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

Abstract

The present technology pertains to an information processing device, an information processing method, and a road surface projection system that make it possible to allow intuitive identification of the source of information. The projection control unit controls output of projection information projected from the moving body onto a road surface on which the moving body travels for communication with other entities. The additional control unit controls light emission of the light emitting unit provided on the moving body as additional information corresponding to the projection information. The present technology can be applied, for example, to a vehicle configured to perform 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 in particular to an information processing device, an information processing method, and a road surface projection system that allow intuitive identification of the source of information. Background Art

[0002] In recent years, many technologies have been proposed for projecting information from a mobile body onto a road surface on which the mobile body is traveling, thereby enabling communication with surrounding traffic participants.

[0003] For example, PTL 1 discloses a vehicle display system configured to stop light emission of a light pattern from a host vehicle in response to detection of a light pattern emitted from another vehicle when two vehicles projecting light patterns onto a road surface exist around each other.

[0004] [Citation list]

[0005] [Patent Document]

[0006] PCT Patent Publication No. WO2020 / 031917 Summary of the invention

[0007] [Technical issues]

[0008] However, there has been no consideration of allowing the source of projected information to be intuitively recognized when a plurality of vehicles are traveling in a mixed manner or when an image or the like is projected onto the road surface from a roadside device.

[0009] The present technology has been proposed in view of such circumstances, and aims to allow the source of information to be intuitively identified.

[0010] [Solution to the problem]

[0011] The information processing device of the present technology is an information processing device including the following components: a projection control unit, which is configured to control the output of projection information projected from a mobile body onto a road surface on which the mobile body is traveling for communication with other entities; and an additional control unit, which is configured to control the light emission of a light-emitting unit provided on the mobile body to be presented as additional information corresponding to the projection information.

[0012] The information processing method of the present technology is an information processing method comprising the following steps: an information processing device controls the output of projection information projected from a mobile body onto a road surface on which the mobile body is traveling for communication with other entities; and controls the light emission of a light-emitting unit provided on the mobile body to be presented as additional information corresponding to the projection information.

[0013] The road surface projection system of the present technology is a road surface projection system including the following components: a light-emitting unit arranged on a moving body; a projection control unit, which is configured to control the output of projection information projected from the moving body onto the road surface on which the moving body is traveling for communication with other entities; and an additional control unit, which is configured to control the light emission of the light-emitting unit to be presented as additional information corresponding to the projection information.

[0014] In the present technology, output of projection information projected from a moving body onto a road surface on which the moving body is traveling for communication with other entities is controlled, and light emission of a light emitting unit provided on the moving body is controlled to be presented as additional information corresponding to the projection information. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a block diagram illustrating an overview of the configuration of a moving object according to the present technology.

[0016] Figure 2 : is a diagram illustrating an installation example of a projection unit and its projection range.

[0017] Figure 3 : is a diagram illustrating an installation example of a light emitting unit.

[0018] Figure 4 is a diagram illustrating an installation example of the audio output unit.

[0019] Figure 5 is a flowchart illustrating an overview of the operation of the moving object.

[0020] Figure 6 is a diagram illustrating an example of presentation of additional information corresponding to projection information.

[0021] Figure 7 is a diagram illustrating an example of presentation of additional information corresponding to projection information.

[0022] Figure 8 is a diagram illustrating an example of presentation of additional information corresponding to projection information.

[0023] Fig. 9 is a diagram illustrating a first example of road surface projection in a situation where a plurality of moving bodies exist.

[0024] Fig.10 is a diagram illustrating a second example of road surface projection in a situation where a plurality of moving bodies exist.

[0025] Fig.11 is a diagram illustrating a second example of road surface projection in a situation where a plurality of moving bodies exist.

[0026] Fig.12 It is a block diagram illustrating a specific example of the configuration of a moving object.

[0027] Fig.13 1 is a flowchart illustrating the flow of road surface projection processing of a moving object.

[0028] Fig.14 is a block diagram illustrating a configuration example of a computer. DETAILED DESCRIPTION

[0029] Now, a mode for carrying out the present technology (hereinafter referred to as an "embodiment") is described. Note that the description is given in the following order.

[0030] 1. Existing technologies and their problems

[0031] 2. Overview of the configuration and operation of a mobile object according to the present technology

[0032] 3. Example of road surface projection in a situation where there are multiple moving objects

[0033] 4. Specific Examples of the Configuration of Moving Objects and Road Surface Projection Processing

[0034] 5. Example of computer configuration

[0035] <1. Existing Technology and Its Problems>

[0036] As a road surface projection device for a vehicle, a welcome light (welcome light) for welcoming passengers when the door is opened or unlocked is known so far. The welcome light is mainly projected when the vehicle is stopped, and its image is also a fixed image. In addition, most images projected onto the road surface from roadside equipment and the like are also fixed images.

[0037] On the other hand, in recent years, many technologies have been proposed for projecting information from a mobile body onto the road surface on which the mobile body is traveling, thereby enabling communication with surrounding traffic participants. In general road traffic, there are various traffic participants, and it has not been considered to allow intuitive identification of the source of projected information when multiple vehicles are traveling in a mixed manner or when images are projected onto the road surface from roadside equipment, etc.

[0038] In the future, it is expected that dynamic images will be projected onto the road surface, overlapping with other projected images, and that images projected from a moving vehicle will move with the vehicle. As the amount of information projected onto the road surface increases in this way, a technology for allowing the source of the projected information to be intuitively identified is required.

