Travel assistance control device and travel assistance method

Abstract

To support safe travel of a mobile body.SOLUTION: A travel assistance control device 20 comprises: a speed detection unit 21 which detects a speed of a mobile body; an image generation unit 28 which generates a projection image to be projected from a projection unit disposed on the mobile body; and a projection control unit 29 which projects the projection image generated by the image generation unit 28. The projection control unit 29 projects the projection image such that, during movement of the mobile body, the road surface as seen from the mobile body appears to move at a relative speed equal to or lower than a threshold with respect to the speed at which the road surface passes by the mobile body on the basis of the speed detected by the speed detection unit 21.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a driving assistance control device and a driving assistance method. [Background technology]

[0002] BACKGROUND ART There is known a technology for projecting information onto the road surface for use by pedestrians and motorcycle riders (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2016-090318 Summary of the Invention [Problem to be solved by the invention]

[0004] For example, farm roads that run through large fields often lack streetlights and other lighting, and after sunset, the roads are completely dark. When riding a bicycle or other vehicle in such areas, the only light available is within the range of the vehicle's headlights, which can make it difficult to see the scenery moving, making it difficult to get a sense of speed, and can even cause a loss of balance.

[0005] The present invention has been made in view of the above, and has an object to support safe travel by a moving object. [Means for solving the problem]

[0006] In order to solve the above-mentioned problems and achieve the object, the driving assistance control device of the present invention comprises a speed detection unit that detects the speed of a moving body, an image generation unit that generates a projection image to be projected from a projection unit arranged on the moving body, and a projection control unit that projects the projection image generated by the image generation unit, and the projection control unit projects the projection image based on the speed detected by the speed detection unit so that while the moving body is moving, the relative speed with respect to the speed at which the road surface passes as seen from the moving body appears to be moving at a speed that is below a threshold.

[0007] The driving assistance method of the present invention includes a speed detection step of detecting the speed of a moving body, an image generation step of generating a projection image to be projected from a projection unit arranged on the moving body, and a projection control step of projecting the projection image generated by the image generation step, wherein the projection control step is executed by a driving assistance control device to project the projection image based on the speed detected by the speed detection step so that, while the moving body is moving, the relative speed with respect to the speed at which the road surface passes as seen from the moving body is below a threshold value. [Effects of the Invention]

[0008] The present invention provides an effect of supporting safe travel of a moving body. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a block diagram showing an outline of a driving assistance device including a driving assistance control device according to a first embodiment. [Figure 2] FIG. 2 is a diagram showing an example of the illumination range of the headlights and the projection range of the projected image. [Figure 3] FIG. 3 is a diagram showing an example of a projected image. [Figure 4] FIG. 4 is a diagram showing another example of a projected image. [Figure 5] FIG. 5 is a flowchart showing the flow of processing in the driving assistance control device according to the first embodiment. [Figure 6] FIG. 6 is a block diagram showing an outline of a driving assistance device including a driving assistance control device according to the second embodiment. [Figure 7] FIG. 7 is a flowchart showing the flow of processing in the driving assistance control device according to the second embodiment. [Figure 8] FIG. 8 is a block diagram showing an outline of a driving assistance device including a driving assistance control device according to a third embodiment. [Figure 9] FIG. 9 is a flowchart showing the flow of processing in the driving assistance control device according to the third embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0010] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A detailed description of embodiments of a driving assistance control device and a driving assistance method according to the present invention will be given below with reference to the accompanying drawings. However, the present invention is not limited to the following embodiments.

[0011] [First embodiment] <Driving support device> 1 is a block diagram showing an outline of a driving assistance device including a driving assistance control device according to a first embodiment. The driving assistance device 1 projects a projection image onto the road surface to assist a moving object, such as a bicycle or an electric kick scooter, traveling on the side of the road.

[0012] The mobile object is a vehicle that can travel on the side of the road, such as a two-wheeled vehicle or a three-wheeled vehicle.

[0013] The driving assistance device 1 may be mounted on a mobile object or may be portable and used on the mobile object. The driving assistance device 1 may be configured as a device installed on the mobile object, a portable terminal, or a combination of several devices. The driving assistance device 1 includes a speed sensor 11, a projection unit 19, and a driving assistance control device 20.

[0014] The speed sensor 11 is a sensor that detects the speed of a moving object.

