Projection control apparatus, projection system, method, and program

Abstract

To prevent a contact accident of a moving body.SOLUTION: The projection control device estimates a movement locus when a moving body turns according to a situation of the moving body on a road surface, and when there is an obstacle in a range of the estimated movement locus, causes a projection device installed on the moving body to project a projection image onto the obstacle in the range of the movement locus.SELECTED DRAWING: Figure 8

Description

[Technical Field]

[0001] The present disclosure relates to a projection control device, a projection system, a method, and a program. [Background technology]

[0002] Mobile vehicles such as forklifts are used in facilities such as factories and logistics warehouses. A specific configuration of this type of mobile vehicle is described, for example, in Patent Document 1. The mobile vehicle described in Patent Document 1 uses a camera to capture images of areas that are blind spots due to cargo and projects the images using a projector in a position where the driver can see them. This allows the driver to perform driving operations while visually checking the blind spots on the projected image. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 7057052 Summary of the Invention [Problem to be solved by the invention]

[0004] Mobile vehicles such as forklifts have large differences in the inner and outer wheels when turning. Therefore, for example, if the timing of steering is incorrect, the vehicle body is likely to come into contact with aisles in a facility or with luggage placed in the facility. The projected image in Patent Document 1 makes it difficult to determine whether such contact will occur.

[0005] In view of the above circumstances, one advantage of the embodiments of the present disclosure is to provide a projection control device, a projection system, a method, and a program suitable for preventing collision accidents involving moving objects. [Means for solving the problem]

[0006] A projection control device according to one embodiment of the present disclosure estimates a movement trajectory of a moving body when the moving body turns according to the state of the moving body on the road surface, and if there is an obstacle within the range of the estimated movement trajectory, causes a projection device installed on the moving body to project a projection image onto the obstacle within the range of the movement trajectory. [Effects of the Invention]

[0007] According to an embodiment of the present disclosure, there are provided a projection control device, a projection system, a method, and a program suitable for preventing collision accidents involving moving objects. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a schematic external view of a moving body according to an embodiment of the present disclosure. [Figure 2] FIG. 1 is a block diagram of an image projection system mounted on a moving object according to an embodiment of the present disclosure. [Figure 3] 1A and 1B are diagrams illustrating an example of the angle of view of each device installed in a moving body according to an embodiment of the present disclosure. [Figure 4] 10A and 10B are diagrams illustrating a trajectory when a moving body turns according to an embodiment of the present disclosure. [Figure 5] 10A and 10B are diagrams illustrating a trajectory when a moving body turns according to an embodiment of the present disclosure. [Figure 6] 1 is a diagram illustrating an interference range between a moving body and an object according to an embodiment of the present disclosure. FIG. [Figure 7] 1 is a diagram illustrating an interference range between a moving body and an object according to an embodiment of the present disclosure. FIG. [Figure 8] FIG. 10 is a diagram illustrating an example of a projected image according to an embodiment of the present disclosure. [Figure 9] FIG. 10 is a diagram illustrating an example of a projected image according to an embodiment of the present disclosure. [Figure 10] FIG. 10 is a diagram illustrating an example of a projected image according to an embodiment of the present disclosure. [Figure 11] FIG. 10 is a diagram illustrating an example of a projected image according to an embodiment of the present disclosure. [Figure 12] FIG. 10 is a diagram illustrating an example of a projected image according to an embodiment of the present disclosure. [Figure 13] 10 is a flowchart illustrating a process executed by a projection control device according to an embodiment of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0009] The following description relates to a projection control device, a projection system, a method, and a program according to an embodiment of the present disclosure. Common or corresponding elements are designated by the same or similar reference numerals, and redundant descriptions are appropriately simplified or omitted. FIG. 1 shows a schematic top view, a schematic side view, and a schematic front view of a projection system 1. The projection system 1 shown in FIG. 2 includes a mobile object 20, which is a forklift capable of transporting cargo within a facility such as a factory, a projection control device 10, an in-vehicle sensor 22, external sensors 24R and 24L, and projectors 30R and 30L. For convenience, the cargo loaded on the mobile object 20 of the projection system 1 is indicated by a dotted line in FIG. 1. Hereinafter, for convenience, the external sensors 24R and 24L may be collectively referred to as the "external sensor 24." Furthermore, the projectors 30R and 30L may be collectively referred to as the "projector 30."