[0039] In response to this, in the present technology, the output of projection information projected onto the road surface is controlled, and additional information presentation corresponding to the projection information is performed, thereby allowing the source of the information to be intuitively recognized.

[0040] <2. Overview of the Configuration and Operation of a Moving Body According to the Present Technology>

[0041] (Composition of moving body)

[0042] Figure 1 It is a block diagram illustrating an overview of the configuration of a moving object according to the present technology.

[0043] Figure 1 The moving body 1 shown in FIG. 1 is constituted as, for example, a vehicle (car) capable of autonomous driving. The moving body 1 is not limited thereto, and may be constituted as an autonomous mobile robot configured to move in a public space.

[0044] The moving body 1 includes an information processing device 10 , a projection unit 20 , a light emitting unit 30 , and an audio output unit 40 , and has a function as a road surface projection system configured to project projection information such as an image onto a road surface on which the moving body 1 travels.

[0045] The information processing device 10 includes an ECU (Electronic Control Unit) mounted on the mobile body 1 , other control units including a dedicated processor, a computer, and the like.

[0046] The projection unit 20 includes, for example, a projection device such as a liquid crystal microdisplay. The projection unit 20 projects projection information such as an image onto the road surface on which the moving body 1 is traveling based on the control of the information processing device 10. The projection information projected by the projection unit 20 is presentation information for communication with other entities, and includes display of the action of the moving body 1 (host vehicle), advance notification of the action of the host vehicle, promotion of the action of other entities, warnings to other entities, and the like.

[0047] The light emitting unit 30 is a light emitting device provided on the mobile body 1, and includes a vehicle lighting device (headlight, turn signal, taillight, etc.), a decorative LED (light emitting diode) belt or LED lighting attached to the vehicle body, a light emitting sign, a lighting device provided inside the vehicle, etc. The light emitting unit 30 emits light based on the control of the information processing device 10.

[0048] The audio output unit 40 includes a speaker provided on the vehicle body and outputs audio based on the control of the information processing device 10 .

[0049] The information processing device 10 includes a travel plan generating unit 11 , a projection control unit 12 , and an additional control unit 13 .

[0050] The driving plan generation unit 11 generates a driving plan including the driving route and path points of the moving body 1, as well as the driving speed, destination, etc. at each passing point based on the surrounding information associated with the surroundings of the moving body 1, and provides the driving plan together with the surrounding information to the projection control unit 12.

[0051] The surrounding information includes projection information projected by other entities onto the road surface on which the mobile body 1 is traveling (other entity projection information), traffic condition information indicating the traffic conditions around the mobile body 1, etc. The "other entities" here include other traffic participants (other vehicles and pedestrians) around the mobile body 1, and smart poles installed in public spaces, etc.

[0052] The surrounding information is acquired based on sensor information from various sensors (not shown) provided on the moving body 1 , and based on information from a device capable of communicating with the moving body 1 .

[0053] The projection control unit 12 generates projection information based on the travel plan and surrounding information from the travel plan generation unit 11, and controls output of the projection information. In other words, the projection control unit 12 controls the projection unit 20 so that the projection unit 20 projects projection information for communication with other entities onto the road surface.

[0054] The additional control unit 13 generates control information for performing additional information presentation corresponding to the projection information generated by the projection control unit 12 .

[0055] For example, the additional control unit 13 provides the generated control information to the projection control unit 12 to add the additional projection information indicating that the source of the projection information is the moving object 1 to the projection information. In addition, the additional control unit 13 provides the generated control information to the light emitting unit 30, thereby controlling the light emission of the light emitting unit 30 to indicate that the source of the projection information is the moving object 1. In addition, the additional control unit 13 provides the generated control information to the audio output unit 40, thereby controlling the audio output of the audio output unit 40 to indicate that the source of the projection information is the moving object 1.

[0056] Figure 2 2 is a diagram illustrating an installation example of the projection unit 20 and its projection range.

[0057] As in Figure 2 As shown in FIG. 1A , projection devices P1 to P4 , each serving as a projection unit 20 , are installed on the front end, the left side surface, the right side surface, and the rear of the mobile body 1 , respectively.

[0058] Therefore, as in Figure 2As shown in FIG. 1B , the front area R1, the left area R2, the right area R3, and the rear area R4 of the moving body 1 correspond to the projection ranges of the projection devices P1 to P4, respectively. Figure 2 In FIG. 1B, the front region R1, the left region R2, the right region R3, and the rear region R4 are illustrated as having gaps between the corresponding adjacent projection ranges, but in reality, the front region R1, the left region R2, the right region R3, and the rear region R4 can be set to overlap with the corresponding adjacent projection ranges. That is, by using the projection unit 20, projection information can be projected around the entire periphery of the mobile body 1.

[0059] Figure 3 is a diagram illustrating an installation example of the light emitting unit 30 .

[0060] Figure 3 A illustrates an example in which a light emitting unit L11 not shown is installed as an underglow neon lamp on the lower part of the vehicle body 1. Thus, the road surface directly below the vehicle body 1 including the surroundings of the vehicle body 1 is illuminated by the light emission of the light emitting unit L11.

