Image drawing device

Abstract

To draw an image in a more appropriate state to a target surface in an advancing direction of an object person.SOLUTION: An image drawing device includes: a notification unit configured to emit image light which is light for drawing the image, on an object surface in an advancing direction that an object person; and a control unit for supplying a drawing image for generating the image light to the notification unit. The notification unit is configured to emit the image light toward the object surface forward of an installation position of the notification unit with respect to the advancing direction of the object person. An irradiation range of the image light by the notification unit is set based on a plane obtained by cutting a pyramid which is a visual field of the image light, with the object surface as a cutting plane. The image is set so as to fall within the irradiation range and to be visually recognized in a predetermined state from the viewpoint of the object person. The drawing image supplied from the control unit to the notification unit is obtained by projecting and converting the image on the object surface onto the projection surface of the notification unit.SELECTED DRAWING: Figure 11

Description

[Technical Field]

[0001] The present disclosure relates to a technique for rendering an image on a predetermined target surface (a road surface as an example). [Background technology]

[0002] Japanese Patent Laid-Open Publication No. 2003-29714 (Patent Document 1) describes a technique for correcting trapezoidal distortion of an image using a predetermined coordinate conversion formula as an image correction method for a projection display device. Also, Japanese Patent Laid-Open Publication No. 2009-184428 (Patent Document 2) describes a technique for a vehicle lighting device that performs image processing to rotate the orientation of an informational image in the direction of an object position based on the projection center, and irradiates the road surface with light from the image-processed informational image.

[0003] Now, for example, when considering the case of drawing an image on the road surface to be visible to the driver of a vehicle traveling on the road, with the former prior art it is difficult to correct the orientation and shape of the projected image so that it can be properly viewed from the driver's position. Also, with the latter prior art, although the image rotates to match the driver's line of sight, the image itself does not change, so it is also difficult to correct the image so that it can be properly viewed from the driver's position. Note that this issue is not limited to drawing an image on the road surface, but similar issues arise when drawing an image on a target surface in front of the subject. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2003-29714 [Patent Document 2] Japanese Patent Application Laid-Open No. 2009-184428 Summary of the Invention [Problem to be solved by the invention]

[0005] One of the objectives of a specific aspect of the present disclosure is to provide a technology that enables an image to be drawn in a more appropriate state on a target surface where a subject is moving. [Means for solving the problem]

[0006] [1] An image rendering device according to one aspect of the present disclosure includes: A device for rendering an image to be visually recognized by a predetermined target person, a notification unit configured to be able to irradiate image light, which is light for drawing the image on a target surface ahead of the subject; a control unit that supplies a drawing image for generating the image light to the notification unit; Including, the notification unit is configured to irradiate the image light toward the target surface forward of an installation position of the notification unit based on a traveling direction of the target person, an irradiation range of the image light by the notification unit is set based on a plane obtained by cutting a pyramid that is a field of view of the image light with the target surface as a cutting plane; The image is set to fit within the illumination range and to be visible in a predetermined state when viewed by the subject, the drawing image supplied from the control unit to the notification unit is obtained by projecting the image on the target surface onto a projection surface of the notification unit; It is an image drawing device. [2] A road light according to one aspect of the present disclosure includes: A road light is configured to include the image drawing device described in [1] above.

[0007] According to the above configuration, it is possible to provide a technology that allows an image to be drawn in a more appropriate state on the target surface where the subject is moving. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a block diagram showing the configuration of a street light according to an embodiment. [Figure 2]FIG. 2 is a diagram showing a schematic example of installation of road lights. [Figure 3] FIG. 3 is a diagram illustrating an example of the configuration of the notification unit. [Figure 4] FIG. 4 is a schematic plan view (bird's-eye view) showing an example of the arrangement of vehicles and road lights. [Figure 5] 5(A) to 5(C) are diagrams for explaining the general flow of road surface drawing. [Figure 6] 6(A) to 6(C) are diagrams for explaining the image drawing method performed by the image drawing device 1. FIG. [Figure 7] 7(A) to 7(C) are diagrams for explaining the image drawing method performed by the image drawing device 1. FIG. [Figure 8] 8(A) and 8(B) are diagrams for explaining an image drawing method performed by the image drawing device 1. FIG. [Figure 9] 9(A) and 9(B) are diagrams for explaining an image drawing method performed by the image drawing device 1. FIG. [Figure 10] 10(A) and 10(B) are diagrams for explaining the image drawing method performed by the image drawing device 1. FIG. [Figure 11] 11A to 11C are diagrams for explaining the image drawing method performed by the image drawing device 1. FIG. [Figure 12] FIG. 12 is a flowchart showing the flow of the image conversion process. [Figure 13] FIG. 13 is a flowchart showing the operation procedure when an image with contents according to road conditions is drawn on the road surface. DETAILED DESCRIPTION OF THE INVENTION