[0010] The mobile body 20 is not limited to a forklift, but may be any other type of mobile body that can travel within a facility. The mobile body 20 is not limited to a manned mobile body that travels with an operator (driver) on board, but may be replaced with an unmanned forklift, an AGV (Automated Guided Vehicle), a robot that can walk on multiple legs, or the like. The mobile body 20 is not limited to a body intended for transporting luggage or the like, but may be replaced with a robot that patrols, inspects, cleans, or the like within a site or building. The mobile body 20 is equipped with a projection control device 10, an in-vehicle sensor 22, an outside-vehicle sensor 24, and a projector 30.

[0011] Note that FIG. 2 merely shows one example of the configuration of the projection system 1. For example, the projection control device 10 may be built into the projector 30. For example, the storage 14 may not be a component of the projection control device 10, but may be an element provided externally to the projection control device 10. Furthermore, the projection system 1 may include other elements (e.g., a display, a speaker, etc.) not shown in FIG. 2. The projection system 1 may be configured not to include some of the elements shown in FIG. 2. In this way, there is a degree of freedom in designing the configuration of the projection system 1 including the projection control device 10, and various embodiments are possible.

[0012] The projection control device 10 includes an MCU (Micro Controller Unit) 12, a storage 14, and a communication interface 16. The MCU 12 is an example of a computer. The MCU 12 may be, for example, a single processor or a multiprocessor and includes at least one processor. When multiple processors are included, the MCU 12 may be packaged as a single device or may be configured as multiple physically separated devices within the projection control device 10. The MCU 12 may also be referred to as, for example, a control unit, a CPU (Central Processing Unit), or an MPU (Micro Processor Unit). The storage 14 may be, for example, a non-volatile semiconductor memory such as a flash memory, an EPROM (Erasable Programmable ROM), or an EEPROM (Electrically Erasable Programmable ROM), a HDD (Hard Disk Drive), or an SSD (Solid State Drive). The storage 14 stores various programs and data. For example, the storage 14 stores a projection control program 142 and an image library 144. The MCU 12 executes the projection control program 142 to perform various processes according to an embodiment of the present disclosure (such as projecting an image by the projector 30). The communication interface 16 is an interface that communicatively connects the in-vehicle sensor 22, the out-vehicle sensor 24, and the projector 30 to the MCU 12.

[0013] As shown in FIG. 1 , the interior sensor 22 is installed above the driver's seat. The interior sensor 22 is an example of a sensor for acquiring various pieces of information about the driver's seat. The interior sensor 22 is, for example, a camera. The interior sensor 22 acquires images of the steering wheel, forward / reverse lever, turn signal (blinker) lever, etc., and outputs them to the projection control device 10. The MCU 12 of the projection control device 10 analyzes the images captured by the interior sensor 22 to acquire various pieces of information, such as the steering angle of the steering wheel, the position of the forward / reverse lever, and the position of the turn signal lever. The MCU 12 may be connected to, for example, an ECU (Electronic Control Unit) of the mobile object 20. In this case, the MCU 12 can communicate with the ECU to acquire various signals indicating driving control information (information such as the steering angle and traveling direction). That is, the MCU 12 can acquire various pieces of information, such as the steering angle of the steering wheel, the position of the forward / reverse lever, and the position of the turn signal lever, by communicating with the ECU. In this case, the interior sensor 22 may be omitted from the projection system 1.

[0014] As shown in FIG. 1, the exterior sensor 24R and the projector 30R are attached to the right side of the vehicle body. The exterior sensor 24L and the projector 30L are attached to the left side of the vehicle body. The exterior sensor 24 is an example of a sensor for acquiring information about the surroundings of the moving object 20. The exterior sensor 24 is, for example, an RGB-D camera. The exterior sensor 24 is a camera equipped with a wide-angle lens or a fisheye lens, or a 360-degree camera, and is capable of capturing a wide range. The exterior sensor 24 acquires images and distance information about the surroundings of the moving object 20 and outputs them to the projection control device 10. The exterior sensor 24 may be a LiDAR (Light Detection and Ranging) device or another type of device capable of acquiring distance information about an object.

[0015] The MCU 12 of the projection control device 10 acquires, for example, information about the surroundings of the moving object 20 based on the captured image and distance information from the outside-vehicle sensor 24. The MCU 12 acquires information such as the positions and shapes of obstacles around the moving object 20, such as walls, grooves, and objects on the road surface, the positions of people around the moving object 20, and the projection area and shape of the image projected by the projector 30.