[0061] Figure 3 FIG. B illustrates an example in which the light emitting units L21 to L26 are installed at various parts of the vehicle body of the moving body 1. Figure 3 In the example of B, the light-emitting unit L21 includes a headlamp, and the light-emitting unit L22 includes an LED strip attached to the upper end of the front windshield. The light-emitting unit L23 includes LED lighting provided on the bumper, and the light-emitting unit L24 includes an LED strip attached to the side of the vehicle body. The light-emitting unit L25 includes LED lights provided on the wheels of the front and rear tires, and the light-emitting unit L26 includes an LED strip attached to the rear spoiler. Thus, it becomes possible to allow traffic participants around the mobile body 1 to visually discern the light emission of at least any one of the light-emitting units L21 to L26.

[0062] Figure 4 is a diagram illustrating an installation example of the audio output unit 40 .

[0063] Figure 4 The example in which the audio output units A31 and A32 including speakers are respectively installed at the front end and the rear of the vehicle body of the moving body 1 is illustrated. Thereby, it becomes possible to allow traffic participants in front of and behind the moving body 1 to recognize audio.

[0064] (Operation of moving objects)

[0065] Next, refer to Figure 5 , describing an overview of the operation of the mobile body 1 (information processing device 10).

[0066] In step S1 , the travel plan generation unit 11 generates a travel plan of the mobile body 1 (host vehicle) based on surrounding information associated with the surroundings of the mobile body 1 .

[0067] In step S2 , the projection control unit 12 generates projection information based on the travel plan generated by the travel plan generation unit 11 and the surrounding information, and controls output of the projection information.

[0068] In step S3 , the additional control unit 13 performs additional information presentation corresponding to the projection information.

[0069] (Example of presentation of additional information corresponding to projection information)

[0070] Here, reference Figures 6 to 8 , describing an example of presenting additional information corresponding to projection information.

[0071] Figure 6 is a diagram illustrating a first example of presentation of additional information corresponding to projection information.

[0072] exist Figure 6 In A, projection information C11 indicating the future travel trajectory of the mobile body 1 is projected onto the road surface. The future travel trajectory can be calculated based on the travel plan of the mobile body 1.

[0073] exist Figure 6 In B, the current driving trajectory of the mobile body 1 is added to the projection information C12 on the future driving trajectory of the mobile body 1 and projected onto the road surface. For example, the current driving trajectory can be calculated by estimating the main vehicle position of the mobile body 1.

[0074] exist Figure 6 In C, the past driving trajectory of the mobile body 1 is further added to the projection information C13 on the current and future driving trajectories of the mobile body 1 and is projected onto the road surface. For example, the past driving trajectory can be calculated by storing the main vehicle position of the mobile body 1.

[0075] In this way, the past, current and future driving trajectories of the mobile body 1 are continuously projected so that the projected content matches the trajectory actually traveled by the mobile body 1, thereby allowing the source of the projected information to be intuitively identified from the perspective of other entities.

[0076] Figure 7 is a diagram illustrating a second example of presentation of additional information corresponding to projection information.

[0077] exist Figure 7 In each of A and B, as projection information indicating the predicted route of the moving body 1, projection information C21 including a light pattern extending in the traveling direction of the moving body 1 is projected onto the road surface.

[0078] The projection information C21 includes a plurality of line patterns of a certain length arranged orthogonally to and along the traveling direction of the moving body 1. The spacing between the line patterns corresponds to the speed of the moving body 1, and as the speed of the moving body 1 approaches zero, the line patterns become denser. Figure 7 In the example of , since the line pattern pitch of the projection information C21 becomes smaller toward the crosswalk where the pedestrian PE is located, the moving body 1 will stop before the crosswalk.

[0079] In addition, Figure 7 In the example of FIG. 1 , the light emitting units L23 and L24 provided on the moving body 1 emit light to create visual correlation with the projection information C21 projected onto the road surface.

[0080] Specifically, the light emitting units L23 and L24 emit light to simulate the origin from which the light pattern of the projection information C21 extending in the travel direction of the moving body 1 extends. In addition, the light emitting units L23 and L24 may emit light of the same color as the light pattern of the projection information C21.

[0081] In this way, a light pattern is projected as if light emitted from the moving body 1 transitions from the moving body 1 to the road surface, thereby allowing the source of the projected information to be intuitively recognized from the perspective of other entities.

[0082] Figure 8 is a diagram illustrating a third example of presentation of additional information corresponding to projection information.

[0083] exist Figure 8 In each of A and B, like Figure 7 As in A and B, as projection information indicating the predicted route of the moving body 1, projection information C31 including a light pattern extending in the traveling direction of the moving body 1 is projected onto the road surface.

[0084] The projection information C31 includes a plurality of line patterns of a certain length that are orthogonal to the traveling direction of the moving body 1 and are arranged along the traveling direction of the moving body 1. Figure 7 Unlike the projection information C21, the intervals between the line patterns of the projection information C31 are equal.

[0085] In addition, Figure 8 In the example of FIG. 1 , the audio output unit 40 not shown, which is provided on the moving body 1 , outputs audio in synchronization with visual changes of the projection information C31 projected onto the road surface.

[0086] Specifically, in Figure 8In A and B, the pitch of the line pattern of the projection information C31 is different, and the beep sound "pi" is output at a rhythm corresponding to each pitch. In addition, the beep sound "pi" may be output in synchronization with the light and dark change or the color tone change of the projection information C31.