[0015] The projection unit 19 is a projection device that projects a projection image onto the road surface ahead of the mobile object. The projection unit 19 may be, for example, a projector or a laser scanning projector. The projection unit 19 projects the projection image onto the road surface ahead of the mobile object based on a video signal output from the projection control unit 29.

[0016] The projection range of the projected image will be explained using Fig. 2. Fig. 2 is a diagram showing an example of the illumination range of a headlight and the projection range of a projected image. In Fig. 2, the projection range 120 of the projection unit 19 illuminates a range ahead that does not overlap with the illumination range 110 of the headlight 101 of the bicycle 100, which is a moving object. In this way, the projection unit 19 projects the projection image into a range not illuminated by the headlight 101. In the illumination range 110, white lines painted on the road surface and the like can be seen due to the illumination of the headlight 101.

[0017] <Drive assist control device> The driving assistance control device 20 controls the moving object to project a projection image onto the road surface to assist the moving object in driving. The driving assistance control device 20 is an arithmetic processing device constituted by, for example, a CPU (Central Processing Unit) and the like. The driving assistance control device 20 executes instructions included in a program stored in a storage unit (not shown). The driving assistance control device 20 has a speed detection unit 21, an image generation unit 28, and a projection control unit 29.

[0018] The speed detection unit 21 detects the speed of the moving body. The speed detection unit 21 detects the speed of the moving body from sensor data acquired from the speed sensor 11. The method by which the speed detection unit 21 detects the speed of the moving body can be any known method and is not limited.

[0019] Image generation unit 28 generates a projection image to be projected from projection unit 19 arranged on the moving object. Based on the speed detected by speed detection unit 21, image generation unit 28 generates a projection image that appears to be moving at a speed that, relative to the speed at which the road surface passes as seen from the moving moving object, is equal to or less than a threshold value.

[0020] The threshold value of the relative speed may be, for example, zero or a value close to zero, such as 1 km / h or less.

[0021] In this embodiment, the threshold value for the relative speed is set to zero. In this embodiment, image generation unit 28 generates a projection image that moves at a relative speed of zero relative to the speed at which the road surface passes as seen from the moving vehicle. Based on the speed detected by speed detection unit 21, image generation unit 28 generates a projection image that appears to move in the same way as a figure drawn on the road surface as seen from the moving vehicle.

[0022] The projected image is a landmark image that serves as a landmark when a moving object is traveling in the dark. The projected image is a pattern image that is projected onto the road surface so that the driver of the moving object can visually recognize that the moving object is moving in the direction of travel. The projected image is a pattern image that is projected onto the road surface so that the driver of the moving object can experience a sense of speed. The projected image is a pattern image that is projected onto the road surface so that the driver of the moving object can easily maintain their sense of balance.

[0023] The projected image is, for example, an image that extends along the traveling direction of the mobile object and moves as if approaching from the front of the traveling direction. The projected image is, for example, an image of a broken line that moves along the traveling direction of the road surface on which the mobile object is traveling. The broken line image has line portions and gap portions, which allows the driver to visually recognize that the mobile object is moving. The projected image may be, for example, a linear image having one or more marks such as scales that moves along the traveling direction of the road surface on which the mobile object is traveling. The linear image having marks allows the driver to visually recognize that the mobile object is moving due to the presence of the marks. The projected image may be, for example, a band-like image with a color gradation or the like that moves along the traveling direction of the road surface on which the mobile object is traveling. The color gradation or the band-like image with a color gradation allows the driver to visually recognize that the mobile object is moving due to the presence of the gradation.

[0024] The projection control unit 29 projects the projection image generated by the image generation unit 28. The projection control unit 29 outputs an image signal that causes the projection image to be projected onto the road surface.

[0025] The projection control unit 29 projects the projection image onto the road surface so that the relative speed of the road surface passing by as seen from the moving mobile object is equal to or less than a threshold value, based on the speed detected by the speed detection unit 21. In this embodiment, the projection control unit 29 projects the projection image onto the road surface so that the relative speed of the road surface passing by as seen from the moving mobile object is equal to or less than a threshold value, based on the speed detected by the speed detection unit 21.

[0026] The projection control unit 29 may include a larger distance in the projection range as the speed of the moving object increases based on the speed detected by the speed detection unit 21. This is because a wider projection range makes it easier to obtain a sense of speed and balance.