[0009] FIG. 1 is a block diagram showing the configuration of a street light according to one embodiment. The street light 100 shown in the figure is installed, for example, at the side of a road to irradiate the road with light and also draw images on the road surface. The street light 100 of this embodiment is configured to include an image drawing device 1 and an illumination device 2. The image drawing device 1 draws images showing various information on the road surface (target surface) of the road. The illumination device 2 is configured to include a light source and the like for irradiating the road with light.

[0010] FIG. 2 is a diagram schematically illustrating an example of roadway light installation. In the illustrated example, multiple roadway lights 100 are arranged at intervals along the side of a road, i.e., on one end of a road in the lane width direction. In this embodiment, the roadway lights 100 are configured to be able to communicate data with each other. Objects present on the roadway include a vehicle 110 traveling in the left lane in the figure, a vehicle 120 traveling in the right lane in the figure, and a pedestrian 130 crossing the road. The roadway lights 100 of this embodiment draw images on the road surface to notify drivers of these vehicles 110 (moving objects) or pedestrians 130 as objects (e.g., warnings). Each roadway light 100 is preferably installed along the side of a road to prevent it from falling onto the road in the unlikely event of an accident. Roadside installation is also preferable because lane restrictions are not required during installation or maintenance, or only sidewalk restrictions are required.

[0011] The image drawing device 1 includes a camera 10, an autonomous control unit 11, a notification control unit 12, a notification unit 13, and a communication unit 14. The autonomous control unit 11 and the notification control unit 12 can be realized by executing a predetermined operating program on a computer equipped with, for example, a processor, a memory, etc. Here, the image drawing device 1 is described as separate blocks to make it easier to understand the functions of the image drawing device 1, but in reality, the autonomous control unit 11 and the notification control unit 12 may be configured using the same processor, etc., or may be configured using separate processors, etc. In this embodiment, the autonomous control unit 11 and the notification control unit 12 correspond to the "control unit."

[0012] The camera 10 captures an image of a certain range of space including the road. For example, the range of image capture by the camera 10 is set according to the installation interval of each street light 100 (see FIG. 2). A signal or data corresponding to the image captured by the camera 10 is output to the autonomous control unit 11.

[0013] The image processing unit 21 of the autonomous control unit 11 detects the presence or absence of an object based on the image obtained from the camera 10, and if the object is present, calculates its moving speed. Here, the object is assumed to be a vehicle 110 (or 120) on the road (see FIG. 2). The signal processing unit 22 of the autonomous control unit 11 converts the result obtained by the image processing unit 21 into a signal and outputs it to the notification control unit 12.

[0014] Based on the signal obtained from the signal processing unit 22 of the autonomous control unit 11, the notification control unit 12 performs processing such as coordinate transformation on the image to be drawn on the road surface ahead of the target vehicle 110 in the direction of travel (i.e., where the driver is heading), and based on the result, generates a signal to control the drawing of the image on the road surface by the notification unit 13 and outputs it to the notification unit 13.

[0015] The notification unit 13 draws an image by irradiating the road surface with image light. As an example, the notification unit 13 of this embodiment draws an image by irradiating a predetermined position on the road surface with image light made up of monochromatic light. The drawn image may be any image that provides some kind of information, such as a warning to a target person, such as the driver of the vehicle 110, and may be, for example, a symbol such as an arrow, a number, or a letter.

[0016] The communication unit 14 is used by the street light 100 to perform data communication between other street lights 100 and external devices (not shown), and is configured to include a signal transmitting unit 23 that converts signals or data generated in the signal processing unit 22 of the autonomous control unit 11 into communication data and transmits it, and a signal receiving unit 24 that receives communication data transmitted from other street lights 100.

