Auxiliary method and auxiliary device

Abstract

The assistance method according to the present disclosure includes: detecting a movement trajectory of a moving body moving around a host vehicle; acquiring a predicted path of the moving body on the basis of the moving trajectory of the moving body; determining, on the basis of the predicted path of the moving body, a display mode relating to the moving body on the road surface on the predicted path of the moving body; and controlling the irradiation of the laser beam to the road surface on the basis of the display mode pertaining to the moving body.

Description

Technical Field

[0001] The present disclosure relates to an assisting method and an assisting device. Background Art

[0002] Conventionally, there is known a technique for preventing collision accidents between vehicles or between a vehicle and a pedestrian by irradiating a laser beam, for example, in a low-visibility environment such as at night to allow other vehicles to recognize the presence of the vehicle.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Publication No. 2005-157873 Summary of the invention

[0006] In such a technology, there is room for improvement in terms of further improving safety regarding information that is recognized by other vehicles through irradiation with a laser beam.

[0007] One of the objectives of the present disclosure is to improve the safety of traffic in low-visibility environments.

[0008] The assistance method involved in the present disclosure includes: detecting the moving trajectory of a mobile body moving around the vehicle; obtaining a predicted path of the mobile body based on the moving trajectory of the mobile body; determining a display method related to the mobile body on a road surface on the predicted path of the mobile body based on the predicted path of the mobile body; and controlling the irradiation of the laser beam on the road surface based on the display method related to the mobile body. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 This is a diagram schematically showing an example of a vehicle equipped with the assist device according to the embodiment.

[0010] Figure 2 This is a diagram showing an example of the hardware configuration of the support device according to the embodiment.

[0011] Figure 3 This is a diagram showing an example of a functional configuration of an assist device according to an embodiment.

[0012] Figure 4 This is a diagram showing an example of a display form in the auxiliary processing according to the embodiment.

[0013] Figure 5 This is a flowchart showing an example of the flow of the support process executed by the support device according to the embodiment. DETAILED DESCRIPTION

[0014] Hereinafter, embodiments of the support device, vehicle, support method, and program according to the present disclosure will be described with reference to the accompanying drawings.

[0015] In addition, in the description of the present disclosure, the same reference numerals are sometimes used to mark the components that have the same or substantially the same functions as the components that have been described above with respect to the drawings that have appeared, and the description is appropriately omitted. In addition, even in the case of expressing the same or substantially the same parts, the sizes and ratios of each other are sometimes expressed differently depending on the drawings. In addition, for example, from the perspective of ensuring the visibility of the drawings, only the main components are marked with reference numerals in the description of each drawing, and even components that have the same or substantially the same functions as the components that have been described above in the drawings that have appeared are sometimes not marked with reference numerals.

[0016] Figure 1 Schematically shows an example of a vehicle equipped with the assist device 3 according to the embodiment. Figure 1 As shown, the vehicle 1 includes a vehicle body 12 and two pairs of wheels 13 disposed along a predetermined direction on the vehicle body 12. The two pairs of wheels 13 include a pair of front tires 13f and a pair of rear tires 13r.

[0017] Here, the front tire 13f involved in the embodiment is an example of the first wheel. In addition, the rear tire 13r involved in the embodiment is an example of the second wheel. Figure 1 The vehicle 1 is exemplified as having four wheels 13, but the present invention is not limited thereto. The vehicle 1 only needs to have at least one front tire 13f and at least one rear tire 13r. The number of wheels 13 of the vehicle 1 may be two, three, or five or more.

[0018] The vehicle body 12 is supported by wheels 13. The vehicle 1 has a driving machine not shown in the figure, and the vehicle 1 can move by driving at least one wheel (driving wheel) of the wheels 13 of the vehicle 1 using the power of the driving machine. In addition, as the driving machine, any driving machine such as an engine using gasoline, hydrogen, etc. as fuel, a motor using electricity from a battery, or a combination of an engine and a motor can be applied. In this case, the specified direction in which the two pairs of wheels 13 are arranged is the driving direction of the vehicle 1. The vehicle 1 can move forward or backward by switching gears not shown in the figure. In addition, the vehicle 1 can also turn left or right by steering.