[0016] FIG. 3 shows an example of the angle of view (projection range) of the exterior sensor 24L and the angle of view (projection range) of the projector 30L installed on the moving object 20. In FIG. 3, the symbol PL indicates the angle of view of the projector 30L. The symbol CL indicates the angle of view of the exterior sensor 24L. The projector 30L can project an image (e.g., light) mainly onto the left side of the moving object 20. The exterior sensor 24L can mainly capture the left side of the moving object 20, including the projection range of the projector 30L. The projector 30R can project an image (e.g., light) onto the right side of the moving object 20, opposite the projector 30L. The exterior sensor 24R can capture the right side of the moving object 20, opposite the exterior sensor 24L, including the projection range of the projector 30R.

[0017] The image capturing range CL and the projection range PL shown in Fig. 3 are merely examples. The image capturing range CL and the projection range PL may be set to be wider than those shown in Fig. 3, for example, taking into account the amount of luggage carried on the moving object 20. Furthermore, it is not possible to project an image into a blind spot on the vehicle body or capture an image of such an area. The number of external sensors 24 and projectors 30 installed may be increased so that images can be projected into blind spots or images of such areas can be captured.

[0018] In this embodiment, the capturing range of the outside-vehicle sensor 24 and the projection range of the projector 30 are set in advance when the outside-vehicle sensor 24 and the projector 30 are installed on the moving object 20. In another embodiment, the user may be able to arbitrarily set the capturing range of the outside-vehicle sensor 24 and the projection range of the projector 30 for the projection system 1 after the installation of the outside-vehicle sensor 24 and the projector 30 has been completed. In this way, there is a degree of freedom in design and various embodiments are possible regarding the locations where the outside-vehicle sensor 24 and the projector 30 are to be installed, how many to install, and what ranges to set the capturing range and projection range.

[0019] For example, various materials that constitute a projection image are registered in the image library 144 of the storage 14. For example, icon images and message images for calling attention are registered.

[0020] 4 and 5, the movement trajectory of the mobile object 20 when turning when the steering wheel is turned to the maximum while the mobile object 20 is not moving forward or backward will be described. The symbol A0 shown in the upper diagram of FIG. 4 indicates the range of a circle whose center is point P0 and whose radius is the length of the line segment connecting point P0 and point P1. Point P0 is the midpoint of the line segment connecting the left and right front wheels of the mobile object 20 in the left-right direction. Point P1 indicates the point where the rear of the left and right rear end portions of the mobile object 20, which is the farthest part from point P0 on the rear side of the mobile object 20, meets when the mobile object 20 turns around point P0. The range A0 is the range enclosed by the trajectory A1 drawn by the rear end portion of the mobile object 20 when turning left (see the middle diagram of FIG. 4) and the trajectory A2 drawn by the rear end portion of the mobile object 20 when turning right (see the bottom diagram of FIG. 4). The range A0 mainly indicates the range where the rear side of the mobile object 20, which is difficult for the driver to keep an eye on, interferes with an object while the mobile object 20 is turning. The shape and size of the range A0 change as appropriate depending on the traveling speed, steering angle, etc. of the moving body 20. For example, if the moving body 20 is moving forward or backward during a turn, the range A0 has an elliptical shape with the axis extending from the front to the rear of the moving body 20 as the major axis, and as the traveling speed increases, the minor axis becomes relatively shorter. In other words, the slower the traveling speed, the longer the minor axis, and the more likely the moving body 20 and an object will come into contact (interfere) with each other during a turn.

[0021] The symbol B0 shown in the upper diagram of FIG. 5 indicates the range of a circle whose center is point P0 and whose radius is the length of the line segment connecting point P0 and point P2. Point P2 indicates the position where the front of the left and right tips (fork tips), which are the parts on the front side of the mobile object 20 that are farthest from point P0, come into contact when the mobile object 20 turns around point P0. Range B0 is the range enclosed by the trajectory B1 (see the middle diagram of FIG. 5) drawn by the fork tips of the mobile object 20 when turning left and the trajectory B2 (see the bottom diagram of FIG. 5) drawn by the fork tips of the mobile object 20 when turning right. Range B0 mainly indicates the range where the front end of the mobile object 20, which is difficult for the driver to keep an eye on while the mobile object 20 is turning, interferes with an object. The shape and size of range B0 change appropriately depending on the traveling speed, steering angle, load, etc. of the mobile object 20. For example, if the moving body 20 is moving forward or backward while turning, the moving body 20 will have an elliptical shape with the axis extending from the front to the rear of the moving body 20 being the major axis, and as the traveling speed increases, the minor axis becomes relatively shorter. In other words, the slower the traveling speed, the longer the minor axis becomes, and the more likely the moving body 20 and an object will come into contact (interfere) with each other while turning.