[0017] FIG. 3 is a diagram illustrating an example of the configuration of the notification unit. As an example, the notification unit 13 of this embodiment is configured to include a light source 30 having a plurality of LEDs arranged in a matrix, and a lens 31 that projects light emitted from the light source 30. The plurality of LEDs included in the light source 30 can be individually controlled to be turned on and off, and the brightness (luminous intensity) of each can also be individually controlled. In such a light source 30, image light can be generated by individually controlling the on / off and brightness of each LED. This image light can be projected onto the road surface through the lens 31, thereby drawing an image 32 on the road surface.

[0018] There are no particular limitations on the configuration of the notification unit 13, as long as it is capable of drawing an image on the road surface. For example, the notification unit 13 can be configured using a light source including a laser element and an optical deflector (e.g., an MEMS mirror) that scans the laser light emitted from the laser element. The notification unit 13 can also be configured by combining a light source such as an LED or laser with a liquid crystal element having pixels that can individually control the transmittance of the light emitted from the light source.

[0019] 4 is a schematic plan view (bird's-eye view) showing an example of the arrangement of a vehicle and roadway lights. Here, we consider a case where a vehicle 110 travels from left to right in the figure. Also, the driver's seat of the vehicle 110 is located relatively to the right side of the vehicle. The line of sight direction e of the driver sitting in the driver's seat is directed toward the front of the vehicle 110 as shown in the figure. The roadway light 100 is installed on the side of the road to the left of the vehicle 110, based on the direction of travel of the vehicle 110.

[0020] In FIG. 4, the range R indicated by the dotted line is the maximum range that can be drawn on the road surface by the image drawing device 1 of the road light 100, and will be referred to as the "illumination range R" hereinafter. The image (drawing content) S is an image drawn within the illumination range R by the image drawing device 1, and here a right turn symbol is shown as an example. The right turn symbol notifies the driver that there is a right turn road ahead. The distance Lg is the distance from the driver to the image S, and is set taking into consideration the traveling speed of the vehicle 110 and the like, assuming a distance that is easy for the driver to recognize. Assuming a vehicle speed on an ordinary road (for example, 40 km / h to 60 km / h), the distance Lg can be set to, for example, 22 m to 44 m.

[0021] Figures 5(A) to 5(C) are diagrams for explaining the general flow of road surface drawing. As an example, consider the case where the text "Thank you for your hard work" is to be provided to the driver (target person). Figure 5(A) shows a schematic image in a state (predetermined state) that is expected to be viewed by the driver. In other words, it is an image that can be viewed naturally without distortion in the vertical or horizontal directions when viewed by the driver.

[0022] Fig. 5(B) shows a schematic diagram of the image state required for the driver to view the image shown in Fig. 5(A). The image set here is an image that is set to look appropriate from the driver's perspective, taking into consideration the line of sight and angle of the driver to whom an appropriate image is ultimately desired.

[0023] Figure 5(C) is an image that is actually drawn on the road surface to make the image of Figure 5(B) visible. This image is input to the notification unit 13, and the notification unit 13 irradiates the road surface with image light configured to make the white parts in the figure relatively bright, so that the driver perceives it as the image shown in Figure 5(A). A more detailed explanation will be given below.

[0024] Figures 6(A) to 6(C), Figures 7(A) to 7(C), Figures 8(A) to 8(B), Figures 9(A) to 9(B), Figures 10(A) to 10(B) and Figure 11 are each figures for explaining an image drawing method by the image drawing device 1.

[0025] 6(A), the height of the installed position (specifically, the light emission point) p0 of the image rendering device 1 relative to the road surface is defined as h. The position p0 projected onto the road surface is defined as p1. The height h can be defined as the length between positions p0 and p1.

[0026] 6A, let θ1 be the angle formed by the line connecting positions p0 and p1 and the illumination light axis ax of the notification unit 13. In other words, θ1 can be said to be the angle formed by the vertical direction and the illumination light axis ax.

[0027] As shown in Figure 6(B), the angle between the direction perpendicular to the direction of the road lanes from position p1 and the axis of the projection of the illumination light axis ax onto the road surface is defined as θ2. The angle θ2 can also be considered an angle (horizontal rotation angle) indicating the orientation of the illumination light axis ax on the road surface. When the direction of the illumination light axis ax is determined by reflecting angles θ1 and θ2, the point where the illumination light axis ax intersects with the road surface is defined as position p2.

