Support method and support device

Abstract

To improve safety in traffic under an environment with low visibility.SOLUTION: A support method comprises: detecting a movement locus of a movable body moving around an own vehicle; acquiring a prediction path of the movable body on the basis of the movement locus of the movable body; determining a display mode relating the movable body in a road surface on the prediction path of the movable body on the basis of the prediction path of the movable body; and controlling irradiation of laser beam to the road surface on the basis of the display mode relating the movable body.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present disclosure relates to an assistance method and an assistance device. [Background technology]

[0002] Conventionally, in environments with low visibility, such as at night, there has been known a technique for preventing collisions between vehicles or between a vehicle and a pedestrian, in which a vehicle makes other vehicles aware of the presence of the vehicle by emitting, for example, a laser beam. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2005-157873 A Summary of the Invention [Problem to be solved by the invention]

[0004] Under these circumstances, there was room for improvement in the information provided to other vehicles by emitting laser light, from the perspective of further improving safety.

[0005] The problem that the present disclosure seeks to solve is to improve traffic safety in low visibility environments. [Means for solving the problem]

[0006] The assistance method of the present disclosure includes detecting a movement trajectory of a moving body moving around a vehicle, obtaining a predicted route of the moving body based on the movement trajectory of the moving body, determining a display mode of the moving body on a road surface on the predicted route of the moving body based on the predicted route of the moving body, and controlling irradiation of laser light onto the road surface based on the display mode of the moving body. Effect of the Invention

[0007] According to the present disclosure, it is possible to improve traffic safety in low visibility environments. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a diagram illustrating an example of a vehicle equipped with an assistance device according to an embodiment. [Diagram 2] FIG. 2 is a diagram illustrating an example of a hardware configuration of the support device according to the embodiment. [Diagram 3] FIG. 3 is a diagram illustrating an example of a functional configuration of the support device according to the embodiment. [Figure 4] FIG. 4 is a diagram showing an example of a display mode in the support process according to the embodiment. [Diagram 5] FIG. 5 is a flowchart showing an example of the flow of a support process executed by the support device according to the embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, embodiments of an assistance device, a vehicle, an assistance method, and a program according to the present disclosure will be described with reference to the drawings.

[0010] In the description of the present disclosure, components having the same or substantially the same functions as those described above with respect to the previously-mentioned drawings may be given the same reference numerals, and the description may be omitted as appropriate. In addition, even when the same or substantially the same parts are shown, the dimensions and ratios of the components may be different depending on the drawing. In addition, for example, from the viewpoint of ensuring the visibility of the drawings, reference numerals may be given only to the main components in the description of each drawing, and reference numerals may not be given to components having the same or substantially the same functions as those described above with respect to the previously-mentioned drawings.

[0011] Fig. 1 is a diagram illustrating an example of a vehicle equipped with a support device 3 according to an embodiment. As shown in Fig. 1, the vehicle 1 has a vehicle body 12 and two pairs of wheels 13 arranged 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.

[0012] Here, the front tire 13f according to the embodiment is an example of a first wheel. Also, the rear tire 13r according to the embodiment is an example of a second wheel. Note that, although FIG. 1 illustrates a vehicle 1 having four wheels 13, the present invention is not limited to this. The vehicle 1 may 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, five or more.

[0013] The vehicle body 12 is supported by wheels 13. The vehicle 1 has a driving machine (not shown) and can move by driving at least one wheel (driving wheel) of the wheels 13 of the vehicle 1 with the power of the driving machine. Any driving machine can be used as the driving machine, such as an engine fueled by gasoline or hydrogen, a motor using power from a battery, or a combination of an engine and a motor. In this case, the predetermined direction in which the two pairs of wheels 13 are arranged is the traveling direction of the vehicle 1. The vehicle 1 can move forward or backward by switching gears (not shown) or the like. The vehicle 1 can also turn right or left by steering.