[0019] The vehicle body 12 has a front end F which is an end on the front tire 13f side and a rear end R which is an end on the rear tire 13r side. The vehicle body 12 has a substantially rectangular shape in a plan view, and the four corners of the substantially rectangular shape are sometimes referred to as ends.

[0020] A pair of bumpers 14 are provided at the front and rear ends F and R of the vehicle body 12 and near the lower end of the vehicle body 12. A front bumper 14f of the pair of bumpers 14 covers the entire front surface and a portion of the side surface near the lower end of the vehicle body 12. A rear bumper 14r of the pair of bumpers 14 covers the entire rear surface and a portion of the side surface near the lower end of the vehicle body 12.

[0021] A sonar 15 for transmitting and receiving sound waves such as ultrasonic waves is provided at a predetermined end of the vehicle body 12. The sonar 15 includes transmitting and receiving units 15f and 15r. For example, one or more transmitting and receiving units 15f are provided at the front bumper 14f, and one or more transmitting and receiving units 15r are provided at the rear bumper 14r. The number and / or positions of the transmitting and receiving units 15f and 15r are not limited to Figure 1 The example shown can be modified as appropriate. For example, the vehicle 1 may include the transmitter-receiver units 15f and 15r on the left and right sides.

[0022] In this embodiment, the sonar 15 using sound waves such as ultrasonic waves is exemplified, but the present invention is not limited thereto. For example, the vehicle 1 may also include a radar that transmits and receives electromagnetic waves as a substitute or supplement to the sonar 15. In addition, the sonar 15 may also be referred to as a sensor.

[0023] The sonar 15 detects obstacles around the vehicle 1 based on the results of transmitting and receiving sound waves. In addition, the sonar 15 measures the distance between the obstacle around the vehicle 1 and the vehicle 1 based on the results of transmitting and receiving sound waves. Here, the sonar 15 according to the embodiment is an example of a vehicle-mounted sensor.

[0024] The vehicle 1 also has an all-around camera 16 that captures images of the surroundings of the vehicle 1. For example, the vehicle 1 has a front camera 16a that captures images of the front, a rear camera 16b that captures images of the rear, a left side camera 16c that captures images of the left side, and a right side camera (not shown) that captures images of the right side as the all-around cameras 16.

[0025] In the following, when the front camera 16a, the rear camera 16b, the left side camera 16c, and the right side camera are not particularly distinguished, they are simply described as the all-around camera 16. In addition, the position and / or number of the all-around camera 16 are not limited to Figure 1 The examples shown can be modified as appropriate. For example, the vehicle 1 may include only two cameras, the front camera 16a and the rear camera 16b. Alternatively, the vehicle 1 may include other cameras in addition to the above examples.

[0026] The all-around camera 16 can capture images around the vehicle 1, and is, for example, a camera that captures color images. In addition, the images captured by the all-around camera 16 may be moving images or still images. In addition, the all-around camera 16 may be a camera built into the vehicle 1, or may be a camera of a driving recorder installed later on the vehicle 1. Here, the all-around camera 16 involved in the embodiment is an example of a vehicle-mounted sensor.

[0027] At least one irradiation device 17 is provided at a predetermined end portion of the vehicle body 12 . Figure 1 The case where the irradiation device 17 is provided at the front end F of the vehicle 1 is illustrated. In addition, the irradiation device 17 may be provided at a position of the front window inside the vehicle compartment of the vehicle 1, such as a position near the interior rearview mirror. In addition, the irradiation device 17 may be provided at the side of the vehicle 1, such as a side rearview mirror, or at the rear end R.

[0028] The irradiation device 17 has a light-emitting body such as an LED (Light Emitting Diode) and an optical system that converges, amplifies or deflects light from the light-emitting body. The irradiation device 17 switches the light emission by the light-emitting body on / off according to the control of the auxiliary device 3. In addition, the irradiation device 17 operates the optical system according to the control of the auxiliary device 3 so that the light from the light-emitting body becomes a specified irradiation shape at a specified position on the road surface in front of the vehicle 1 in the direction of travel. In other words, the irradiation device 17 is configured to be able to irradiate a laser beam in the visible light region onto the road surface. As an example, the irradiation device 17 irradiates a laser beam that can be visually confirmed onto the road surface in the direction of travel of the vehicle in a manner that becomes an irradiation shape corresponding to the display method determined by the auxiliary device 3.