[0028] As shown in Figure 6(C), the rotation angle of the illumination light axis ax around the axis is defined as θ3. When the direction of the illumination light axis ax is determined based on the angle θ3, the point where the illumination light axis ax intersects with the road surface is defined as position p3. Furthermore, as shown in Figure 7(A), the distance between positions p0 and p3 is defined as the illumination distance PL.

[0029] The image rendering device 1 of this embodiment uses these three angles θ1 (first angle), θ2 (second angle), and θ3 (third angle), the height h, and the irradiation distance PL as parameters.

[0030] The height h is a parameter determined when the image rendering device 1 is installed. The values ​​of angles θ1, θ2, and θ3 and the illumination distance PL are provisionally determined depending on the desired position of the image S. In the image rendering device 1 of this embodiment, by setting the angle θ2, the illumination direction of the image light forming the image S is aligned with the driver's direction of travel (the so-called pro-beam direction). In other words, when considering an axis perpendicular to the direction of the road lane from position p1 as a reference, the direction of the illumination light axis ax is further in the direction of travel than this perpendicular axis. Since no light travels directly toward the driver, glare toward the driver of the vehicle can be reduced. On the other hand, setting the angle θ2 rotates the illumination direction of the image light, which can make it difficult to illuminate the image S aligned with the lane. However, by setting the angle θ3 and rotating the illumination light axis ax around the axis, it becomes possible to render the image S aligned with the driver's line of sight and the lane.

[0031] As shown in Fig. 7(B), for a pyramid that is the field of view (FOV) of the image rendering device 1, the road surface is set as a cutting plane and the pyramid is cut to calculate an illumination range R on the road surface (see Fig. 3). In detail, as shown in Fig. 9(A), the vertices of the illumination range R obtained by cutting the road surface as a cutting plane in the field of view of the image rendering device 1 are designated as (1) to (4). Then, as shown in Fig. 9(B), the road surface including the vertices (1) to (4) is designated as an xy plane, and the coordinates of the vertices are designated as (x1, y1), (x2, y2), (x3, y3), and (x4, y4).

[0032] Based on the calculation result of the illumination range R, length L and width w are determined as parameters indicating the size of image S to be drawn within illumination range R, as shown in Fig. 7(C). The length L and width W set here are set so that the image will look appropriate from the driver's perspective, taking into consideration the line of sight and the angle of that line of sight (for example, the angle relative to the horizontal direction) of the driver who is ultimately desired to view image S in an appropriate state. For example, length L and width W are set taking into consideration the speed limit of the road on which the road light 100 is installed, as well as the distance in meters from the drawing position of the image that the driver is desired to view.

[0033] Once the size of image S is set, as shown in Fig. 8(A), a square or rectangular frame is set that surrounds image S so as to include the outermost part of image S in a planar view, and the coordinates of each vertex of the frame are calculated. In the illustrated example, a rectangular frame is set, and the coordinates of each vertex (x6, y6), (x7, y7), (x8, y8), and (x9, y9) are calculated. Furthermore, as shown in Fig. 8(B), the coordinates of each vertex of illumination range R are expressed as (x1, y1), (x2, y2), (x3, y3), and (x4, y4).

[0034] 10(A), each coordinate (x1, y1), (x2, y2), (x3, y3), (x4, y4) is connected by a straight line, and each coordinate (x6, y6), (x7, y7), (x8, y8), (x9, y9) is placed within the rectangle. If any one of the coordinates (x6, y6), (x7, y7), (x8, y8), (x9, y9) is not within the rectangle, the above-mentioned angles θ1, θ2, θ3 or the irradiation distance PL are appropriately increased or decreased so that each coordinate (x6, y6), (x7, y7), (x8, y8), (x9, y9) is placed within the rectangle.