[0014] The vehicle body 12 has a front end portion F which is an end portion on the front tire 13f side, and a rear end portion R which is an end portion on the rear tire 13r side. The vehicle body 12 has a substantially rectangular shape when viewed from above, and the four corners of the substantially rectangular shape are sometimes referred to as ends.

[0015] A pair of bumpers 14 are provided at the front and rear ends F, R of the vehicle body 12 near the lower end of the vehicle body 12. Of the pair of bumpers 14, a front bumper 14f covers the entire front surface and part of the side surface near the lower end of the vehicle body 12. Of the pair of bumpers 14, a rear bumper 14r covers the entire rear surface and part of the side surface near the lower end of the vehicle body 12.

[0016] A sonar 15 that transmits and receives sound waves such as ultrasonic waves is provided at a predetermined end of the vehicle body 12. The sonar 15 includes wave transmitting and receiving units 15f, 15r. For example, one or more wave transmitting and receiving units 15f are arranged on the front bumper 14f, and one or more wave transmitting and receiving units 15r are arranged on the rear bumper 14r. The number and / or positions of the wave transmitting and receiving units 15f, 15r are not limited to the example shown in FIG. 1 and can be changed as appropriate. For example, the vehicle 1 may be provided with the wave transmitting and receiving units 15f, 15r on the left and right sides.

[0017] In the present embodiment, the sonar 15 uses sound waves such as ultrasonic waves, but is not limited thereto. For example, the vehicle 1 may have a radar that transmits and receives electromagnetic waves instead of or in addition to the sonar 15. The sonar 15 may be simply referred to as a sensor.

[0018] The sonar 15 detects obstacles around the vehicle 1 based on the results of transmitting and receiving sound waves. Also, the sonar 15 measures the distance between the vehicle 1 and obstacles around 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 an in-vehicle sensor.

[0019] The vehicle 1 also has an all-around camera 16 that captures images of the surroundings of the vehicle 1. As an example, the vehicle 1 has, as the all-around camera 16, a front camera 16a that captures images in front, a rear camera 16b that captures images in the rear, a left side camera 16c that captures images on the left side, and a right side camera (not shown) that captures images on the right side.

[0020] Hereinafter, when there is no particular distinction between the front camera 16a, the rear camera 16b, the left side camera 16c, and the right side camera, they will be simply referred to as the all-around camera 16. The positions and / or the number of the all-around cameras 16 are not limited to the example shown in FIG. 1 and can be changed as appropriate. For example, the vehicle 1 may have only two cameras, the front camera 16a and the rear camera 16b. Alternatively, the vehicle 1 may have other cameras in addition to the above-mentioned examples.

[0021] The all-around camera 16 is capable of capturing images of the surroundings of the vehicle 1, and is, for example, a camera that captures color images. The captured images captured by the all-around camera 16 may be video or still images. The all-around camera 16 may be a camera built into the vehicle 1, or may be a camera of a drive recorder that is retrofitted to the vehicle 1. Here, the all-around camera 16 according to the embodiment is an example of an in-vehicle sensor.

[0022] At least one illumination device 17 is provided at a predetermined end of the vehicle body 12. FIG. 1 illustrates a case where the illumination device 17 is provided at the front end F of the vehicle 1. The illumination device 17 may be provided on the interior side of the front window of the vehicle 1, such as a position near the rearview mirror. The illumination device 17 may also be provided on the side of the vehicle 1, such as a side mirror, or may be provided at the rear end R.

[0023] The irradiation device 17 has a light-emitting body such as an LED (Light Emitting Diode) and an optical system that converges, expands, or deflects the light from the light-emitting body. The irradiation device 17 switches on / off the light emitted by the light-emitting body according to the control of the support device 3. The irradiation device 17 also operates the optical system according to the control of the support device 3 so that the light from the light-emitting body has a predetermined irradiation shape at a predetermined position on the road surface ahead in the traveling direction of the vehicle 1. In other words, the irradiation device 17 is configured to be able to irradiate the road surface with a laser light in the visible light region. As an example, the irradiation device 17 irradiates the road surface in the traveling direction of the vehicle with a visible laser light so that the irradiation shape corresponds to the display mode determined by the support device 3.