[0022] For convenience, the ranges A0 and B0, where the moving body 20 interferes with an object, are referred to as "object interference ranges." Projectors 30R and 30L, for example, project an image (e.g., light) into the object interference range. Outside sensors 24R and 24L have a range that includes the periphery of moving body 20, and can capture a wider range (in other words, capture a peripheral image) that includes the projection ranges of projectors 30R and 30L.

[0023] The driver can prevent collision accidents involving the moving body 20 by driving the moving body 20 while paying attention to objects that may be within the object interference range. In this embodiment, the moving body 20 is rear-wheel steering. Therefore, an outside wheel difference occurs when the moving body 20 moves forward. Some drivers, accustomed to standard front-wheel steering passenger cars, find it difficult to drive the moving body 20 precisely. Furthermore, there are many blind spots due to cargo. Because of work, the driver often reverses the vehicle, making it difficult to maintain a good field of vision. When reversing, the driver must be careful of the inside wheel difference. Due to these problems, it is not easy to prevent collision accidents involving the moving body 20, especially for drivers who are not accustomed to driving. Therefore, the projection control device 10 according to this embodiment is configured to visually inform the driver of objects that may be within the object interference range using a projected image by the projector 30.

[0024] The object interference range will be further explained using an example. As shown in the upper diagram of FIG. 6, when the steering wheel is turned sharply while moving forward and turning left, the object interference range will be, for example, ranges C1 and C2. As shown in the lower diagram of FIG. 6, when the steering wheel is turned sharply while moving forward and turning left at the same traveling speed as the moving body 20 in the upper diagram of FIG. 6, the object interference range behind the moving body 20 will be, for example, range C3. Ranges C1 and C3 are semi-elliptical ranges (semi-circular when not moving forward or backward) to the right of the moving body 20 according to the trajectory of the rear end of the moving body 20. Range C2 is semi-elliptical range (semi-circular when not moving forward or backward) to the left of the moving body 20 according to the trajectory of the tip of the fork of the moving body 20. As shown in FIG. 6, for the same traveling speed, the larger the steering angle, the wider the object interference range. Therefore, the more the steering wheel is turned, the more caution is required to prevent a collision accident. In this embodiment, when the moving body 20 changes its direction of travel while turning left, that is, when the steering wheel is steered counterclockwise, it is unified as a "left turn" regardless of whether the moving body 20 is moving forward or backward. When the moving body 20 changes its direction of travel while turning right, that is, when the steering wheel is steered clockwise, it is unified as a "right turn" regardless of whether the moving body 20 is moving forward or backward.

[0025] FIG. 7 is an example similar to FIG. 6 . As shown in the upper diagram of FIG. 7 , when the steering wheel is turned sharply during a left turn while reversing, ranges D1 and D2 become the object interference ranges, for example. As shown in the lower diagram of FIG. 7 , when the steering wheel is turned sharply during a left turn while reversing at the same traveling speed as the mobile object 20 in the upper diagram of FIG. 7 , range D3 becomes the object interference range behind the mobile object 20, for example. Range D1 is a semi-elliptical range (semi-circular when the mobile object 20 is not moving forward or backward) to the right of the mobile object 20, corresponding to the trajectory of the fork tips of the mobile object 20. Ranges D2 and D3 are semi-elliptical ranges (semi-circular when the mobile object 20 is not moving forward or backward) to the left of the mobile object 20, corresponding to the trajectory of the rear end of the mobile object 20. When reversing, as shown in FIG. 7 , the object interference range expands as the steering angle increases, given the same traveling speed.

[0026] FIG. 8 illustrates an example of an image projected by projector 30 when moving forward along a passageway in a facility and making a left turn. In the example illustrated in FIG. 8, moving object 20 approaches an L-shaped intersection that curves left. Therefore, the driver turns the steering wheel to the left. Projector 30 projects image 200 onto the road surface of the passageway in the object interference range when moving forward and making a left turn. Image 200 includes image 200R and image 200L. Image 200R is an image projected by projector 30R. Image 200L is an image projected by projector 30L. Image 200 may be a simple light, such as a spotlight, or may be an attention-grabbing image registered in image library 144. As illustrated in FIG. 8, an obstacle W, such as a wall on the right side of moving object 20, overlaps with the object interference range (in other words, image 200). Therefore, if the moving object 20 continues to turn left, the rear right end of the moving object 20 will come into contact with the obstacle W. Therefore, in the example of Fig. 8, the projection control device 10 controls the projector 30R to project a region 210R of the image 200R that is projected onto the obstacle W in a form different from other regions 220R (for example, a region of the image 200R that is projected onto the road surface).

