereinafter also referred to as, for example, other party road projection) is information projected onto the road surface by others (for example, other vehicles, pedestrians, and smart poles). The detected other party projection information is supplied to the driving plan generation part 119.

[0085] The traffic condition recognition section 114 recognizes the traffic condition (e.g., the attributes and position of others, the moving direction, and the moving speed) around the moving body 1 based on the visible light video supplied from the imaging section 111 and the distance image supplied from the distance measuring section 112. Traffic condition information indicating the recognized traffic condition around the moving body 1 is supplied to the driving plan generating section 119.

[0086] The map data 115 is map data regarding an area where the moving body 1 travels.

[0087] The driving measurement part 116 measures driving data related to the driving of the mobile body 1 (host vehicle), such as the driving position, driving speed, and driving operation including acceleration / deceleration and steering operation, and supplies the measured driving data to the host vehicle position estimation part 117 .

[0088] The host vehicle position estimation section 117 estimates the position of the moving body 1 (host vehicle) in the map data 115 based on the driving data from the driving measurement section 116. The host vehicle position information indicating the estimated position of the host vehicle is supplied to the driving plan generation section 119.

[0089] The user setting / operation storage section 118 stores setting information and operation information related to driving of the user (driver) of the mobile body 1. The setting information and operation information include, for example, mode information indicating an automatic driving mode of the mobile body 1. The setting information and operation information stored in the user setting / operation storage section 118 are read out to the driving plan generation section 119 as needed.

[0090] The driving plan generating section 119 corresponds to Figure 1 The driving plan generating section 119 is shown. The driving plan generating section 119 generates a driving plan for the moving body 1 (own vehicle) based on the other party projection information from the other party road projection detecting section 113 used as surrounding information and the traffic condition information from the traffic condition identifying section 114, as well as the own vehicle position information from the own vehicle position estimating section 117.

[0091] In addition, the driving plan generating section 119 can generate a driving plan of the mobile body 1 by using traffic condition information obtained through mutual cooperation and wireless communication with other devices such as on-board devices installed in other vehicles, information terminals carried by pedestrians, smart poles, and other ITS (Intelligent Transportation System) equipment. The driving plan generating section 119 supplies driving operation information corresponding to the generated driving plan to the driving control section 120.

[0092] The driving control section 120 controls the automatic driving of the mobile body 1 based on the driving operation information derived from the driving plan generating section 119 .

[0093] The mobile body 1 further includes a traffic communication control section 121 , a sensor group 122 , a road surface condition detection section 123 , and a projection adjustment section 124 .

[0094] The traffic communication control section 121 acquires the driving plan generated by the driving plan generating section 119 and surrounding information used for such driving plan generation. The traffic communication control section 121 functions as a projection information generating section and generates a communication representation with respect to the other party as projection information based on the acquired driving plan.

[0095] The communication representation includes projection position information indicating its projection position and position variability information indicating whether the projection position is variable. In the case where the projection position of the communication representation is a requirement for the relevant communication, that is, in the case where the intention of the communication representation will be impaired by the change of the projection position of the communication representation, the position variability information indicating that the projection position cannot be changed is generated.

[0096] The traffic communication control section 121 supplies the generated communication representation and the traffic condition information included in the surrounding information from the driving plan generation section 119 to the projection adjustment section 124 .

[0097] The sensor group 122 includes, for example, a polarization camera and a ToF sensor, and senses a road surface on which the moving body 1 travels. Sensor information acquired by allowing the sensor group 122 to sense the road surface is supplied to the road surface condition detection portion 123.

[0098] The road surface condition detection section 123 corresponds to Figure 1 The road surface condition detection section 123 shown in FIG. 1 detects the condition of the road surface on which the mobile body 1 is traveling based on the sensor information from the sensor group 122. Specifically, the road surface condition detection section 123 that detects the condition of the road surface on which the mobile body 1 is traveling functions as an unsuitable area detection section that detects an area on the road surface on which the mobile body 1 is traveling that is unsuitable for projection of projection information. Road surface condition information including unsuitable area information indicating the position of the unsuitable area is supplied to the projection adjustment section 124.