[0024] The light emitter of the irradiation device 17 is not limited to an LED, and may be another light source. For example, the light emitter may be a solid-state laser such as a semiconductor laser, a gas laser such as a He-Ne laser, or a liquid laser. The light emitter may be a High-Intensity Discharge (HID) lamp or a halogen lamp, or may be a lamp shared with the front light of the vehicle 1. Alternatively, the irradiation device 17 may be configured integrally with the front light of the vehicle 1.

[0025] The irradiation device 17 may be configured to be able to change the color and illuminance of the laser light irradiated onto the road surface. The color and illuminance may be changed by changing the output of the light emitter or by changing the filter of the optical system.

[0026] The irradiation device 17 may be a projector that projects an image or the like on the road surface in the vehicle travel direction. The irradiation device 17 may be configured to cooperate with another irradiation device such as a headlight of the vehicle 1. For example, the support device 3 may control the headlight to reduce the light amount when the irradiation device 17 irradiates the road surface with laser light in a desired display mode.

[0027] 1, the vehicle 1 is equipped with an assistance device 3. The assistance 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) provided inside the vehicle 1. Alternatively, the assistance device 3 may be an external computer installed near the dashboard of the vehicle 1. The assistance device 3 may also function as a car navigation device or the like.

[0028] Fig. 2 is a diagram showing an example of a hardware configuration of the support device 3 according to the embodiment. As shown in Fig. 2, the support device 3 has 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, the ROM 32, the RAM 33, the HDD 34, and the I / F (Interface) 35 are interconnected by a bus 39 or the like, and have a hardware configuration using a normal computer.

[0029] 2, 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 each connected to the assistance device 3 via an I / F 35, for example.

[0030] The HMI 21 is an interface for outputting notifications such as assistance information to the driver of the vehicle 1. The HMI 21 is provided, for example, around the driver's seat of the vehicle 1. Note that the HMI 21 may be provided in another area around the driver's seat, such as a back seat, as long as it can output a predetermined notification recognizable by the driver of the vehicle 1.

[0031] The HMI 21 may be a head mounted display (HMD) worn on the driver's head. The HMI 21 may also be a projection type display device such as a head up display (HUD) that projects an image (virtual image) onto a display area provided in front of the driver, for example, on a windshield 180 or a dashboard (console) 190. The HMI 21 is not limited to a device that displays images, and may include other notification devices such as a speaker that outputs notification sounds, warning sounds, and audio, and a horn.

[0032] The CPU 31 is a calculation device that controls the entire support device 3. The CPU 31 loads a program stored in the ROM 32 or the HDD 34 into the RAM 33 and executes the program, thereby implementing each process described below.

[0033] The CPU 31 according to the embodiment is an example of a processor in the support device 3. As the processor, another processor may be provided instead of the CPU 31 or in addition to the CPU 31. As the other processor, various processors such as a GPU (Graphics Processing Unit), an ASIC (Application Specific Integrated Circuit), and an FPGA (Field Programmable Gate Array) can be appropriately used.

[0034] The ROM 32 stores programs and parameters for implementing various processes by the CPU 31.

[0035] The RAM 33 is, for example, a main storage device of the support device 3, and temporarily stores data necessary for various processes performed by the CPU 31.

[0036] The HDD 34 stores various data, programs, etc. used in the assistance device 3. As an example, the HDD 34 stores the past movements of the moving object to be monitored detected by an ADAS (Advanced Driving Assistant System) such as the sonar 15 or the omnidirectional camera 16, the calculated predicted route of the monitoring object, the determined irradiation contents, etc. Note that instead of the HDD 34 or in addition to the HDD 34, various storage media and storage devices such as an SSD (Solid State Drive) and a Flash memory can be appropriately used.