[0029] In addition, the light emitter of the irradiation device 17 is not limited to LED, and may be other light sources. For example, the light emitter may be a solid laser such as a semiconductor laser, a gas laser such as a He-Ne laser, or a liquid laser. In addition, the light emitter may be a HID (High-Intensity Discharge) lamp, a halogen lamp, or a lamp shared with the headlight of the vehicle 1. Alternatively, the irradiation device 17 may be formed integrally with the headlight of the vehicle 1.

[0030] Furthermore, the irradiation device 17 may be configured to be able to change the color and illuminance of the laser beam irradiated onto the road surface. The color and illuminance may be changed by changing the output of the light emitter or by using a filter of the optical system.

[0031] In addition, the irradiation device 17 may be a projector that projects an image or the like onto the road surface in the direction in which the vehicle is traveling. In addition, the irradiation device 17 may be configured to cooperate with other irradiation devices such as headlights of the vehicle 1. For example, the auxiliary device 3 may also be controlled to reduce the light intensity of the headlights when the laser beam is irradiated onto the road surface in a desired display manner by the irradiation device 17.

[0032] In addition, if Figure 1 As shown in the example, the vehicle 1 is equipped with an auxiliary device 3. The auxiliary device 3 is an information processing device that can be installed in the vehicle 1, and is realized by, for example, an ECU (Electronic Control Unit) or an OBU (On Board Unit) installed inside the vehicle 1. Alternatively, the auxiliary device 3 may be an external computer installed near the instrument panel of the vehicle 1. In addition, the auxiliary device 3 may also be used as a vehicle navigation device, etc.

[0033] Figure 2 1 is a diagram showing an example of the hardware configuration of the assisting device 3 according to the embodiment. Figure 2 As shown, the auxiliary device 3 includes a CPU (Central Processing Unit) 31, a ROM (Read Only Memory) 32, a RAM (Random Access Memory) 33, a HDD (Hard Disk Drive) 34, and an I / F (Interface) 35. The CPU 31, ROM 32, RAM 33, HDD 34, and I / F (Interface) 35 are connected to each other via a bus 39 or the like, and utilize the hardware structure of a general computer.

[0034] In addition, if Figure 2 As shown, the vehicle 1 further includes an HMI 21. The sonar 15, the all-around camera 16, the illumination device 17, and the HMI 21 are connected to the support device 3 via an I / F 35, for example.

[0035] The HMI 21 is an interface for outputting notifications such as auxiliary information to the driver of the vehicle 1. The HMI 21 is, for example, provided around the driver's seat of the vehicle 1. In addition, the HMI 21 may be provided in a portion other than around the driver's seat, such as a rear seat, as long as it can output a predetermined notification in a manner recognizable to the driver of the vehicle 1.

[0036] In addition, the HMI 21 may be a head mounted display (HMD) worn on the driver's head. In addition, the HMI 21 may be a projection type display device such as a head up display (HUD) that projects an image (virtual image) in front of the driver, such as a front windshield 180 or a display area provided on a dashboard (center console) 190. In addition, the HMI 21 is not limited to a device that displays an image, but may also include other notification devices such as a speaker that outputs notification sounds, warning sounds, and sounds, a klaxon (speaker), etc.

[0037] The CPU 31 is a computing device that controls the entire support device 3. The CPU 31 loads programs stored in the ROM 32 and the HDD 34 into the RAM 33 and executes the programs, thereby realizing each process described below.

[0038] In addition, the CPU 31 involved in the embodiment is an example of a processor in the auxiliary device 3. As this processor, other processors may be provided as a supplement or replacement for the CPU 31. As other processors, various processors such as GPU (Graphics Processing Unit), ASIC (Application Specific Integrated Circuit), FPGA (Field Programmable Gate Array) can be appropriately used.

[0039] The ROM 32 stores programs, parameters, and the like for realizing various processes performed by the CPU 31 .

[0040] The RAM 33 is, for example, a main storage device of the auxiliary device 3 , and temporarily stores data necessary for various processes performed by the CPU 31 .