[0035] As shown in FIG. 10(B), the road surface is defined as the x'y' plane, and the projection plane of the image drawing device 1 is defined as the x"y" plane. The coordinates of the three-dimensional space in which these two planes exist are defined in the XYZ coordinate system. In this case, the XYZ coordinates are expressed by the following equations, where A to I are coefficients, respectively.

number

[0036] The relationship between the x'y' plane and the x"y" plane is expressed by the following equation.

number

[0037] Dividing the previous equation by the denominator gives us the following equation:

number

[0038] The above formula can be rearranged to give the following formula:

number

[0039] Using the above formula, the relationship between the x'y' plane and the x''y'' plane (see FIG. 11) is expressed as follows:

number

[0040] Converting the above equation into a matrix gives the following equation:

number

[0041] When the above equation is converted into an inverse matrix, the coefficients are expressed as follows:

number

[0042] If we use the above coefficients and put them into the determinant for the homography transformation (projection transformation) below, we get the following equation.

number

[0043] The above formula can be converted to the following formula. Image correction can be performed using this formula. Note that the coordinate values ​​of each vertex can be obtained by replacing x'1, y'1, x"1, y"1 with a set of x'2, y'2, x"2, y"2, a set of x'3, y'3, x"3, y"3, or a set of x'4, y'4, x"4, y"4. In other words, by using this conversion formula, image data can be obtained that will produce an appropriate image S when projected onto the road surface, and image light to be irradiated by the notification unit 13 can be obtained based on this image data.

number

[0044] Figure 12 is a flowchart showing the flow of the image conversion process described above. The flow of the image conversion process will be explained below with reference to this flowchart. Note that the order of the processes shown here can be changed as long as no contradictions or inconsistencies occur in the results of the information processing, and other processes not explicitly shown here can also be added.

[0045] The notification control unit 12 sets the height h of the installation position of the image drawing device 1 (step S11). Specifically, for example, the height h is set based on data that is input in advance and stored in a memory (not shown).

[0046] Next, the notification control unit 12 allocates the drawing content and provisionally determines the direction of the irradiation optical axis (step S12). Specifically, the length L and width w, which are parameters indicating the size of the image S drawn within the irradiation range R, are determined (see FIG. 7(C)). In addition, provisional values ​​are determined for the angles θ1, θ2, θ3 and the irradiation distance PL, which are parameters specifying the direction of the irradiation optical axis ax (see FIG. 7(A)).

[0047] Next, the notification control unit 12 optimizes the illumination range based on the drawing content and the drawing position (step S13). Specifically, the coordinates (x6, y6), (x7, y7), (x8, y8), and (x9, y9) of each vertex of the frame surrounding the image S are calculated (see FIG. 8A). In addition, the coordinates (x1, y1), (x2, y2), (x3, y3), and (x4, y4) of each vertex of the illumination range R are calculated (see FIG. 8B). Then, if the frame surrounding the image S does not fit within the illumination range R, the illumination range R is optimized by adjusting the values ​​of the angles θ1, θ2, and θ3 and the illumination distance PL.

[0048] Next, the notification control unit 12 generates a drawing image to be output to the notification unit 13 according to the optimized illumination range R (step S14). Specifically, image data of the drawing image is generated by performing image conversion processing (projective transformation) based on the above-mentioned relational expression (see FIG. 11, etc.). This image data is output to the notification unit 13, whereby image drawing on the road surface based on the drawing image is executed (step S15).

[0049] Note that by performing the processes shown in steps S11 to S14 above in advance to generate a drawing image and storing the image data of the drawing image in a memory (not shown), the notification control unit 12 can read the image data from the memory as appropriate and supply it to the notification unit 13 during actual operation, thereby drawing the image on the road surface. Also, by storing image data of multiple drawing images each with different content in memory, it is possible to timely draw images on the road surface with content that corresponds to the road conditions. An example of the flow of information processing in this case is shown below.

[0050] 13 is a flowchart showing the operation procedure for drawing an image on the road surface according to the road conditions. Note that the order of the processes shown here can be changed as long as no contradictions or inconsistencies occur in the results of the information processing, and other processes not explicitly shown here can also be added.

[0051] The image processing unit 21 of the autonomous control unit 11 detects a predetermined object existing on the road. For example, a vehicle or a pedestrian as shown in Fig. 2 is detected as the object. If no object is detected on the road (step S21; NO), the process of step S21 is repeated.

[0052] If an object is detected (step S21; YES), and if drawing content is specified (step S22; YES), the notification control unit 12 selects image data of a drawing image corresponding to the specified drawing content (step S23) and outputs the image data to the notification unit 13. The drawing content is specified, for example, when communication data transmitted from an external device (not shown) is received by the signal receiving unit 24 of the communication unit 14 and the received communication data is provided to the notification control unit 12. As an example, a right turn symbol is specified as the drawing content to notify a vehicle traveling in a specific lane (for example, vehicle 110 shown in FIG. 2) that a lane change is required due to road construction or the like ahead.