[0087] In this manner, audio is output that is synchronized with visual changes in the projection information projected onto the road surface, thereby allowing the source of the projected information to be intuitively identified from the perspective of other entities.

[0088] Through the above-mentioned processing, additional information corresponding to the projection information projected onto the road surface from the mobile body 1 is presented. As a result, even when the amount of information projected onto the road surface increases, it becomes possible to intuitively identify the source of the projected information, and ultimately it becomes possible to achieve more appropriate communication with surrounding traffic participants.

[0089] <3. Example of road surface projection in a situation where there are multiple moving objects>

[0090] Here, an example of road surface projection in a situation where a plurality of moving bodies exist is described.

[0091] Fig. 9 is a diagram illustrating a first example of road surface projection in a situation where a plurality of moving bodies exist.

[0092] exist Fig. 9 In each of A and B of FIG. 1 , three vehicles 1A, 1B, and 1C serving as moving bodies are traveling on a three-lane road. Specifically, vehicle 1A is traveling on the right lane, vehicle 1B is traveling on the middle lane, and vehicle 1C is traveling on the left lane. Vehicles 1A and 1C are in a state of traveling in parallel on their respective lanes, and vehicle 1B is in a state of traveling behind vehicles 1A and 1C.

[0093] exist Fig. 9 In A, vehicle 1A is about to change lanes to the middle lane, and projection information C41 serving as a light pattern indicating lane change is being projected in front of vehicle 1B in the middle lane. In projection information C41, an arrow indicating the direction of lane change is flickered (or flashed) at a predetermined cycle. However, there is a possibility that the driver of vehicle 1B cannot recognize whether projection information C41 is projected from vehicle 1A or vehicle 1C.

[0094] So, as in Fig. 9 As shown in FIG. 1B , the light emitting unit L42 disposed at the rear of the vehicle 1A is caused to flicker (or flash) synchronously with the flickering (or flashing) of the arrow of the projection information C41. Thus, the driver of the vehicle 1B can intuitively recognize that the projection information C41 is projected from the vehicle 1A.

[0095] In this way, in a situation where multiple vehicles are present, the lighting unit provided on the host vehicle is illuminated in a manner that visually correlates with the projection information from the host vehicle, thereby enabling surrounding traffic participants to intuitively identify the source of the projection information.

[0096] Fig.10 and Fig.11 is a diagram illustrating a second example of road surface projection in a situation where a plurality of moving bodies exist.

[0097] First, as in Fig.10 As shown in A, vehicle 1A is about to turn right from a non-priority road to a priority road at an intersection without a traffic light. Projection information C51 is projected from vehicle 1A indicating the driving trajectory of turning right to the priority road. At this time, vehicle 1B traveling on the priority road is approaching the intersection. Projection information C61 is projected from vehicle 1B indicating the driving trajectory of going straight on the priority road. In addition, on the right side of vehicle 1A, there is a pedestrian PE who is about to cross the crosswalk provided on the priority road.

[0098] The vehicle 1A can detect the approach of the vehicle 1B by detecting the projection information C61 projected from the vehicle 1B, and can detect the presence of the pedestrian PE by communicating with the information terminal possessed by the pedestrian PE.

[0099] In this case, as in Fig.10 As shown in FIG. 1B , instead of projection information C51, vehicle 1A projects projection information C52 and projection information C53 of different colors from projection information C51. Projection information C52, which is a light pattern simulating a stop line, is projected in front of vehicle 1A. Projection information C53 is projected onto the road surface directly below vehicle 1A including the surroundings of vehicle 1A. By making projection information C52 and projection information C53 have the same color, it becomes easier to recognize that projection information C52 simulating a stop line is projected from vehicle 1A.

[0100] Furthermore, as additional information presentation, the vehicle 1A also projects projection information C54 as a light pattern simulating a stop line in front of the pedestrian PE. Thus, the pedestrian PE can also be prompted to stop. By making the projection information C54 also have the same color as each of the projection information C52 and the projection information C53, the pedestrian PE can intuitively recognize that the projection information C54 is projected from the vehicle 1A.

[0101] Afterwards, as in Fig.11 As shown in FIG. 3 , when vehicle 1B has passed the intersection, vehicle 1A stops projecting projection information C54 in front of pedestrian PE while continuing to project projection information C52 and projection information C53. Thus, pedestrian PE can safely cross the crosswalk while recognizing that vehicle 1A remains stopped.

[0102] Then, as in Fig.11 As shown in FIG. 4D , when the pedestrian PE has passed the expected travel path of the vehicle 1A, the vehicle 1A again projects the initially projected projection information C51 indicating the travel trajectory of turning right onto the priority road, instead of the projection information C52 and the projection information C53 .

[0103] In this way, in a situation where multiple vehicles exist, the projected information is changed according to the state around the host vehicle, thereby enabling surrounding traffic participants to intuitively recognize the source of the projected information and easily understand the intention of the projected information.

[0104] <4. Specific Example of the Configuration of the Moving Body and Road Surface Projection Processing>

[0105] Next, a specific example of the configuration of the above-described moving body 1 and a flow of a road surface projection process executed by the moving body 1 will be described.

[0106] (Specific example of the configuration of the moving body)

[0107] Fig.12 1 is a block diagram illustrating a specific example of the configuration of the moving object 1 .