[0027] The projection control unit 29 projects the projection image in a projection range that is wider than the illumination range of the headlights of the mobile object. In this embodiment, the projection control unit 29 may project the projection image in a projection range that is outside the illumination range of the headlights of the mobile object. The projection control unit 29 may project the projection image in a projection range that is forward of the illumination range of the headlights of the mobile object.

[0028] The projected image projected onto the road surface will be explained using Figures 3 and 4. (a), (b), and (c) of Figures 3 and 4 show the projected image over time. In each of Figures 3 and 4 (a), (b), and (c), the upper side of the figure represents the far distance ahead in the direction of travel, and the lower side represents the near side (the moving object side). Figure 3 is a diagram showing an example of a projected image. In the example shown in Figure 3, the projected image is an image of a dashed line, such as a white dashed line painted on the road surface. In Figures 3 (a), 3 (b), and 3 (c), the dashed line appears to move from the back (top of the figure) to the near side (bottom of the figure) over time.

[0029] Figure 4 shows another example of a projected image. In the example shown in Figure 4, the projected image is an image of bands colored in a gradation pattern. In Figures 4(a), 4(b), and 4(c), the color of the bands appears to flow from the back (top of the figure) to the front (bottom of the figure) over time.

[0030] <Processing in the driving assistance control device> Next, information processing in the driving assistance device 1 will be described with reference to Fig. 5. Fig. 5 is a flowchart showing the flow of processing in the driving assistance control device according to the first embodiment. For example, after sunset, when there are no lights such as streetlights around the mobile object, the driving assistance device 1 is started by an operation of the driver of the mobile object. When the driving assistance device 1 is started and processing by the driving assistance control device 20 is started, the following processing is executed at predetermined time intervals.

[0031] The driving assistance control device 20 detects the speed using the speed detection unit 21 (step S101). More specifically, the driving assistance control device 20 detects the speed of the moving object using the speed detection unit 21 from the sensor data acquired from the speed sensor 11. The driving assistance control device 20 proceeds to step S102.

[0032] The driving assistance control device 20 generates a projection image using the image generation unit 28 (step S102). More specifically, the driving assistance control device 20 generates a projection image using the image generation unit 28 that appears to be moving at a speed that is equal to or less than a threshold relative to the speed at which the road surface passes as viewed from the moving vehicle. For example, the driving assistance control device 20 generates a projection image of a broken line that appears to be moving at a speed of zero relative to the speed at which the road surface passes as viewed from the moving vehicle. The driving assistance control device 20 proceeds to step S103.

[0033] The driving assistance control device 20 projects the projection image using the projection control unit 29 (step S103). More specifically, the driving assistance control device 20 projects the projection image onto the road surface using the projection control unit 29 based on the speed detected by the speed detection unit 21 so that the relative speed of the road surface as seen from the moving vehicle appears to be moving at a speed equal to or less than a threshold value. For example, the driving assistance control device 20 projects the projection image onto the road surface based on the speed detected by the speed detection unit 21 so that the relative speed of the road surface as seen from the moving vehicle appears to be moving at zero. The driving assistance control device 20 proceeds to step S104.

[0034] The driving assistance control device 20 determines whether or not to end the processing (step S104). More specifically, the driving assistance control device 20 determines to end the processing when, for example, an operation to end the processing is received. When the driving assistance control device 20 determines to end the processing (Yes in step S104), it ends the processing of this flowchart. When the driving assistance control device 20 does not determine to end the processing (No in step S104), it executes the processing of step S101 again.

[0035] In this way, the driver of the moving object sees a projected image of a broken line projected onto the road surface, which appears to be moving at a relative speed of zero relative to the speed at which the road surface passes by.

[0036] <Effects> As described above, in this embodiment, while a moving object is moving, a projection image is projected so that the relative speed relative to the speed of the road surface passing by as seen from the moving object is equal to or less than a threshold value. According to this embodiment, the driver of the moving object can visually recognize the broken line projection image projected onto the road surface, which appears to move at a speed of zero relative to the speed of the road surface passing by, and thus perceive the scenery as moving even when it is dark outside the illumination range of the headlights. According to this embodiment, the driver can get a sense of speed and easily maintain a sense of balance by visually recognizing the projection image that appears to move in accordance with the speed of the moving object. In this way, this embodiment can support safe driving of a moving object.

[0037] In this embodiment, the projection image can be projected outside the illumination range of the headlights of the moving object, without impairing the visibility within the illumination range of the headlights.