[0099] The projection adjustment section 124 corresponds to the traffic communication control section 121 together with Figure 1 The projection control section 13 shown. The projection adjustment section 124 controls the projection section 20 based on the traffic information and the communication representation derived from the traffic communication control section 121, thereby projecting the communication representation from the projection section 20 onto the road surface. In this case, the projection adjustment section 124 adjusts the communication representation projected onto the road surface based on the unsuitable area information included in the road surface condition information derived from the road surface condition detection section 123, thereby controlling the projection of the communication representation to avoid the unsuitable area.

[0100] The communication representation (road surface projection of the own vehicle) obtained after the projection adjustment in the above manner is fed back to the other road surface projection detection section 113. This enables the other road surface projection detection section 113 to detect the other road surface projection projected onto the road surface while distinguishing the other road surface projection from the road surface projection of the own vehicle.

[0101] Furthermore, the communication representation (road surface projection of the host vehicle) obtained after the projection adjustment is also fed back to the road surface condition detection section 123. This enables the road surface condition detection section 123 to detect the unsuitable area while excluding the road surface projection of the host vehicle from the detection target.

[0102] Furthermore, although not shown, the communication representation (road surface projection of the host vehicle) obtained after the projection adjustment may be fed back to the driving control portion 120. In this case, the driving control portion 120 can modify the driving control of the mobile body 1 (host vehicle) according to the road surface projection of the host vehicle.

[0103] (Road surface projection processing by moving object)

[0104] Now refer to Figure 8 The flowchart described by Figure 7 For example, the process of road surface projection processing performed by the mobile body 1 in FIG. Figure 8 The processing shown in .

[0105] In step S11 , the other road surface projection detecting section 113 detects the other road surface projection based on the distance image acquired by the distance measuring section 112 .

[0106] In step S12 , the traffic condition recognition section 114 recognizes the traffic condition around the moving body 1 based on the visible light video captured by the imaging section 111 and the distance image acquired by the distance measurement section 112 .

[0107] In step S13, the driving plan generating section 119 generates a driving plan for the moving body 1 (host vehicle) based on the other-side road surface projection, the surrounding traffic conditions, and the position of the host vehicle serving as the surrounding information.

[0108] In step S14, the traffic communication control section 121 determines whether communication provided by the road surface projection is required based on the driving plan generated by the driving plan generating section 119 and the other-party road surface projection and surrounding traffic conditions used to generate the driving plan.

[0109] In the event that it is determined in step S14 that communication provided by road surface projection is not required, the process proceeds to step S15. In step S15, the driving control portion 120 determines whether to end driving based on the driving plan generated by the driving plan generation portion 119.

[0110] In the case where it is determined in step S15 that the driving is not to be ended, the process returns to step S11, and then step S11 and subsequent steps are repeated.

[0111] Meanwhile, in the case where it is determined in step S15 that the driving is to be ended, the moving body 1 ends the driving, and then the process is terminated.

[0112] Incidentally, in the event that it is determined in step S14 that communication provided by road surface projection is required, the process proceeds to step S16.

[0113] In step S16 , the traffic communication control section 121 generates a required communication indication based on the driving plan generated by the driving plan generating section 119 .

[0114] In step S17 , the projection adjustment section 124 acquires road surface condition information from the road surface condition detection section 123 .

[0115] In step S18 , the projection adjustment portion 124 determines whether or not there is an unsuitable area at the projection position of the communication representation based on the projection position information included in the communication representation and the unsuitable area information included in the road surface condition information.

[0116] In the event that it is determined in step S18 that there is no unsuitable area at the projection position of the communication representation, the process proceeds to step S19 .

[0117] In step S19, the projection adjustment section 124 controls the projection section 20 to project the communication representation onto the road surface without change. Subsequently, the process returns to step S11, and then step S11 and subsequent steps are repeated.

[0118] Meanwhile, in the event that it is determined in step S18 that an inappropriate area exists at the projection position of the communication representation, the process proceeds to step S20 .

[0119] In step S20 , the projection adjustment section 124 determines whether the projection position of the communication representation is variable based on the position variability information included in the communication representation.

[0120] In the event that it is determined in step S20 that the projection position of the communication representation is variable, that is, in the case where the intention of the communication representation is not impaired even if the projection position of the communication representation is changed, the process proceeds to step S21 .