[0041] The HDD 34 stores various data, programs, etc. used in the auxiliary device 3. As an example, the HDD 34 stores the past motion of the mobile object as the monitoring object detected by the ADAS (Advanced Driving Assistant System) such as the sonar 15 and the all-around camera 16, the calculated predicted path of the monitoring object, the determined irradiation content, etc. In addition, various storage media and storage devices such as SSD (Solid State Drive) and flash memory can be appropriately used as a supplement or substitute for the HDD 34.

[0042] The I / F 35 is an interface for sending and receiving data. The I / F 35 receives data from other devices installed in the vehicle 1, such as the sonar 15, the all-around camera 16 and other vehicle-mounted sensors. In addition, the I / F 35 sends data to other devices installed in the vehicle 1, such as the illumination device 17 and the HMI 21.

[0043] In addition, the I / F 35 may also obtain signals from an acceleration sensor (not shown) that detects the amount of operation of the accelerator pedal by the driver, and a brake sensor (not shown) that detects the amount of operation of the brake pedal by the driver, or operation amounts based on these signals.

[0044] In addition, the I / F 35 can send and receive information with other ECUs mounted on the vehicle 1 via the CAN in the vehicle 1, and can also communicate with an information processing device outside the vehicle 1 via a network such as the Internet. As an example, the I / F 35 obtains vehicle information related to the state of the vehicle 1, such as vehicle speed pulses, various speeds of yaw rate, acceleration, position information, and shift information, from other ECUs or various on-board sensors of the vehicle 1 via the CAN.

[0045] also, Figure 2 The sonar 15, the all-around camera 16, the illumination device 17, and the HMI 21 are not included in the auxiliary device 3, but the present invention is not limited thereto. Some or all of them may be included in the auxiliary device 3. In addition, the illumination device 17 may be configured as a part of the HMI 21.

[0046] Figure 3 1 is a diagram showing an example of the functional structure of the auxiliary device involved in the embodiment. The auxiliary device 3 executes the program loaded into the RAM 33 by the CPU 31, such as Figure 3 As shown, the functions of the detection unit 301, the path prediction unit 302, the determination unit 303, the irradiation content determination unit 304 and the irradiation control unit 305 are realized.

[0047] The detection unit 301 monitors the movement of a moving object moving around the vehicle to detect a movement trajectory. For example, the detection unit 301 obtains data from a vehicle-mounted sensor of an ADAS such as a sonar 15 and an all-around camera 16 provided in the vehicle 1 via the I / F 35. In addition, the detection unit 301 detects the past movement of the monitored object based on the obtained data.

[0048] Here, the monitoring object refers to, for example, a moving object moving around the vehicle, but may also include the vehicle itself. The movement trajectory of the vehicle can be obtained based on the output of other vehicle-mounted sensors such as GPS (Global Positioning System) sensors, GNSS (Global Navigation Satellite System) sensors, wheel speed sensors, inertial sensors, and acceleration sensors.

[0049] In addition, the moving body refers to at least one of vehicles other than the vehicle and pedestrians. More specifically, the moving body refers to at least one of pedestrians and other people, and means of transportation such as bicycles and cars that transport people or things. The means of transportation include various vehicles such as bicycles, motorized two-wheeled vehicles, cars, scooters, and elderly vehicles that can move on a moving path set on the ground. In addition, the means of transportation can be driven by manpower or by the power of a prime mover or a motor. In addition, the means of transportation can also be configured to be autonomously driven.

[0050] The path prediction unit 302 acquires a predicted path of the moving object based on the movement trajectory of the moving object detected by the detection unit 301. In other words, the path prediction unit 302 predicts the future movement of the moving object based on the past movement of the moving object detected by the detection unit 301.

[0051] The determination unit 303 determines the risk of collision between at least two moving objects moving around the host vehicle based on the predicted paths of the at least two moving objects.

[0052] The illumination content determination unit 304 determines a display method related to the moving object on the road surface on the predicted path of the moving object based on the predicted path of the moving object moving around the host vehicle.

[0053] As an example, the display method related to the moving object includes a display showing a predicted path of the moving object.