[0053] On the other hand, when an object is detected (step S21; YES), if the drawing content is not specified (step S22; NO), the notification control unit 12 selects image data of a drawing image according to the situation of the detected object (step S24) and outputs the image data to the notification unit 13. As an example, when there is a pedestrian crossing the road, image data of a drawing image for drawing a warning symbol (for example, an exclamation mark) on the road surface ahead of vehicles in each lane is selected.

[0054] The notification unit 13, which has received the image data of the image for drawing, performs road surface drawing using the image data (step S25). In the example described above, an image of a right turn symbol is drawn on the road surface, or a symbol calling attention is drawn on the road surface. Then, the process returns to step S21.

[0055] According to the above embodiment, it is possible to draw an image in a more appropriate state on the target surface ahead of the subject.

[0056] It should be noted that the present disclosure is not limited to the contents of the above-described embodiment, and various modifications can be made within the scope of the gist of the present disclosure. For example, in the above-described embodiment, road surface drawing is performed using a drawing image obtained in advance, but the drawing position and drawing content may be determined in real time according to road conditions, and a drawing image may be generated by performing the same image conversion process as described above.

[0057] Furthermore, although the above-described embodiment assumes that the target surface to be drawn is a road surface, the target surface is not limited to this. Examples of target surfaces include the surface of a passageway or corridor floor installed inside or outside a building, the surface of a sidewalk, the wall surface of a tunnel, the floor surface of a station platform, the surface of a runway at an airport, the surface of a parking lot or bicycle parking area, the deck floor of a car ferry, and the surface of a driving lane on a toll road.

[0058] Furthermore, the device according to the present disclosure does not necessarily have to be fixed to a specific location, and may be configured to be movable. Furthermore, in the above-described embodiment, monochromatic light is assumed as image light for the sake of simplicity, but this is not limited thereto, and image light may be generated using light of multiple colors.

[0059] The present disclosure has the following additional features. (Appendix 1) A device for rendering an image to be visually recognized by a predetermined target person, a notification unit configured to be able to irradiate image light, which is light for drawing the image on a target surface ahead of the subject; a control unit that supplies a drawing image for generating the image light to the notification unit; Including, the notification unit is configured to irradiate the image light toward the target surface forward of an installation position of the notification unit based on a traveling direction of the target person, an irradiation range of the image light by the notification unit is set based on a plane obtained by cutting a pyramid that is a field of view of the image light with the target surface as a cutting plane; The image is set to fit within the illumination range and to be visible in a predetermined state when viewed by the subject, the drawing image supplied from the control unit to the notification unit is obtained by projecting the image on the target surface onto a projection surface of the notification unit; Image drawing device. (Appendix 2) a direction of the irradiation optical axis of the image light by the notification unit can be determined by at least a first angle which is an angle between the irradiation optical axis and a vertical direction, a second angle which indicates an orientation of an axis of the irradiation optical axis projected onto the target surface within the target surface, and a third angle which is a rotation angle of the irradiation optical axis around the axis, adjusting a direction of the illumination optical axis based on the first angle, the second angle, and the third angle so that the image falls within the illumination range; 2. An image rendering device according to claim 1. (Appendix 3) The image includes content that gives a predetermined warning to the subject. 3. An image drawing device according to claim 1 or 2. (Appendix 4) the control unit is configured to be able to detect the presence of a target object including the target person or a moving body on which the target person is riding, the control unit controls the notification unit to generate the image light by supplying the drawing image to the notification unit when the target object is present; 4. An image drawing device according to any one of appendices 1 to 3. (Appendix 5) the control unit supplies the drawing image, the content of which corresponds to the state of the target object, to the notification unit; 5. An image rendering device according to claim 4. (Appendix 6) the control unit controls the notification unit to generate the image light using the drawing image prepared in advance. 6. An image drawing device according to any one of appendices 1 to 5. (Appendix 7) the control unit controls the notification unit to generate the image light using the drawing image generated in real time. 6. An image drawing device according to any one of appendices 1 to 5. (Appendix 8) The subject is a driver of a vehicle, The target surface is a road surface that exists ahead in the traveling direction of the vehicle on a road on which the vehicle is traveling. An image drawing device according to any one of appendices 1 to 7. (Appendix 9) The drawing image is setting the height of the installation position of the notification unit; Based on the height, the image is allocated to an irradiation range of the image light by the notification unit, and an irradiation optical axis of the image light is tentatively determined. Optimizing the illumination range based on the image and its drawing position; generating the drawing image in accordance with the optimized irradiation range; is generated in advance by An image drawing device according to any one of appendices 1 to 8. (Appendix 10) The control unit setting the height of the installation position of the notification unit; Based on the height, the image is allocated to an irradiation range of the image light by the notification unit, and an irradiation optical axis of the image light is tentatively determined. Optimizing the illumination range based on the image and its drawing position; generating the drawing image in accordance with the optimized irradiation range; An image drawing device according to any one of appendices 1 to 8. (Appendix 11) A road light comprising the image drawing device according to any one of Supplementary Notes 1 to 10. [Explanation of symbols]