[0121] In step S21, the projection adjustment section 124 changes the projection position information included in the communication representation so as to refer to Figure 4 and Figure 5The described manner performs road surface projection (projection of the communication representation) by changing the projection position. Thereafter, the process returns to step S11, and then step S11 and subsequent steps are repeated.

[0122] Meanwhile, in a case where it is determined in step S20 that the projection position of the communication representation cannot be changed, that is, in a case where the intention of the communication representation would be impaired by a change in the projection position of the communication representation, the process proceeds to step S22.

[0123] In step S22, the projection adjustment section 124 deletes the portion corresponding to the unsuitable area and uses the reference Figure 6 The road surface projection (projection of the communication representation) is performed in the described manner. Thereafter, the process returns to step S11, and then step S11 and subsequent steps are repeated.

[0124] When the above processing is performed, the communication representation is projected according to the driving plan of the mobile body and the condition of the road surface, while avoiding unsuitable areas. This enables surrounding traffic participants to visually recognize the communication representation projected onto the road surface with higher accuracy, and enables more reliable communication with surrounding traffic participants.

[0125] In particular, since the communication representation can be prevented from being projected onto puddles or other specular reflective objects, surrounding traffic participants can visually recognize the communication representation, and strong reflected light can also be prevented from directly illuminating surrounding traffic participants, thereby reducing the risk of traffic accidents.

[0126] <4. Example of optical system>

[0127] Fig. 9 is a diagram showing an example of an optical system that can be installed in the mobile body 1 according to the present technology.

[0128] Fig. 9 The projection apparatus 200 shown includes a projection device 210 , a visible light image sensor 220 , a polarization image sensor 230 , a beam splitter 240 , and a lens 250 .

[0129] The projection device 210 corresponds to the projection section 20 included in the moving body 1 , and projects projection information onto a road surface on which the moving body 1 travels through the lens 250 .

[0130] The visible light image sensor 220 corresponds to the imaging section 111 included in the moving body 1 , and acquires a visible light video by capturing an image of the surroundings of the moving body 1 .

[0131] The polarization image sensor 230 corresponds to a polarization camera belonging to the sensor group 122 included in the moving body 1 , and acquires a polarization video by capturing an image of a road surface on which the moving body 1 travels.

[0132] The beam splitter 240 splits the light incident on the lens 250 into at least two parts, which are then incident on the visible light image sensor 220 and the polarization image sensor 230 .

[0133] In the projection apparatus 200, a single lens 250 is shared by all the viewing angles V10 of the projection device 210, the viewing cone F20 of the visible light image sensor 220, and the viewing cone F30 of the polarization image sensor 230. Thus, the present technology allows one lens to be shared by the viewing angle of the projection device that projects the projection information and by at least one of the viewing cones of the visible light camera and the polarization camera.

[0134] <5. Example of computer configuration>

[0135] The above-described series of processing can be executed by hardware or software. In the case where the series of processing is executed by software, a program included in the software is installed from a program recording medium into a computer included in dedicated hardware or a general-purpose personal computer.

[0136] Fig.10 : is a block diagram showing a configuration example of hardware of a computer that performs the above-described series of processes by executing a program.

[0137] The above-mentioned information processing device 10 (mobile body 1) is composed of Fig.10 The configuration shown is implemented by a computer 300 .

[0138] The CPU 301 , the ROM 302 , and the RAM 303 are interconnected via a bus 304 .

[0139] The bus 304 is also connected to an input / output interface 305. The input / output interface 305 is connected to an input section 306 including, for example, a keyboard and a mouse, and an output section 307 including, for example, a display and a speaker. Furthermore, the input / output interface 305 is connected to a storage section 308 including, for example, a hard disk and a nonvolatile memory, a communication section 309 including, for example, a network interface, and a drive 310 for driving a removable medium 311.

[0140] In the computer 300 configured as described above, the CPU 301 performs the above-described series of processing by, for example, loading a program stored in the storage section 308 into the RAM 303 through the input / output interface 305 and the bus 304 and executing the loaded program.