[0054] As an example, the display method related to the moving body includes a display showing the category of the moving body. In addition, the category of the moving body shows whether the moving body is a vehicle other than the own vehicle or a pedestrian, that is, which type of various moving bodies it is. For example, the category of the moving body includes at least one of "car", "motorized two-wheeled vehicle", "bicycle" and "pedestrian", indicating whether the moving body is a "car", "motorized two-wheeled vehicle", "bicycle" and "pedestrian". In addition, the category of the moving body may also show whether it is a "passenger car" or a "truck" among cars.

[0055] As an example, the display method related to the moving objects includes displaying a stop line for at least one of at least two moving objects that have a risk of collision when there is a risk of collision between the moving objects.

[0056] The irradiation control unit 305 controls irradiation of the laser beam onto the road surface in front of the own vehicle or a moving body moving around the own vehicle based on the display mode related to the moving body.

[0057] Figure 4 This is a diagram showing an example of a display form in the auxiliary processing according to the embodiment. Figure 4 As an example of the vehicle 1 equipped with the assist device 3 according to the embodiment, a moving body 501 and moving bodies 503, 505, and 507 moving around the moving body 501 are illustrated. Figure 4 , the triangles added to the moving objects 501 , 503 , 505 , and 507 indicate the moving directions of the moving objects 501 , 503 , 505 , and 507 .

[0058] exist Figure 4 In the illustrated scene, a moving object 501 is, for example, a car that wants to go straight through an intersection 401. Although the traffic light is green, the road ahead is blocked by moving objects such as a moving object 503, so the moving object 501 does not enter the intersection 401 but stops.

[0059] exist Figure 4 In the illustrated scene, the moving object 503 is, for example, a car that has passed the intersection 401 in a straight line before the moving object 501. The moving object 503 is in a state where it has not completely passed the intersection 401 due to congestion ahead of it or the like.

[0060] exist Figure 4 In the illustrated scene, the moving body 505 is, for example, a car that is traveling in the opposite direction to the moving body 501 and intends to turn right at the intersection 401, i.e., an opposite right-turning car of the moving body 501. More specifically, the moving body 505 enters the intersection 401 and intends to turn right and passes between the moving bodies 501 and 503.

[0061] exist Figure 4 In the illustrated scene, the moving object 507 is, for example, a two-wheeled motor vehicle that is trying to pass by the left side of the moving object 501 and go straight through the intersection 401 .

[0062] As an example, the illumination content determination unit 304 determines a display method related to the mobile object 507 on the road surface on the predicted path 403 of the mobile object 507 moving around the vehicle based on the predicted path 403 of the mobile object 507. Here, the display 601 including an arrow mark indicating the predicted path 403 of the mobile object 507 and an icon indicating the category of the mobile object 507 is an example of a display method related to the mobile object 507. As an example, the icon indicating the category of the mobile object 507 is as follows: Figure 4 The illustrated icon is an icon representing a "motor two-wheeled vehicle".

[0063] As an example, the illumination content determination unit 304 determines the display method related to the mobile object 505 on the road surface on the predicted path of the mobile object 505 based on the predicted path of the mobile object 505 moving around the vehicle. Here, the display 603 including the arrow mark indicating the predicted path of the mobile object 505 and the icon indicating the category of the mobile object 505 is an example of the display method related to the mobile object 505. As an example, the icon indicating the category of the mobile object 505 is as follows: Figure 4 The illustrated icon is an icon representing "automobile (passenger car, four-wheel vehicle)".

[0064] In addition, the display 601, 603, that is, the irradiation of the predicted path and the category to the road surface can also be implemented when it is determined that the situation is dangerous. In other words, the irradiation content determination unit 304 can also determine the display method including the predicted path and the category when the situation is dangerous. Alternatively, the irradiation control unit 305 can also start the irradiation control of the laser beam to the road surface for realizing the display method including the predicted path and the category when the situation is dangerous.

[0065] Here, the dangerous situation refers to a situation where it is determined that there is a risk of collision between at least two of the plurality of moving objects 501, 503, 505, and 507. As an example, when the predicted paths intersect, the determination unit 303 determines that there is a risk of collision between the moving objects whose predicted paths intersect.