[0038] [Second embodiment] The second embodiment will be described with reference to Figures 6 and 7. Figure 6 is a block diagram showing an outline of a driving assistance device including a driving assistance control device according to the second embodiment. Figure 7 is a flowchart showing the processing flow in the driving assistance control device according to the second embodiment. In the following description, components similar to those of the driving assistance device 1 of the first embodiment are given the same or corresponding reference numerals, and detailed description thereof will be omitted. The driving assistance device 1A differs from the first embodiment in that it includes a camera 12A, a road surface condition detection unit 22A, and a driving area identification unit 23A, and in the processing in the image generation unit 28A.

[0039] Camera 12A captures an image of the surroundings, mainly in front of the moving object. Camera 12A is, for example, an infrared camera or a near-infrared camera. Camera 12A includes an imaging element and an infrared light-emitting element. Camera 12A captures an image of the surroundings from which road surface conditions can be detected after sunset when there are no lights, such as street lamps, around the moving object.

[0040] The road surface condition detection unit 22A detects the road surface condition from a surrounding image captured around the mobile object. The road surface condition detection unit 22A performs image processing on the surrounding image captured by the camera 12A and detects the position of features on the road surface using edge detection or the like. The road surface condition detection unit 22A detects a road shoulder boundary, which is the boundary between the driving area, which is the area in which the mobile object can travel, and the road shoulder, from the surrounding image. A known method can be used as a method for recognizing the road shoulder boundary and the like from the image, and there is no limitation.

[0041] Road surface features include, for example, roadway outer lines, curbs, guardrails, vegetation such as hedges, steps, gutters, walls, and fences located at the boundary between the drivable area and the road shoulder.

[0042] The traveling area specification unit 23A specifies a traveling area in which the mobile object can travel based on the detection result of the road surface condition detection unit 22A. The traveling area specification unit 23A specifies the inner part of the road shoulder boundary detected by the road surface condition detection unit 22A, in other words, the central part in the width direction from the road shoulder boundary, as the traveling area.

[0043] Image generator 28A generates a projection image showing the driving area identified by driving area identification unit 23A. Image generator 28A may, for example, generate a projection image of a dashed line along the road shoulder boundary. Image generator 28A may, for example, generate a projection image in which the entire driving area is colored in a strip shape.

[0044] <Processing in the driving assistance control device> Next, information processing in the driving assistance device 1A will be described with reference to Fig. 7. The processing in steps S111, S115, and S116 in Fig. 7 is the same as that in steps S101, S103, and S104 in the flowchart of Fig. 5.

[0045] The driving assistance control device 20A detects the road surface condition (step S112). More specifically, the driving assistance control device 20A detects, by the road surface condition detection unit 22A, a road shoulder boundary, which is the boundary between the road shoulder and a driving area, which is an area in which the mobile object can travel, from the surrounding image. The driving assistance control device 20A proceeds to step S113.

[0046] The driving assistance control device 20A identifies the driving area (step S113). More specifically, the driving assistance control device 20A uses the driving area identification unit 23A to identify the area inside the shoulder boundary detected by the road surface condition detection unit 22A, in other words, the center area in the width direction from the shoulder boundary, as the driving area. The driving assistance control device 20A proceeds to step S114.

[0047] The driving assistance control device 20A generates a projection image showing the driving area identified by the driving area identification unit 23A using the image generation unit 28A (step S114). More specifically, the driving assistance control device 20A generates a projection image of, for example, a broken line along the road shoulder boundary using the image generation unit 28A. The driving assistance control device 20A proceeds to step S115.

[0048] <Effects> As described above, in this embodiment, a projection image showing the identified driving area can be generated. According to this embodiment, the driver can confirm the driving area using the projection image. According to this embodiment, safe driving of the moving object can be supported.

[0049] [Third embodiment] The third embodiment will be described with reference to Fig. 8 and Fig. 9. Fig. 8 is a block diagram showing an outline of a driving assistance device including a driving assistance control device according to the third embodiment. Fig. 9 is a flowchart showing the flow of processing in the driving assistance control device according to the third embodiment. Driving assistance device 1B differs from the second embodiment in that it includes a gyro sensor 13B and an attitude detection unit 24B, and in the processing in image generation unit 28B.

[0050] In this embodiment, the mounting position and mounting angle (elevation angle) of gyro sensor 13B on the moving body and the mounting position and mounting angle (elevation angle) of projection unit 19 on the moving body are stored in advance in a storage unit (not shown). The mounting position and elevation angle of gyro sensor 13B are used to calculate the detection of the attitude of the moving body. The mounting position and elevation angle of projection unit 19 are used to perform keystone correction on the projected image.