[0141] The program to be executed by the CPU 301 is recorded on the removable medium 311 , for example, or is supplied through a wired or wireless transmission medium such as a local area network, the Internet, or a digital broadcasting system, and is installed in the storage section 308 .

[0142] It should be noted that the program to be executed by the computer 300 may perform processing in the time sequence described in this document, or may perform processing in a parallel manner or at a required timing in response to, for example, a program call.

[0143] Here, "system" refers to a collection of multiple constituent elements (devices or modules (components), etc.), and it is not important whether all the constituent elements are in the same housing. Therefore, multiple devices housed in separate housings and connected to each other via a network and a single device including multiple modules housed in a single housing are both "systems".

[0144] The embodiment of the present technology is not limited to the above-described embodiment, and various changes can be made without departing from the spirit and scope of the present technology.

[0145] Furthermore, the advantages described in this document are merely illustrative and not limiting. The present technology may also provide advantages other than those described in this document.

[0146] Furthermore, the present technology can adopt the following configurations. (1)

[0148] An information processing device, comprising:

[0149] A projection control section controls output of projection information projected from the mobile body onto a road surface for establishing communication with another party based on a driving plan of the mobile body and road surface condition information indicating a condition of a road surface on which the mobile body is traveling.

[0150] (2) The information processing device according to (1),

[0151] The road condition information includes unsuitable area information indicating a position of an unsuitable area on the road surface to which the projection information is not suitable for projection,

[0152] The projection control section controls output of the projection information in a manner to avoid projection onto the unsuitable area based on the unsuitable area information. (3)

[0154] The information processing device according to (2),

[0155] Among them, unsuitable areas include light reflecting surfaces. (4)

[0157] The information processing device according to (2),

[0158] Among them, the unsuitable area includes convex and concave surfaces or obstacles. (5)

[0160] The information processing device according to any one of (2) to (4),

[0161] Among them, the projection control part includes:

[0162] a projection information generating section that generates projection information based on a driving plan; and

[0163] A projection adjustment section adjusts projection information to be projected onto a road surface according to the unsuitable area information. (6)

[0165] The information processing device according to (5),

[0166] The projection information includes projection position information indicating a projection position of the projection information on the road surface, and

[0167] The projection adjustment section changes the projection position information in the case where an unsuitable area exists at the projection position of the projection information. (7)

[0169] The information processing device according to (6),

[0170] The projection information further includes position variability information indicating whether the projection position can be changed, and

[0171] In a case where the position variability information indicates that the projection position can be changed, the projection adjustment section changes the projection position information. (8)

[0173] The information processing device according to (7),

[0174] Wherein, when the position variability information indicates that the projection position cannot be changed, the projection adjustment part deletes the part of the projection information corresponding to the unsuitable area. (9)

[0176] The information processing device according to (8),

[0177] Wherein, in a case where the projection position of the projection information is a requirement for communication, the projection information generating section generates position variability information indicating that the projection position cannot be changed. (10)

[0179] The information processing device according to any one of (5) to (9), further comprising:

[0180] an unsuitable area detecting section, the unsuitable area detecting section detecting an unsuitable area on a road surface,

[0181] The unsuitable area detecting section excludes the projection information projected onto the road surface from targets for detecting the unsuitable area. (11)

[0183] The information processing device according to any one of (2) to (9),

[0184] The projection control section controls output of the projection information in a manner that avoids projection onto an inappropriate area based on a driving plan and surrounding information about the surroundings of the moving object. (12)

[0186] The information processing device according to (11),

[0187] The surrounding information includes projection information projected onto the road surface by the other party. (13)

[0189] The information processing device according to (11),

[0190] The surrounding information includes traffic condition information indicating the traffic condition around the moving body. (14)

[0192] The information processing device according to any one of (1) to (13),

[0193] The other party includes other traffic participants around the moving body. (15)

[0195] An information processing method, comprising:

[0196] Output of projection information projected from the mobile body onto the road surface for establishing communication with another party is controlled by the information processing device based on the driving plan of the mobile body and road surface condition information indicating the condition of the road surface on which the mobile body is traveling. (16)

[0198] A road surface projection system, comprising:

[0199] a projection control section that controls output of projection information projected from the mobile body onto a road surface for establishing communication with another party, based on a driving plan of the mobile body and road surface condition information indicating a condition of a road surface on which the mobile body is traveling; and

[0200] The projection part projects the projection information onto a road surface. (17)

[0202] A program for causing a computer to implement the following processing:

[0203] Output of projection information projected from the mobile body onto a road surface for establishing communication with another party is controlled based on a driving plan of the mobile body and road surface condition information indicating the condition of a road surface on which the mobile body is traveling.