[0037] The I / F 35 is an interface for transmitting and receiving data. The I / F 35 receives data from other devices provided in the vehicle 1, such as on-board sensors such as the sonar 15 and the all-around camera 16. The I / F 35 also transmits data to other devices provided in the vehicle 1, such as the illumination device 17 and the HMI 21.

[0038] In addition, I / F35 may acquire signals from an accelerator sensor (not shown) that detects the amount of accelerator pedal operation by the driver, or a brake sensor (not shown) that detects the amount of brake pedal operation by the driver, or the amount of operation based on these signals.

[0039] The I / F 35 may transmit and receive information to and from other ECUs mounted on the vehicle 1 via a CAN or the like within the vehicle 1, or may communicate with an information processing device outside the vehicle 1 via a network such as the Internet. As an example, the I / F 35 acquires vehicle information relating to the state of the vehicle 1, such as vehicle speed pulses, various speeds including yaw rate, acceleration, position information, and shift information, from other ECUs or various on-board sensors of the vehicle 1 via the CAN, for example.

[0040] 2 illustrates an example in which the sonar 15, the omnidirectional camera 16, the illumination device 17, and the HMI 21 are not included in the support device 3, but this is not limiting. Some or all of these may be included in the support device 3. The illumination device 17 may be configured as a part of the HMI 21.

[0041] Fig. 3 is a diagram showing an example of the functional configuration of the support device according to the embodiment. The support device 3 executes a program loaded in the RAM 33 by the CPU 31, thereby realizing functions as a detection unit 301, a path prediction unit 302, a determination unit 303, an irradiation content determination unit 304, and an irradiation control unit 305, as shown in Fig. 3.

[0042] The detection unit 301 monitors the movement of a moving object moving around the vehicle and detects the movement trajectory. For example, the detection unit 301 acquires data from an in-vehicle sensor of the ADAS provided in the vehicle 1, such as the sonar 15 and the omnidirectional camera 16, via, for example, the I / F 35. The detection unit 301 also detects the past movement of the monitoring target based on the acquired data.

[0043] Here, the monitored object is, for example, a moving object moving around the vehicle, but may include the vehicle itself. The moving trajectory of the vehicle may be acquired based on the output of a Global Navigation Satellite System (GNSS) sensor such as a Global Positioning System (GPS) sensor, or other on-board sensors such as a wheel speed sensor, an inertial sensor, and an acceleration sensor.

[0044] Moreover, the moving body is at least one of a vehicle other than the host vehicle and a pedestrian. More specifically, the moving body is at least one of a person such as a pedestrian, or a mobility such as a bicycle or an automobile that transports a person or an object. The mobility includes various vehicles that can move along a route established on the ground, such as a bicycle, a motorcycle, an automobile, a kickboard, and a senior car. Moreover, the mobility may be driven by human power, or may be driven by the power of a prime mover or a motor. Moreover, the mobility may be configured to be capable of autonomous driving.

[0045] 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.

[0046] The determination unit 303 determines a collision risk between at least two moving objects moving around the host vehicle based on the respective predicted paths of the at least two moving objects.

[0047] The illumination content determination unit 304 determines a display mode for 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.

[0048] As one example, the display manner relating to the moving object includes a display showing a predicted route of the moving object.

[0049] As an example, the display mode for a moving object includes a display indicating the type of the moving object. The type of moving object indicates which type of moving object the moving object is among various moving objects, which are either a vehicle other than the host vehicle or a pedestrian. For example, the type of moving object includes at least one of "automobile", "motorcycle", "bicycle", and "pedestrian", and indicates whether the moving object is an "automobile", "motorcycle", "bicycle", or "pedestrian". The type of moving object may also indicate, for example, whether the moving object is a "passenger car" or a "truck" among automobiles.