[0027] The obstacle W and the road surface are not on the same plane. Therefore, in the example of FIG. 8, the image projected onto the obstacle W is distorted relative to the image projected onto the road surface. Therefore, the projection control device 10 projects an image (e.g., light) into the object interference range using the projector 30. The projection control device 10 uses the external sensor 24 to capture an image of the surroundings of the moving object 20, including the object interference range into which the image is projected. The projection control device 10 detects a distorted portion of the image projected by the projector 30 (in the example of FIG. 8, an area 210R projected onto the obstacle W) from the image captured by the external sensor 24. The projection control device 10 detects that the detected distorted portion, area 210R, contains an object that may become an obstacle (an object having a surface shape other than the road surface, such as a wall of a passageway, materials placed in a passageway, or a gutter beside the passageway). The projection control device 10 projects an image onto area 210R in a form that can be distinguished from area 220R, according to the position and shape of the detected distorted portion. As an example, the area 210R is projected in a color or pattern different from that of the area 220R. Therefore, the driver can easily recognize the area 210R. In the example of FIG. 8, by recognizing the image projected on the obstacle W (the image of the area 210R), the driver can understand that there is a possibility that the rear right end of the moving object 20 may come into contact with the obstacle W when turning left. This makes it possible to prevent a collision accident involving the moving object 20. The projection control device 10 can also estimate and detect an object that falls within the object interference range based on the image and distance image captured by the outside-vehicle sensor 24. In this case, there is no need for prior projection by the projector 30. As such, there are various patterns for detecting an object that falls within the object interference range.

[0028] Image 200 is projected in a shape and size that correspond to, for example, the traveling speed and steering angle. To more reliably prevent a collision accident, image 200 may be projected in a shape and size that correspond to the maximum steering angle (the perfect circle in FIG. 4). In addition, in the example of FIG. 8, there is no object that overlaps with image 200L (in other words, the object interference range on the fork tip side of vehicle 20). Therefore, projection of image 200L by projector 30L may be stopped. Narrowing the image projection range can further direct the driver's attention to area 210R where there is a possibility of collision. From a similar perspective, an image may be projected only on area 210R that requires attention to prevent a collision accident.

[0029] The driver's attention is likely to be directed toward the turning direction. In other words, the driver is unlikely to be directed toward the direction opposite to the turning direction. In the example of FIG. 8, the driver's attention is likely to be directed toward the left, which is the turning direction, and is unlikely to be directed toward the right, which is the opposite direction. However, the right rear end of the moving body 20 is likely to come into contact with the obstacle W. Therefore, a message image 300 that calls attention may be projected on the left front, which is the turning direction, where the driver's attention is likely to be directed. For example, the message image 300 is projected in a direction that is highly readable to the driver. By viewing the message image 300, the driver can further direct his attention to the area 210R.

[0030] An example of a projected image of the projector 30 when the mobile object 20 approaches an L-shaped intersection will be described with reference to FIG. 9. In the example of FIG. 9, the mobile object 20 is approaching a left-turning L-shaped intersection, but the driver has not turned the steering wheel. The projection control device 10 cannot detect the turning direction of the mobile object 20 based on steering angle information. Therefore, the projection control device 10 cannot determine the object interference range (in other words, the projection range of the projector 30). Therefore, in the example of FIG. 9, the object interference range (in other words, the projection range of the projector 30) is determined using map data within the facility and a position acquisition device. The map data is, for example, composed of data in a road network format that represents passages within the facility using nodes and links. The map data is stored, for example, in the storage 14. The position acquisition device is a device that acquires the current position of the mobile object 20. The position acquisition device is, for example, composed of a GPS (Global Positioning System) module, a DR (Dead Reckoning) sensor, a beacon, Bluetooth (registered trademark), Wi-Fi, or a combination thereof.

[0031] The projection control device 10 can predict that there is a high possibility that the mobile object 20 will turn left at an L-junction, based on the position of the mobile object 20 acquired by the position acquisition device, the traveling direction of the mobile object 20 estimated based on each acquired position, and the position of the L-junction managed by map data. Based on the prediction result, the projector 30 projects the image 200 (image 200R and image 200L) into the object interference range when making a left turn while moving forward.