[0108] Fig.12 The mobile body 1 includes an imaging unit 111, a distance measuring unit 112, other entity road surface projection detection unit 113, a traffic condition recognition unit 114, map data 115, a driving measurement unit 116, a main vehicle position estimation unit 117, a user setting / operation storage unit 118, a driving plan generation unit 119 and a driving control unit 120.

[0109] The imaging unit 111 includes a visible light camera configured to capture an image of the surroundings of the moving body 1. The imaging unit 111 provides the visible light image acquired by capturing the image of the surroundings of the moving body 1 to the other solid road surface projection detection unit 113 and the traffic condition recognition unit 114.

[0110] The distance measurement unit 112 includes a sensor capable of measuring distance, such as a ToF sensor or LiDAR (Light Detection and Ranging). The distance measurement unit 112 acquires a distance image representing the distance in the depth direction, and supplies the distance image to the traffic condition recognition unit 114 .

[0111] The other entity road surface projection detection unit 113 detects other entity projection information (hereinafter also referred to as "projections of other entities on the road surface", etc.) projected onto the road surface by other entities (other vehicles, pedestrians, smart light poles, etc.) based on the distance image from the distance measurement unit 112. The other entity projection information is provided to the driving plan generation unit 119.

[0112] The traffic condition recognition unit 114 recognizes the traffic condition (attributes, positions, moving directions, and moving speeds of other entities) around the moving body 1 based on the visible light image from the imaging unit 111 and the distance image from the distance measurement unit 112. Traffic condition information indicating the traffic condition around the moving body 1 is provided to the travel plan generation unit 119.

[0113] The map data 115 is map data regarding an area where the moving body 1 travels.

[0114] The travel measurement unit 116 measures travel data associated with the travel of the mobile body 1 (host vehicle), such as travel position, travel speed, acceleration, deceleration, and steering operation, and supplies the travel data to the host vehicle position estimation unit 117 .

[0115] The host vehicle position estimation unit 117 estimates the position of the mobile body 1 (host vehicle) on the map data 115 based on the travel data from the travel measurement unit 116. The host vehicle position information indicating the estimated position of the host vehicle is supplied to the travel plan generation unit 119.

[0116] The user setting / operation storage unit 118 stores setting information and operation information associated with driving of the user (driver). The setting information and operation information include, for example, mode information indicating an autonomous driving mode of the mobile body 1. The setting information and operation information stored in the user setting / operation storage unit 118 are appropriately read out by the driving plan generation unit 119.

[0117] The travel plan generating unit 119 corresponds to Figure 1 The driving plan generating unit 119 generates a driving plan of the mobile body 1 (main vehicle) based on other entity projection information from the other entity road surface projection detecting unit 113 as surrounding information, traffic condition information from the traffic condition identifying unit 114, and main vehicle position information from the main vehicle position estimating unit 117.

[0118] In addition, the driving plan generation unit 119 can use traffic condition information acquired through cooperation and wireless communication with other devices (such as on-board devices mounted on other vehicles, information terminals owned by pedestrians, and ITS (Intelligent Transport System) devices such as smart light poles) to generate a driving plan for the moving body 1. The driving plan generation unit 119 provides driving operation information corresponding to the generated driving plan to the driving control unit 120.

[0119] The driving control unit 120 controls autonomous driving of the vehicle 1 based on the driving operation information from the driving plan generation unit 119 .

[0120] The mobile body 1 further includes a traffic communication control unit 121 , a driving track storage unit 122 and an additional control unit 123 .

[0121] The traffic communication control unit 121 corresponds to Figure 1 The projection control unit 12. The traffic communication control unit 121 acquires the driving plan generated by the driving plan generation unit 119 and the surrounding information used in the generation of the driving plan. The traffic communication control unit 121 generates an expression for communicating with other entities as projection information based on the acquired driving plan. The traffic communication control unit 121 controls the projection unit 20 based on the generated communication expression, so that the projection unit 20 projects the communication expression onto the road surface. In addition, the traffic communication control unit 121 provides the generated communication expression and the traffic condition information contained in the surrounding information from the driving plan generation unit 119 to the additional control unit 123.

[0122] The driving trajectory storage unit 122 sequentially obtains the host vehicle position information indicating the position of the host vehicle estimated by the host vehicle position estimation unit 117 from the host vehicle position estimation unit 117, and stores the host vehicle position information as the driving trajectory information about the mobile body 1 (host vehicle). The driving trajectory stored in the driving trajectory storage unit 122 is read out by the additional control unit 123 as needed.

[0123] The additional control unit 123 corresponds to Figure 1 The additional control unit 123 controls the presentation of additional information corresponding to the communication expression based on the communication expression and traffic condition information from the traffic communication control unit 121. Hereinafter, the information additionally presented corresponding to the communication expression is referred to as "individual identification expression".

[0124] For example, in the case where the future driving trajectory of the mobile body 1 is projected onto the road surface as a communication expression, the additional control unit 123 adds the past and current driving trajectories to the future driving trajectory based on the driving trajectory information read out from the driving trajectory storage unit 122, and feeds back the trajectory thus obtained to the traffic communication control unit 121. Thus, it becomes possible to allow the source of the projected information to be intuitively recognized from the perspective of other entities.

[0125] Furthermore, in the case where a specific light pattern is projected as a communication expression, the additional control unit 123 controls the light emission of the light emitting unit 30, for example, by causing the light emitting unit 30 to emit light of the same color as the projected light pattern, thereby creating a visual correlation with the projected light pattern. Thus, it becomes possible to intuitively identify the source of the projected information from the perspective of other entities.