[0050] As one example, the display mode related to the moving objects includes, when there is a risk of collision between the moving objects, a display showing a stop line for at least one of at least two moving objects that are at risk of collision.

[0051] The irradiation control unit 305 controls irradiation of the laser light onto the road surface ahead of the host vehicle or the moving object moving around the host vehicle, based on the display mode relating to the moving object.

[0052] Fig. 4 is a diagram showing an example of a display mode in the assistance process according to the embodiment. Fig. 4 illustrates a moving body 501 as an example of a vehicle 1 equipped with the assistance device 3 according to the embodiment, and moving bodies 503, 505, and 507 moving around the moving body 501. In Fig. 4, triangles added to the moving bodies 501, 503, 505, and 507 indicate the moving directions of the moving bodies 501, 503, 505, and 507.

[0053] 4, a moving object 501 is, for example, an automobile that is going straight through an intersection 401. The moving object 501 is stopped without entering the intersection 401 because the traffic light is green but the moving object 501 is blocked ahead by moving objects such as a moving object 503.

[0054] 4, a moving object 503 is, for example, an automobile that has traveled straight through an intersection 401 ahead of the moving object 501. The moving object 503 has not yet completely passed through the intersection 401 due to congestion ahead of it.

[0055] 4, the moving body 505 is, for example, an automobile traveling in the opposite direction to the moving body 501 and attempting to turn right at the intersection 401, that is, an oncoming vehicle turning right of the moving body 501. More specifically, the moving body 505 is entering the intersection 401, and attempting to turn right and pass between the moving bodies 501 and 503.

[0056] In the scene shown in FIG. 4, a moving object 507 is, for example, a motorcycle that passes on the left side of the moving object 501 and attempts to go straight through the intersection 401.

[0057] As an example, the irradiation content determination unit 304 determines a display mode of the moving object 507 on the road surface on the predicted path 403 of the moving object 507 based on the predicted path 403 of the moving object 507 moving around the vehicle. Here, a display 601 including an arrow indicating the predicted path 403 of the moving object 507 and an icon indicating the type of the moving object 507 is an example of a display mode of the moving object 507. As an example, the icon indicating the type of the moving object 507 is an icon indicating "motorcycle" as illustrated in FIG. 4.

[0058] As an example, the irradiation content determination unit 304 determines a display mode of the moving body 505 on the road surface on the predicted path of the moving body 505 based on the predicted path of the moving body 505 moving around the vehicle. Here, a display 603 including an arrow indicating the predicted path of the moving body 505 and an icon indicating the type of the moving body 505 is an example of a display mode of the moving body 505. As an example, the icon indicating the type of the moving body 505 is an icon indicating "automobile (passenger car, four-wheeled vehicle)" as exemplified in FIG. 4.

[0059] The display 601, 603, i.e., the projection of the predicted route and the type onto the road surface, may be performed when it is determined that the situation is dangerous. That is, the projection content determination unit 304 may determine the display mode including the predicted route and the type when the situation is dangerous. Alternatively, the projection control unit 305 may start controlling the projection of the laser light onto the road surface to realize the display mode including the predicted route and the type when the situation is dangerous.

[0060] Here, the dangerous situation is a case where it is determined that there is a risk of collision between at least two of the multiple moving bodies 501, 503, 505, and 507. As an example, when the predicted routes intersect, the determination unit 303 determines that there is a risk of collision between the moving bodies whose predicted routes intersect.

[0061] As an example, when it is determined that the situation is dangerous, the irradiation content determination unit 304 determines a display mode for the moving body 507, including a display 605 indicating a stop line for the moving body 507 on the road surface on the predicted route of the moving body 507.

[0062] As an example, when it is determined that the situation is dangerous, the irradiation content determination unit 304 determines a display mode for the moving body 505, including a display 607 indicating a stop line for the moving body 505 on the road surface on the predicted route of the moving body 505.