[0066] For example, when it is determined that the situation is dangerous, the irradiation content determination unit 304 determines a display method related to the moving object 507 , including a display 605 showing a stop line for the moving object 507 on the road surface on the predicted path of the moving object 507 .

[0067] For example, when it is determined that the situation is dangerous, the irradiation content determination unit 304 determines a display method related to the moving object 505 , including a display 607 showing a stop line for the moving object 505 on the road surface on the predicted path of the moving object 505 .

[0068] In addition, the display 605, 607, that is, the illumination of the stop line on the road surface may not be performed depending on whether it is determined to be in a dangerous situation. In other words, the display 605, 607 may be displayed on the road surface together with the display 601, 603, respectively. In this case, the determination unit 303 may not determine whether it is in a dangerous situation. Alternatively, the determination unit 303 may not be provided in the auxiliary device 3.

[0069] Next, the flow of the assist process executed by the assist device 3 configured as described above will be described. Figure 5 This is a flowchart showing an example of the flow of the support process executed by the support device 3 according to the embodiment.

[0070] The detection unit 301 monitors the movement of other moving objects (S101). In addition, the path prediction unit 302 predicts the path of other moving objects (S102).

[0071] The irradiation content determination unit 304 determines an irradiation method for displaying the predicted path on the road surface. In addition, the irradiation control unit 305 causes the irradiation device 17 to irradiate the road surface with a laser beam, thereby irradiating the predicted path of another moving object on the road surface in the determined irradiation method (S103).

[0072] The determination unit 303 determines whether the traffic around the vehicle 1 is in a dangerous situation (S104). If it is not determined to be in a dangerous situation (S104: No), Figure 5 The process ends.

[0073] On the other hand, when it is determined that the situation is dangerous (S104: Yes), the irradiation content determination unit 304 determines the display method of the stop line on the road surface. In addition, the irradiation control unit 305 irradiates the stop line for other moving bodies on the road surface in the determined irradiation method by causing the irradiation device 17 to irradiate the laser beam to the road surface (S105). Figure 5 The process ends.

[0074] In addition, the auxiliary device 3 is not limited to irradiating the road surface with a laser beam in a display mode related to a moving body moving around the vehicle, but may irradiate the road surface with a laser beam in a display mode related to the vehicle. That is, the detection unit 301 may also obtain the predicted path of the vehicle based on the moving trajectory of the vehicle. In addition, the irradiation content determination unit 304 is not limited to determining the display mode related to a moving body other than the vehicle, but may determine the display mode related to the vehicle on the road surface on the predicted path of the vehicle based on the predicted path of the vehicle. In addition, the irradiation control unit 305 may also control the irradiation of the road surface with the laser beam based on the display mode related to the vehicle.

[0075] In addition, the detection unit 301 can also obtain vehicle information such as the position, speed, moving direction, and type of the moving object moving around the vehicle through V2X communication such as vehicle-to-vehicle communication and road-to-vehicle communication.

[0076] In addition, the irradiation control unit 305 can also irradiate the road surface with a laser beam not limited to the irradiation device 17 of the vehicle itself, but also through an irradiation device 17 mounted on a mobile body moving around the vehicle itself or an irradiation device 17 installed on the road by sending a control signal, for example, through V2X communication.

[0077] Furthermore, the assist device 3 may also perform control to sound a klaxon (horn) instead of or in addition to illuminating the stop line on the road surface.

[0078] In this way, the assistance device 3 according to the embodiment predicts the future path of other vehicles based on the past movements of other vehicles, and irradiates the road surface with a laser beam in a display mode based on the predicted path to notify the existence of other vehicles. In addition, when the assistance device 3 according to the embodiment determines that there is a danger between other vehicles or other vehicles and pedestrians, etc. not limited to the vehicle itself, it notifies the danger by irradiating a stop line or the like to other vehicles.

[0079] According to this structure, the driver of the host vehicle and other vehicles can be informed of the existence of a motorcycle or the like that has passed by the side of the host vehicle. Therefore, even in an environment with blind spots or low visibility such as at night or in a congested area, accidents that are the fault of the other party can be suppressed, thereby improving not only the safety of the host vehicle but also the safety of other vehicles.