[0204] [reference numerals list]

[0205] 1: Moving body

[0206] 10: Information processing device

[0207] 11: Driving plan generation part

[0208] 12: Road condition detection part

[0209] 13: Projection control part

[0210] 111: Imaging section

[0211] 112: Distance measurement part

[0212] 113: Other side road projection detection part

[0213] 114: Traffic condition recognition part

[0214] 115: Map Data

[0215] 116: Driving measurement section

[0216] 117: Vehicle position estimation part

[0217] 118: User settings / operation storage section

[0218] 119: Driving plan generation section

[0219] 120: Driving control part

[0220] 121: Traffic communication control section

[0221] 122: Sensor Group

[0222] 123: Road condition detection part

[0223] 124: Projection adjustment section

Claims

1. An information processing device, comprising: A projection control section controls output of projection information projected from the mobile body onto a road surface for establishing communication with another party based on a driving plan of the mobile body and road surface condition information indicating a condition of a road surface on which the mobile body is traveling.

2. The information processing device according to claim 1, in, The road surface condition information includes unsuitable area information indicating a position of an unsuitable area on the road surface to which the projection information is unsuitable, The projection control section controls output of the projection information in a manner to avoid projection onto the unsuitable area based on the unsuitable area information.

3. The information processing device according to claim 2, in, Unsuitable areas include light-reflective surfaces.

4. The information processing device according to claim 2, in, Unsuitable areas include convex or concave surfaces or obstacles.

5. The information processing device according to claim 2, in, The projection control part includes: a projection information generating section that generates projection information based on a driving plan; and A projection adjustment section adjusts projection information to be projected onto a road surface according to the unsuitable area information.

6. The information processing device according to claim 5, in, The projection information includes projection position information indicating a projection position of the projection information on a road surface, and The projection adjustment section changes the projection position information in the case where an unsuitable area exists at the projection position of the projection information.

7. The information processing device according to claim 6, in, The projection information also includes position variability information indicating whether the projection position can be changed, and In a case where the position variability information indicates that the projection position can be changed, the projection adjustment section changes the projection position information.

8. The information processing device according to claim 7, in, In a case where the position variability information indicates that the projection position cannot be changed, the projection adjustment section deletes a portion of the projection information corresponding to the unsuitable area.

9. The information processing device according to claim 8, in, In a case where the projection position of the projection information is a requirement for communication, the projection information generation section generates position variability information indicating that the projection position cannot be changed.

10. The information processing device according to claim 5, further comprising: an unsuitable area detecting section, the unsuitable area detecting section detecting an unsuitable area on a road surface, The unsuitable area detecting section excludes the projection information projected onto the road surface from targets for detecting the unsuitable area.

11. The information processing device according to claim 2, in, The projection control section controls output of the projection information in a manner avoiding projection onto an unsuitable area based on a driving plan and surrounding information about the surroundings of the moving body.

12. The information processing device according to claim 11, in, The surrounding information includes projection information projected onto the road surface by the other party.

13. The information processing device according to claim 11, in, The surrounding information includes traffic condition information indicating the traffic condition around the moving body.

14. The information processing device according to claim 1, in, The other party includes other traffic participants around the moving body.

15. An information processing method, comprising: Output of projection information projected from the mobile body onto the road surface for establishing communication with another party is controlled by the information processing device based on the driving plan of the mobile body and road surface condition information indicating the condition of the road surface on which the mobile body is traveling.

16. A road surface projection system, comprising: a projection control section that controls output of projection information projected from the mobile body onto a road surface for establishing communication with another party, based on a driving plan of the mobile body and road surface condition information indicating a condition of a road surface on which the mobile body is traveling; and The projection part projects the projection information onto a road surface.

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