[0063] Note that the indications 605 and 607, i.e., the projection of the stop lines onto the road surface, may be performed regardless of whether or not it is determined that the situation is dangerous. That is, the indications 605 and 607 may be displayed on the road surface together with the indications 601 and 603, respectively. In this case, the determination unit 303 may not determine whether the situation is dangerous. Alternatively, the determination unit 303 may not be provided in the assistance device 3.

[0064] Next, a description will be given of the flow of the support process executed by the support device 3 configured as above. Fig. 5 is a flowchart showing an example of the flow of the support process executed by the support device 3 according to the embodiment.

[0065] The detection unit 301 monitors the movement of other moving objects (S101). The path prediction unit 302 predicts the path of the other moving objects (S102).

[0066] The irradiation content determination unit 304 determines the irradiation mode for displaying the predicted route on the road surface. The irradiation control unit 305 causes the irradiation device 17 to irradiate the road surface with laser light, thereby irradiating the predicted route of the other moving object on the road surface in the determined irradiation mode (S103).

[0067] The determination unit 303 determines whether the traffic situation around the vehicle 1 is dangerous (S104). When it is determined that the traffic situation is not dangerous (S104: No), the flow in FIG.

[0068] On the other hand, when it is determined that the situation is dangerous (S104: Yes), the irradiation content determination unit 304 determines the display mode for displaying the stop line 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 road surface with a stop line for other moving objects in the determined irradiation mode (S105). After that, the flow of FIG. 5 ends.

[0069] The support device 3 may irradiate the road surface with the laser light in a display mode related to the vehicle itself, not limited to the display mode related to the moving object moving around the vehicle itself. That is, the detection unit 301 may acquire a predicted route of the vehicle itself based on the movement trajectory of the vehicle itself. The irradiation content determination unit 304 may determine a display mode related to the vehicle itself on the road surface on the predicted route of the vehicle itself, not limited to the display mode related to the moving object other than the vehicle itself, based on the predicted route of the vehicle itself. The irradiation control unit 305 may control the irradiation of the laser light to the road surface based on the display mode related to the vehicle itself.

[0070] In addition, the detection unit 301 may acquire vehicle information such as the position, speed, moving direction, and type of moving object moving around the vehicle by V2X communication such as vehicle-to-vehicle communication or road-to-vehicle communication.

[0071] In addition, the irradiation control unit 305 may send a control signal, for example, via V2X communication, to irradiate the road surface with laser light not only from the irradiation device 17 of the vehicle itself, but also from an irradiation device 17 mounted on a moving body moving around the vehicle itself or from an irradiation device 17 installed on the road.

[0072] The assistance device 3 may perform control to sound a horn instead of or in addition to illuminating the stop line on the road surface.

[0073] In this way, the support device 3 according to the embodiment predicts the future route of the other vehicle from the past movement of the other vehicle, and notifies the presence of the other vehicle by irradiating the road surface with a laser beam in a display mode based on the predicted route. Furthermore, when the support device 3 according to the embodiment judges that there is a danger not only to the subject vehicle but also to other vehicles, or to other vehicles and pedestrians, the support device 3 according to the embodiment notifies the danger by irradiating a stop line to the other vehicle.

[0074] This configuration makes it possible to notify the drivers of the vehicle and other vehicles of the presence of a motorcycle or other vehicle passing by the side of the vehicle. Therefore, even in environments with blind spots or low visibility such as at night or in traffic jams, it is possible to improve the safety of not only the vehicle but also other vehicles, such as by preventing hit-and-run accidents.

[0075] In each of the above-mentioned embodiments, "determining whether it is A" may mean "determining that it is A", or "determining that it is not A", or "determining whether it is A or not".

[0076] The programs executed by the support device 3 in each of the above-described embodiments are provided by being recorded in a computer-readable recording medium such as a CD-ROM, FD, CD-R, or DVD in the form of an installable or executable file.