[0060] 1: Image drawing device, 2: Lighting device, 10: Camera, 11: Autonomous control unit, 12: Notification control unit, 13: Notification unit, 14: Communication unit, 21: Video processing unit, 22: Signal processing unit, 23: Signal transmission unit, 24: Signal reception unit, 100: Road light, 110, 120: Vehicle, 130: Pedestrian

Claims

1. A device for rendering an image to be visually recognized by a predetermined target person, a notification unit configured to be able to irradiate image light, which is light for drawing the image on a target surface ahead of the subject; a control unit that supplies a drawing image for generating the image light to the notification unit; Including, the notification unit is configured to irradiate the image light toward the target surface forward of an installation position of the notification unit based on a traveling direction of the target person, an irradiation range of the image light by the notification unit is set based on a plane obtained by cutting a pyramid that is a field of view of the image light with the target surface as a cutting plane; The image is set to fit within the illumination range and to be visible in a predetermined state when viewed by the subject, the drawing image supplied from the control unit to the notification unit is obtained by projecting the image on the target surface onto a projection surface of the notification unit; Image drawing device.

2. a direction of the irradiation optical axis of the image light by the notification unit can be determined by at least a first angle which is an angle between the irradiation optical axis and a vertical direction, a second angle which indicates an orientation of an axis of the irradiation optical axis projected onto the target surface within the target surface, and a third angle which is a rotation angle of the irradiation optical axis around the axis, adjusting a direction of the illumination optical axis based on the first angle, the second angle, and the third angle so that the image falls within the illumination range; 2. The image drawing device according to claim 1.

3. The image includes content that gives a predetermined warning to the subject.

2. The image drawing device according to claim 1.

4. the control unit is configured to be able to detect the presence of a target object including the target person or a moving body on which the target person is riding, the control unit controls the notification unit to generate the image light by supplying the drawing image to the notification unit when the target object is present; 2. The image drawing device according to claim 1.

5. the control unit supplies the drawing image, the content of which corresponds to the state of the target object, to the notification unit; 5. The image drawing device according to claim 4.

6. the control unit controls the notification unit to generate the image light using the drawing image prepared in advance.

2. The image drawing device according to claim 1.

7. the control unit controls the notification unit to generate the image light using the drawing image generated in real time.

2. The image drawing device according to claim 1.

8. The subject is a driver of a vehicle, The target surface is a road surface that exists ahead in the traveling direction of the vehicle on a road on which the vehicle is traveling.

2. The image drawing device according to claim 1.

9. The drawing image is setting the height of the installation position of the notification unit; Based on the height, the image is allocated to an irradiation range of the image light by the notification unit, and an irradiation optical axis of the image light is tentatively determined. Optimizing the illumination range based on the image and its drawing position; generating the drawing image in accordance with the optimized irradiation range; is generated in advance by 2. The image drawing device according to claim 1.

10. The control unit setting the height of the installation position of the notification unit; Based on the height, the image is allocated to an irradiation range of the image light by the notification unit, and an irradiation optical axis of the image light is tentatively determined. Optimizing the illumination range based on the image and its drawing position; generating the drawing image in accordance with the optimized irradiation range; 2. The image drawing device according to claim 1.

11. A road light comprising the image drawing device according to claim 1.

Images