[0080] In the above-mentioned embodiments, “determine whether it is A” may be “determine whether it is A”, “determine whether it is not A”, or “determine whether it is A”.

[0081] The program executed by the support device 3 of each of the above-mentioned embodiments is provided as an installable or executable file recorded on a computer-readable recording medium such as CD-ROM, FD, CD-R, DVD, etc.

[0082] In addition, the program executed by the auxiliary device 3 of each embodiment described above may be stored on a computer connected to a network such as the Internet, and the program may be provided by downloading the program via the network. In addition, the program executed by the auxiliary device 3 may be provided or distributed via a network such as the Internet.

[0083] In addition, a configuration may be adopted in which the program executed by the support device 3 according to each of the above-described embodiments is stored in a ROM or the like in advance and provided.

[0084] In addition, the program executed by the auxiliary device 3 of each of the above-mentioned embodiments is a module structure including the above-mentioned functional units (detection unit 301, path prediction unit 302, judgment unit 303, irradiation content determination unit 304 and irradiation control unit 305). As for actual hardware, the above-mentioned functional units are loaded onto RAM 33 by CPU 31 reading and executing the program from ROM 32 or HDD 34, and the above-mentioned functional units are generated on RAM 33.

[0085] According to at least one of the embodiments described above, it is possible to improve traffic safety in an environment with low visibility.

[0086] Several embodiments of the present invention have been described, but these embodiments are presented as examples and are not intended to limit the scope of the invention. These embodiments can be implemented in various other ways, and various omissions, substitutions, and changes can be made without departing from the scope of the invention. These embodiments and their variations are included in the scope and purpose of the invention, and are also included in the invention described in the claims and their equivalents.

[0087] (Note)

[0088] Based on the description of the above embodiments, the following technology is disclosed.

[0089] (1) An auxiliary method comprising:

[0090] Detecting a moving trajectory of a moving object moving around the vehicle;

[0091] Acquiring a predicted path of the moving object based on the moving trajectory of the moving object;

[0092] determining a display method related to the moving body on a road surface on the predicted path of the moving body based on the predicted path of the moving body; and

[0093] Irradiation of the road surface with a laser beam is controlled based on a display mode associated with the moving object.

[0094] (2) The auxiliary method according to (1) above, further comprising:

[0095] determining a collision risk between at least two moving objects moving around the host vehicle based on respective predicted paths of the at least two moving objects; and

[0096] When the risk of collision exists, the irradiation of the road surface with the laser beam is started to be controlled.

[0097] (3) The assisting method according to (1) or (2), wherein:

[0098] The display method related to the moving object includes displaying a predicted path of the moving object.

[0099] (4) The assisting method according to any one of (1) to (3) above, wherein:

[0100] The display method related to the moving object includes displaying the category of the moving object.

[0101] (5) The assisting method according to (4) above, wherein:

[0102] The type of the moving object includes at least any one of a car, a motorcycle, a bicycle, and a pedestrian.

[0103] (6) The assisting method according to any one of (1) to (5) above, wherein:

[0104] The moving object is at least one of a vehicle other than the host vehicle and a pedestrian.

[0105] (7) The assisting method according to any one of (1) to (6) above, wherein:

[0106] determining a collision risk between at least two moving objects moving around the host vehicle based on respective predicted paths of the at least two moving objects; and

[0107] When there is the risk of collision, a display method related to the moving object including display of a stop line for the moving object is determined.

[0108] (8) An auxiliary device comprising:

[0109] a detection unit that detects a movement trajectory of a moving object moving around the host vehicle;

[0110] a path prediction unit, which acquires a predicted path of the moving object based on the moving trajectory of the moving object;

[0111] an illumination content determination unit that determines a display mode related to the moving body on a road surface on the predicted path of the moving body based on the predicted path of the moving body; and

[0112] An irradiation control unit controls irradiation of the road surface with a laser beam based on a display mode related to the moving object.

[0113] (9) The assisting device according to (8) above, wherein:

[0114] The vehicle further comprises a determination unit configured to determine the risk of collision between the at least two moving objects moving around the vehicle based on the predicted paths of the at least two moving objects,

[0115] When there is the risk of collision, the irradiation control unit starts controlling irradiation of the road surface with a laser beam.