[0077] The programs executed by the support device 3 in each of the above-described embodiments may be stored on a computer connected to a network such as the Internet and provided by being downloaded via the network. The programs executed by the support device 3 may be provided or distributed via a network such as the Internet.

[0078] Furthermore, the programs executed by the support device 3 in each of the above-described embodiments may be provided by being pre-installed in a ROM or the like.

[0079] In addition, the program executed by the support device 3 in each of the above-mentioned embodiments has a modular configuration including each of 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), and in terms of actual hardware, the CPU 31 reads out the program from the ROM 32 or HDD 34 and executes it, thereby loading each of the above-mentioned functional units onto the RAM 33, and each of the above-mentioned functional units is generated on the RAM 33.

[0080] According to at least one of the embodiments described above, traffic safety in low visibility environments can be improved.

[0081] Although some embodiments of the present invention have been described, 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 forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their modifications are included in the scope of the invention and its equivalents described in the claims, as well as in the scope and spirit of the invention.

[0082] (Additional Note) The above description of the embodiments discloses the following techniques. (1) Detecting a movement trajectory of a moving object moving around the host vehicle; acquiring a predicted path of the moving object based on a movement trajectory of the moving object; determining a display mode for the moving object on a road surface along the predicted path of the moving object based on the predicted path of the moving object; Controlling irradiation of the road surface with a laser beam based on a display mode relating to the moving object. Methods of support include: (2) determining a collision risk between at least two moving objects based on respective predicted paths of the at least two moving objects moving around the host vehicle; and starting irradiation control of the laser light onto the road surface when there is a risk of collision. The support method described in (1) above. (3) The display mode regarding the moving object includes displaying a predicted route of the moving object. The support method described in (1) or (2) above. (4) The display mode regarding the moving object includes displaying a type of the moving object, 2. A support method according to any one of (1) to (3) above. (5) The type of the moving object includes at least one of an automobile, a motorcycle, a bicycle, and a pedestrian. The support method described in (4) above. (6) The moving object is at least one of a vehicle other than the host vehicle and a pedestrian. 2. A support method according to any one of (1) to (5) above. (7) determining a collision risk between at least two moving objects based on respective predicted paths of the at least two moving objects moving around the host vehicle; determining a display mode for the moving object, including displaying a stop line for the moving object, when there is a risk of collision; 2. A support method according to any one of (1) to (6) above. (8) A detection unit that detects a movement trajectory of a moving object moving around the host vehicle; a route prediction unit that obtains a predicted route of the moving object based on a movement trajectory of the moving object; an illumination content determination unit that determines a display mode of the moving object on a road surface along the predicted path of the moving object based on the predicted path of the moving object; an irradiation control unit that controls irradiation of the road surface with a laser beam based on a display mode of the moving object; A support device comprising: (9) a determination unit that determines a collision risk between the at least two moving objects based on a predicted path of each of the at least two moving objects moving around the vehicle; the irradiation control unit starts control of irradiation of the laser light onto the road surface when there is a risk of collision. The support device according to (8) above. (10) The irradiation content determination unit determines a display mode for the moving object including a display of a predicted route of the moving object. The support device according to (8) or (9) above. (11) The irradiation content determination unit determines a display mode for the moving object including a display of a type of the moving object. An assistance device according to any one of (8) to (10) above. (12) The type of the moving object includes at least one of an automobile, a motorcycle, a bicycle, and a pedestrian. The support device according to (11) above. (13) The moving object is at least one of a vehicle other than the host vehicle and a pedestrian. An assistance device according to any one of (8) to (12) above. (14) a determination unit that determines a collision risk between the at least two moving objects based on a predicted path of each of the at least two moving objects moving around the vehicle; The irradiation content determination unit determines a display mode for the moving object including displaying a stop line for the moving object when there is a risk of collision. An assistance device according to any one of (8) to (13) above. (15) Further comprising an irradiation device configured to irradiate a road surface on a predicted route of the moving body with a laser beam. An assistance device according to any one of (8) to (14) above. (16) The support device according to any one of (8) to (14) above, an on-board sensor for detecting the moving object; an irradiation device configured to be able to irradiate a road surface on a predicted route of the moving body with a laser beam; A vehicle equipped with. (17) A program for causing a computer to execute the support method according to any one of (1) to (7) above. (18) A recording medium (Computer Program Product) having recorded thereon the program described in (17) above, which is executed by a computer. [Explanation of symbols]