[0126] In addition, in the case where a light pattern with visual changes is projected as a communication expression, the additional control unit 123 controls the audio output from the audio output unit 40 in synchronization with the visual changes of the projected light pattern. For example, the additional control unit 123 controls the audio output from the audio output unit 40 in synchronization with the flickering or flashing of the projected light pattern, or controls the audio output from the audio output unit 40 in synchronization with the change in the color of the projected light pattern. Thus, it becomes possible to allow the source of the projected information to be intuitively recognized from the perspective of other entities.

[0127] In this way, it is considered that the individual identification expression may have various variations. Therefore, the presentation form of the individual identification expression can be selected according to the equipment or settings of the mobile body 1 acting as a vehicle, the driver's preference, and the setting information or operation information stored in the user setting / operation storage unit 118.

[0128] In addition, since the optimal presentation form of the individual identification expression also differs depending on the traffic conditions around the mobile body 1 (host vehicle), the presentation form of the individual identification expression can be selected according to the traffic conditions around the mobile body 1 (host vehicle). For example, in the case where the driving speed of the mobile body 1 is relatively fast, or in the case where the traffic participants as communication partners are other vehicles, the additional information presentation through audio is not appropriate, so the additional information presentation through light emission is selected.

[0129] Note that the projection communication expression (projection of the host vehicle on the road surface) is fed back to the other entity road surface projection detection unit 113. Thus, the other entity road surface projection detection unit 113 can detect the road surface projection of other entities projected onto the road surface and distinguish it from the projection of the host vehicle on the road surface.

[0130] In addition, although not shown, the projection-adjusted communication expression (the projection of the host vehicle on the road surface) may be fed back to the travel control unit 120. In this case, the travel control unit 120 may modify the travel control of the mobile body 1 (host vehicle) based on the projection of the host vehicle on the road surface.

[0131] (Road surface projection processing of moving objects)

[0132] Next, refer to Fig.13 Flowchart describing Fig.12 The process of road surface projection processing of the mobile body 1. For example, Fig.13 The processing can be performed during the travel of the mobile body 1.

[0133] In step S11 , the other entity road surface projection detection unit 113 detects the projections of other entities on the road surface based on the distance image acquired by the distance measurement unit 112 .

[0134] In step S12 , the traffic condition recognition unit 114 recognizes the traffic condition around the moving body 1 based on the visible light image captured by the imaging unit 111 and the distance image acquired by the distance measurement unit 112 .

[0135] In step S13 , the travel plan generation unit 119 generates a travel plan of the mobile body 1 (host vehicle) based on the projections of other entities serving as surrounding information on the road surface, the surrounding traffic conditions, and the host vehicle position.

[0136] In step S14 , the traffic communication control unit 121 determines whether communication via the road surface projection is necessary based on the travel plan generated by the travel plan generation unit 119 and projections of other entities on the road surface used in generating the travel plan and surrounding traffic conditions.

[0137] In a case where it is determined in step S14 that communication via road surface projection is not necessary, the process proceeds to step S15 , and the travel control unit 120 determines whether to end the travel based on the travel plan generated by the travel plan generation unit 119 .

[0138] If it is determined in step S15 that the travel is not to be ended, the process returns to step S11 and the subsequent processes are repeated.

[0139] On the other hand, in a case where it is determined in step S15 that the traveling is terminated, the moving body 1 terminates the traveling, and the process is terminated.

[0140] Meanwhile, in the case where it is determined in step S14 that communication via road surface projection is necessary, the process proceeds to step S16 .

[0141] In step S16 , the traffic communication control unit 121 generates a required communication expression based on the travel plan generated by the travel plan generation unit 119 .

[0142] In step S17, the addition control unit 123 determines whether the addition of the individual identification expression (information additionally presented corresponding to the communication expression) is determined automatically. Based on the setting information stored in the user setting / operation storage unit 118, it is determined whether the addition of the individual identification expression is determined on the system side.

[0143] In the case where it is determined in step S17 that the determination of the addition of the individual identification expression is automatic, the process proceeds to step S18 .

[0144] In step S18, the additional control unit 123 determines whether there are any traffic participants who can visually perceive the moving body 1 (host vehicle) around based on the traffic condition information. Here, it is also determined whether there is a possibility that there are traffic participants who can visually perceive the moving body 1 (host vehicle) in the blind spot.

[0145] In a case where it is determined in step S18 that there are traffic participants who can visually perceive the moving body 1 (host vehicle) around, or there is a possibility that there are traffic participants who can visually perceive the moving body 1 (host vehicle) in the blind spot, the process proceeds to step S19.

[0146] In step S19, the addition control unit 123 adds the individual identification expression to the communication expression, and the traffic communication control unit 121 performs road surface projection of the communication expression. Thereafter, the process returns to step S11, and the subsequent processes are repeated.

[0147] On the other hand, if it is determined in step S18 that there are no traffic participants around who can visually perceive the moving body 1 (the main vehicle), and there is no possibility that there are traffic participants in the blind spot who can visually perceive the moving body 1 (the main vehicle), the processing proceeds to step S20.