[0051] The gyro sensor 13B detects the orientation of the moving object in three axial directions. The gyro sensor 13B is a three-axis gyro sensor. The gyro sensor 13B acquires acceleration data in the X-axis direction, the Y-axis direction, and the Z-axis direction as acceleration data.

[0052] The attitude detection unit 24B detects the attitude of the moving body in three axial directions based on the acceleration data acquired by the gyro sensor 13B.

[0053] Image generation unit 28B generates a projection image that has been subjected to keystone correction with respect to the road surface in accordance with the tilt of the moving body in the left-right direction when the moving direction is set to forward, detected by attitude detection unit 24B. Image generation unit 28B generates a projection image that has been subjected to keystone correction in accordance with the tilt of projection unit 19, based on the tilt of the moving body in the left-right direction and the mounting position and elevation angle of projection unit 19 on the moving body.

[0054] <Effects> As described above, in this embodiment, it is possible to generate a projection image that has undergone keystone correction in accordance with the tilt of the moving object in the left-right direction. According to this embodiment, it is possible to project a projection image with reduced distortion onto the road surface regardless of the posture of the moving object. According to this embodiment, it is possible to project a projection image with reduced distortion even if the road surface is inclined.

[0055] The components of the illustrated driving assistance device are conceptual functional components and do not necessarily have to be physically configured as shown in the drawings. In other words, the specific form of each device is not limited to that shown in the drawings, and all or part of each device may be functionally or physically distributed or integrated in any unit depending on the processing load and usage status of each device.

[0056] The configuration of the driving assistance device is realized, for example, as software, by a program loaded into a memory. In the above embodiment, the functional blocks are described as being realized by the cooperation of these hardware and software. In other words, these functional blocks can be realized in various forms, using only hardware, only software, or a combination of both.

[0057] The components described above include those that can be easily imagined by a person skilled in the art and those that are substantially the same. Furthermore, the configurations described above can be combined as appropriate. Furthermore, various omissions, substitutions, or modifications of the configurations are possible within the scope of the gist of the present invention.

[0058] [Variations] In the above description, the speed detection unit 21 is described as detecting the speed of the moving object from the acquired sensor data, but is not limited to this. The speed detection unit 21 may recognize an object that is stationary relative to the road surface from a surrounding image captured around the moving object, and detect the speed of the moving object from the optical flow of the object. [Explanation of symbols]

[0059] 1. Driving support device 11 Speed ​​sensor 19 Projection section 20 Driving assistance control device 21 Speed ​​detection unit 28 Image Generation Unit 29 Projection control unit 100 Bicycles 101 Headlight 110 Irradiation range 120 Projection Range

Claims

1. a speed detection unit that detects the speed of a moving object; an image generating unit that generates a projection image to be projected from a projection unit disposed on the moving body; a projection control unit that projects the projection image generated by the image generation unit; Equipped with the projection control unit projects the projection image so that, while the moving object is moving, the relative speed with respect to the speed at which a road surface passes as seen from the moving object is equal to or less than a threshold value, based on the speed detected by the speed detection unit. Driving assistance control device.

2. the projection control unit projects the projection image outside an illumination range of a headlight of the moving object; The driving assistance control device according to claim 1 .

3. a road surface condition detection unit that detects road surface conditions from a surrounding image captured around the moving object; a travel area specification unit that specifies a travel area in which the moving object can travel based on a detection result of the road surface condition detection unit; Equipped with the image generation unit generates the projection image showing the traveling area identified by the traveling area identification unit. The driving assistance control device according to claim 1 or 2.

4. an attitude detection unit that detects the attitude of the moving body; Equipped with the image generation unit generates the projection image that has been subjected to keystone correction in accordance with the tilt of the moving object in the left-right direction detected by the attitude detection unit. The driving assistance control device according to claim 1 or 2.

5. a speed detection step of detecting the speed of the moving object; an image generating step of generating a projection image to be projected from a projection unit disposed on the moving body; a projection control step of projecting the projection image generated by the image generation step; Including, the projection control step projects the projection image so that the relative speed of the moving object, relative to the speed at which a road surface passes as seen from the moving object, appears to be moving at a speed equal to or less than a threshold value, based on the speed detected in the speed detection step. The driving assistance method is executed by a driving assistance control device.

Images