[0116] (10) The assisting device according to (8) or (9), wherein:

[0117] The irradiation content determination unit determines a display method related to the moving object including display of a predicted path of the moving object.

[0118] (11) The assisting device according to any one of (8) to (10), wherein:

[0119] The illumination content determination unit determines a display method related to the moving object including display of a type of the moving object.

[0120] (12) The assisting device according to (11) above, wherein:

[0121] The type of the moving object includes at least any one of a car, a motorcycle, a bicycle, and a pedestrian.

[0122] (13) The assisting device according to any one of (8) to (12), wherein:

[0123] The moving object is at least one of a vehicle other than the host vehicle and a pedestrian.

[0124] (14) The assisting device according to any one of (8) to (13), wherein:

[0125] The vehicle further comprises a determination unit configured to determine the risk of collision between the at least two moving objects moving around the vehicle based on the predicted paths of the at least two moving objects,

[0126] When there is the risk of collision, the illumination content determination unit determines a display mode related to the moving object including display of a stop line for the moving object.

[0127] (15) The assisting device according to any one of (8) to (14), wherein:

[0128] An irradiation device is further provided, and the irradiation device is configured to be able to irradiate a laser beam onto a road surface on the predicted path of the moving body.

[0129] (16) A vehicle comprising:

[0130] An auxiliary device according to any one of (8) to (14) above;

[0131] a vehicle-mounted sensor that detects the moving object; and

[0132] The irradiation device is configured to irradiate a laser beam onto a road surface on the predicted path of the moving body.

[0133] (17) A program for causing a computer to execute the support method described in any one of (1) to (7) above.

[0134] (18) A recording medium (computer program product) recording the program according to (17) above, wherein the program is executed by a computer.

[0135] Description of Reference Numerals

[0136] 1: vehicle; 12: vehicle body; 13: wheel; 14: bumper; 15: sonar (vehicle-mounted sensor); 16: all-around camera (vehicle-mounted sensor); 17: irradiation device; 21: HMI; 3: auxiliary device; 31: CPU; 32: ROM; 33: RAM; 34: HDD; 35: I / F; 39: bus; 301: detection unit; 302: path prediction unit; 303: determination unit; 304: irradiation content determination unit; 305: irradiation control unit.

Claims

1. An auxiliary method, comprising: Detecting a moving trajectory of a moving object moving around the vehicle; Acquiring a predicted path of the moving object based on the moving trajectory of the moving object; determining a display method related to the moving body on a road surface on the predicted path of the moving body based on the predicted path of the moving body; as well as Irradiation of the road surface with a laser beam is controlled based on a display mode associated with the moving object.

2. The assisting method according to claim 1, wherein: Also includes: determining a collision risk between the at least two moving objects moving around the host vehicle based on respective predicted paths of the at least two moving objects; as well as When the risk of collision exists, the irradiation of the road surface with the laser beam is started to be controlled.

3. The assisting method according to claim 1, wherein: The display method related to the moving object includes displaying a predicted path of the moving object.

4. The assisting method according to claim 1, wherein: The display method related to the moving object includes displaying the category of the moving object.

5. The assisting method according to claim 4, wherein: The type of the moving object includes at least any one of a car, a motorcycle, a bicycle, and a pedestrian.

6. The assisting method according to claim 1, wherein: The moving object is at least one of a vehicle other than the host vehicle and a pedestrian.

7. The assisting method according to any one of claims 1 to 6, wherein: determining a collision risk between the at least two moving objects moving around the host vehicle based on respective predicted paths of the at least two moving objects; as well as When there is the risk of collision, a display mode related to the moving object including display of a stop line for the moving object is determined.

8. An auxiliary device comprising: a detection unit that detects a movement trajectory of a moving object moving around the host vehicle; a path prediction unit, which acquires a predicted path of the moving object based on the moving trajectory of the moving object; an illumination content determination unit that determines a display mode related to the moving body on a road surface on the predicted path of the moving body based on the predicted path of the moving body; and An irradiation control unit controls irradiation of the road surface with a laser beam based on a display mode related to the moving object.

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