[0148] In step S20, the addition control unit 123 does not add the individual identification expression to the communication expression, and the traffic communication control unit 121 performs road surface projection of the communication expression. Thereafter, the process returns to step S11, and the subsequent processes are repeated.

[0149] Meanwhile, in the case where it is determined in step S17 that the determination of the addition of the individual identifying expression is not automatic, the process proceeds to step S21.

[0150] In step S21 , the addition control unit 123 determines whether it is set to always add the individual identifying expression. Whether to always add the individual identifying expression is also determined based on the setting information stored in the user setting / operation storage unit 118 .

[0151] When it is determined in step S21 that the individual identification expression is always set to be added, in step S19 , the individual identification expression is added to the communication expression, and the road surface projection of the communication expression is performed.

[0152] Furthermore, in a case where it is determined in step S21 that the individual identification expression is not set to be always added, in step S20 , the individual identification expression is not added to the communication expression, and the road surface projection of the communication expression is performed.

[0153] Through the above processing, additional information corresponding to the communication expression projected from the moving body onto the road surface is presented. As a result, even when the amount of information projected onto the road surface increases, it becomes possible to intuitively identify the source of the projected information, and ultimately it becomes possible to achieve more appropriate communication with surrounding traffic participants.

[0154] <5. Example of Computer Configuration>

[0155] The above-described series of processes can be executed by hardware or software. In the case where the series of processes are executed by software, a program constituting the software is installed from a program recording medium to a computer incorporated in dedicated hardware, a general-purpose personal computer, or the like.

[0156] Fig.14 : is a block diagram illustrating a configuration example of hardware of a computer configured to execute the above-described series of processes by a program.

[0157] The information processing device 10 (mobile body 1) is composed of Fig.14 The configuration shown in FIG. 2 is implemented by a computer 200 .

[0158] The CPU 201 , the ROM 202 , and the RAM 203 are connected to one another via a bus 204 .

[0159] The input-output interface 205 is further connected to the bus 204. The input-output interface 205 is connected to an input unit 206 including a keyboard, a mouse, etc. and an output unit 207 including a display, a speaker, etc. In addition, the input-output interface 205 is connected to a storage unit 208 including a hard disk, a nonvolatile memory, etc., a communication unit 209 including a network interface, etc., and a drive 210 configured to drive a removable medium 211.

[0160] In the computer 200 configured as described above, for example, the CPU 201 loads a program stored in the storage unit 208 into the RAM 203 via the input-output interface 205 and the bus 204 and executes the program to perform the above-described series of processing.

[0161] The program to be executed by the CPU 201 is installed on the storage unit 208 by being recorded on the removable medium 211 or provided via a wired or wireless transmission medium such as a local area network, the Internet, or digital broadcasting, for example.

[0162] Note that the program to be executed by the computer 200 may be a program whose processing is performed sequentially in the order described herein or in parallel. Alternatively, the program may be a program whose processing is performed at necessary timing such as when the program is called.

[0163] The term "system" herein means a collection of multiple components (devices, modules (components), etc.), and it is not important whether all components are in the same housing. Therefore, multiple devices housed in separate housings and interconnected via a network, as well as a single device including multiple modules housed in a single housing, are all systems.

[0164] The embodiments of the present technology are not limited to the above-described embodiments, and various modifications may be made without departing from the gist of the present technology.

[0165] Furthermore, the effects described herein are merely exemplary and not restrictive, and other effects may exist.

[0166] The present technology can also adopt the following configurations. (1)

[0168] An information processing device, comprising:

[0169] a projection control unit configured to control output of projection information projected from the moving body onto a road surface on which the moving body is traveling for communication with other entities; and

[0170] An additional control unit configured to control light emission of a light emitting unit provided on the moving body to be presented as additional information corresponding to the projection information. (2)

[0172] The information processing device according to (1), wherein the additional control unit controls the light emission of the light emitting unit to create visual correlation with the projection information projected onto the road surface. (3)

[0174] The information processing device according to (2), wherein

[0175] The projection control unit controls output of a light pattern extending in the traveling direction of the moving body as the projection information, and

[0176] The additional control unit controls the light emission of the light emitting unit to simulate an origin from which the light pattern extends. (4)

[0178] The information processing device according to (2), wherein

[0179] The projection control unit controls the output of a light pattern that flickers or flashes in a predetermined cycle as the projection information, and

[0180] The additional control unit controls the light-emitting unit to turn on and off or blink synchronously with the light pattern. (5)

[0182] The information processing device according to (2), wherein the additional control unit controls the light emission of the light emitting unit to achieve the same color as a light pattern projected onto the road surface as the projection information. (6)

[0184] The information processing device according to any one of (1) to (5), wherein the additional control unit controls light emission of the light emitting unit based on traffic condition information indicating a traffic condition around the moving body. (7)

[0186] An information processing device according to any one of (1) to (6), wherein the additional control unit controls the audio output from the audio output unit provided on the moving body in synchronization with the visual changes of the projection information projected onto the road surface, and presents it as further additional information corresponding to the projection information. (8)

[0188] The information processing device according to (7), wherein the visual change of the projection information includes blinking or flickering of a light pattern. (9)

[0190] The information processing device according to (7), wherein the visual change of the projection information includes a change in the color of the light pattern. (10)

[0192] The information processing device according to any one of (1) to (9), wherein

[0193] The projection control unit controls the output of the future travel trajectory of the moving object as the projection information, and