[0083] 1 vehicle 12 Body 13 wheels 14 Bumper 15 Sonar (vehicle-mounted sensor) 16 All-around camera (vehicle sensor) 17 Irradiation device 21 Human Machine Interface 3 Support equipment 31 CPU 32 ROM 33 RAM 34 HDD 35 Interfaces 39 Bus 301 Detection unit 302 Route Prediction Unit 303 Judgment section 304 Irradiation content determination section 305 Irradiation control unit

Claims

1. Detecting a movement trajectory of a moving body that moves around the host vehicle; Obtaining a predicted path of the moving body based on the movement trajectory of the moving body; Determining a display mode regarding the moving body on a road surface on the predicted path of the moving body based on the predicted path of the moving body; Controlling irradiation of laser light on the road surface based on the display mode regarding the moving body An assistance method including the above.

2. Determining a risk of collision between at least two of the moving bodies based on respective predicted paths of the at least two moving bodies that move around the host vehicle; Further including starting control of irradiation of laser light on the road surface when there is the risk of collision. The assistance method according to Claim 1.

3. The display mode regarding the moving body includes display of the predicted path of the moving body. The assistance method according to Claim 1.

4. The display mode regarding the moving body includes display of the type of the moving body. The assistance method according to Claim 1.

5. The type of the moving body includes at least any one of an automobile, a motorcycle, a bicycle, and a pedestrian. The assistance method according to Claim 4.

6. The moving body is at least any one of another vehicle and a pedestrian of the host vehicle. The assistance method according to Claim 1.

7. Determining a risk of collision between at least two of the moving bodies based on respective predicted paths of the at least two moving bodies that move around the host vehicle; When there is the risk of collision, determining a display mode regarding the moving body including display of a stop line for the moving body. The assistance method according to Claim 1.

8. A detection unit that detects a movement trajectory of a moving body that moves around the host vehicle; A path prediction unit that obtains a predicted path of the moving body based on the movement trajectory of the moving body; An irradiation content determination unit that determines a display mode regarding the moving body on a road surface on the predicted path of the moving body based on the predicted path of the moving body; An irradiation control unit that controls irradiation of laser light on the road surface based on the display mode regarding the moving body An assistance device including the above.

9. Further having a determination unit that determines a risk of collision between at least two of the moving bodies based on respective predicted paths of the at least two moving bodies that move around the host vehicle, The irradiation control unit starts control of irradiation of laser light on the road surface when there is the risk of collision. The assistance device according to Claim 8.

10. The display mode regarding the moving body includes the display of the predicted path of the moving body. The support device according to claim 8.

11. The display mode regarding the moving body includes the display of the type of the moving body. The support device according to claim 8.

12. The type of the moving body includes at least any one of an automobile, a motorcycle, a bicycle, and a pedestrian. The support device according to claim 11.

13. The moving body is at least any one of other vehicles and pedestrians other than the host vehicle. The support device according to claim 8.

14. The apparatus further includes a determination unit that determines the risk of collision between at least two of the moving bodies based on the predicted paths of the at least two moving bodies moving around the host vehicle. When there is a risk of collision, the irradiation control unit determines a display mode regarding the moving body including the display of a stop line for the moving body. The support device according to claim 8.

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