[0194] The additional control unit adds the current and past travel trajectories of the moving body to the future travel trajectory of the moving body to present as further additional information corresponding to the projection information. (11)

[0196] The information processing device according to any one of (1) to (10), wherein the projection control unit controls output of the projection information based on a travel plan of the mobile body and surrounding information associated with the surroundings of the mobile body. (12)

[0198] The information processing device according to (11), wherein the surrounding information includes projection information projected onto a road surface by the other entity. (13)

[0200] The information processing device according to (11), wherein the surrounding information includes traffic condition information indicating a traffic condition around the moving body. (14)

[0202] The information processing device according to any one of (1) to (13), wherein the other entities include other traffic participants existing around the moving body. (15)

[0204] An information processing method, comprising:

[0205] By the information processing device,

[0206] controlling output of projection information projected from a moving body onto a road surface on which the moving body is traveling for communication with other entities; and

[0207] The light emitting unit provided on the moving object is controlled to emit light, and the light is presented as additional information corresponding to the projection information. (16)

[0209] A road surface projection system, comprising:

[0210] A light emitting unit provided on the moving body;

[0211] a projection control unit configured to control output of projection information projected from the moving body onto a road surface on which the moving body is traveling for communication with other entities; and

[0212] An additional control unit is configured to control the light emission of the light emitting unit to be presented as additional information corresponding to the projection information. (17)

[0214] A program that causes a computer to execute the following processing:

[0215] controlling output of projection information projected from a moving body onto a road surface on which the moving body is traveling for communication with other entities; and

[0216] The light emitting unit provided on the moving object is controlled to emit light, and the light is presented as additional information corresponding to the projection information.

[0217] [reference numerals list]

[0218] 1: Moving body

[0219] 10: Information processing device

[0220] 11: Driving plan generation unit

[0221] 12: Road condition detection unit

[0222] 13: Projection control unit

[0223] 111: Imaging unit

[0224] 112: Distance measurement unit

[0225] 113: Other physical road surface projection detection units

[0226] 114: Traffic status recognition unit

[0227] 115: Map Data

[0228] 116: Driving measurement unit

[0229] 117: Host vehicle position estimation unit

[0230] 118: User setting / operation storage unit

[0231] 119: Driving plan generation unit

[0232] 120: Driving control unit

[0233] 121: Traffic communication control unit

[0234] 122: Driving track storage unit

[0235] 123: Additional control unit

Claims

1. An information processing device, comprising: a projection control unit configured to control output of projection information projected from the moving body onto a road surface on which the moving body is traveling for communication with other entities; as well as An additional control unit configured to control light emission of a light emitting unit provided on the moving body to be presented as additional information corresponding to the projection information. 2 . The information processing device according to claim 1 , wherein the additional control unit controls the light emission of the light emitting unit to create a visual correlation with the projection information projected onto the road surface.

3. The information processing device according to claim 2, wherein The projection control unit controls output of a light pattern extending in the traveling direction of the moving body as the projection information, and The additional control unit controls the light emission of the light emitting unit to simulate an origin from which the light pattern extends.

4. The information processing device according to claim 2, wherein The projection control unit controls the output of a light pattern that flickers or flashes in a predetermined cycle as the projection information, and The additional control unit controls the light-emitting unit to turn on and off or blink synchronously with the light pattern. 5 . The information processing device according to claim 2 , wherein the additional control unit controls the light emission of the light emitting unit to achieve the same color as the light pattern projected onto the road surface as the projection information. 6 . The information processing device according to claim 1 , wherein the additional control unit controls light emission of the light emitting unit based on traffic condition information indicating a traffic condition around the moving body.

7. An information processing device according to claim 1, wherein the additional control unit controls the audio output from the audio output unit provided on the moving body in synchronization with the visual changes of the projection information projected onto the road surface, and presents it as further additional information corresponding to the projection information. The information processing device according to claim 7 , wherein the visual change of the projection information comprises a flickering or blinking of a light pattern. 9 . The information processing apparatus according to claim 7 , wherein the visual change of the projected information comprises a change in the color of the light pattern.

10. The information processing device according to claim 1, wherein The projection control unit controls the output of the future travel trajectory of the moving object as the projection information, and The additional control unit adds the current and past travel trajectories of the moving body to the future travel trajectory of the moving body to present as further additional information corresponding to the projection information. 11 . The information processing device according to claim 1 , wherein the projection control unit controls output of the projection information based on a travel plan of the moving body and surrounding information associated with a surrounding of the moving body. 12 . The information processing device according to claim 11 , wherein the surrounding information includes projection information projected onto a road surface by the other entity. 13 . The information processing device according to claim 11 , wherein the surrounding information includes traffic condition information indicating a traffic condition around the moving body. 14 . The information processing device according to claim 1 , wherein the other entities include other traffic participants existing around the moving body.

15. An information processing method, comprising: By the information processing device, controlling output of projection information projected from a moving body onto a road surface on which the moving body is traveling for communication with other entities; as well as The light emitting unit provided on the moving object is controlled to emit light, and the light is presented as additional information corresponding to the projection information.

16. A road surface projection system, comprising: A light emitting unit provided on the moving body; a projection control unit configured to control output of projection information projected from the moving body onto a road surface on which the moving body is traveling for communication with other entities; as well as An additional control unit is configured to control the light emission of the light emitting unit to be presented as additional information corresponding to the projection information.

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