[0032] In the example shown in FIG. 9, an obstacle W on the left side of the moving object 20 overlaps with the object interference range. Therefore, the projection control device 10 controls the projector 30L to project an area 210L of the image 200L that is projected onto the obstacle W in a form that is different from other areas 220L (for example, the area of ​​the image 200L that is projected onto the road surface). This allows the driver to easily recognize the area 210L. By recognizing the image projected onto the obstacle W (the image of the area 210L), the driver can understand that there is a possibility that the fork tips of the moving object 20 will come into contact with the obstacle W when turning left. This makes it possible to prevent a collision accident involving the moving object 20.

[0033] An example of the image projected by the projector 30 when the mobile object 20 approaches a T-junction will be described with reference to Fig. 10. In the example of Fig. 10, the mobile object 20 is approaching a T-junction, but the driver has not turned the steering wheel. Because it is a T-junction, it is difficult to predict whether the mobile object 20 will turn right or left, even when map data and a position acquisition device are used.

[0034] 10, the projection control device 10 projects an image 200 over the entire range including the object interference range when turning right while moving forward and the object interference range when turning left while moving forward. The projection control device 10 further projects an image onto an object that falls within the object interference range when turning right while moving forward or turning left while moving forward, in a form that can be distinguished from other areas within the image 200.

[0035] Specifically, the projection control device 10 projects images onto areas R1 and R2 on the obstacle W in a form that allows them to be distinguished from other areas in the image 200. Area R1 indicates an area that the rear end of the mobile object 20 may come into contact with when moving forward and turning right. Area R2 indicates an area that the fork tips of the mobile object 20 may come into contact with when moving forward and turning left. The projection control device 10 may project images of different forms onto each area so that the driver can distinguish between area R1 and area R2.

[0036] The projection control device 10 further projects a message image 300 for calling attention ahead of the moving object 20. The message image 300 includes both a message 300R for calling attention when turning right and a message 300L for calling attention when turning left.

[0037] Additionally, when turning right, there is a possibility that the rear left end of the moving object 20 will come into contact with the obstacle W (area R1). When turning left, there is a possibility that the tip of the left fork of the moving object 20 will come into contact with the obstacle W (area R2). In order to allow the driver to intuitively understand which part of the obstacle W may come into contact with the moving object 20 when turning right, the projection control device 10 may match the form of the attention drawing message 300R when turning right and the form of the image projected onto the area R1 (for example, they may be the same color). Similarly, in order to allow the driver to intuitively understand which part of the obstacle W may come into contact with the moving object 20 when turning left, the projection control device 10 may match the form of the attention drawing message 300L when turning left and the form of the image projected onto the area R2.

[0038] In the examples of FIGS. 8 to 10, image 200 is projected at the timing when a turning operation such as a right turn or a left turn occurs. Projecting image 200 at such timing effectively makes the driver aware of the need to prevent a collision accident that may occur when turning. However, a collision accident involving moving object 20 may occur even when traveling along a passage that is not a branch point, such as an L-junction, a T-junction, or a crossroads. Therefore, as shown in FIG. 11, for example, projection control device 10 may project image 200 constantly or when an obstacle W is detected within the object interference range. Projection control device 10 may also project message image 300 constantly or when an obstacle W is detected within the object interference range. Message image 300 is projected in an orientation that is highly readable to the driver.

[0039] The projection control device 10 can detect people around the moving object 20 based on the captured image and distance image captured by the outside-vehicle sensor 24. In the example of Fig. 12, when the projection control device 10 detects a person 5, it projects a message image 300 in an orientation that is highly readable to the detected person 5. This allows the person 5 to know in advance that the moving object 20 is approaching.

[0040] When a person 5 is detected, the projection control device 10 may project the image 200 into the object interference range regardless of whether or not there is an object within the object interference range. This allows the person 5 to visually check the range where caution is required to avoid contact with the moving object 20. Therefore, contact between the moving object 20 and the person 5 can be more reliably prevented.

[0041] The processing executed by the MCU 12 of the projection control device 10 will be described with reference to Fig. 13. For example, when the system of the projection control device 10 starts up in conjunction with the start of the engine of the mobile object 20, the execution of the processing shown in Fig. 13 begins. The processing shown in Fig. 13 is repeatedly executed at intervals of several milliseconds until, for example, the engine of the mobile object 20 is turned off and the system of the projection control device 10 is stopped.

[0042] The steps of the flowcharts shown in the embodiments of the present disclosure may be reordered to the extent that they are consistent. For example, although the processes of various steps are presented in an exemplary order in the embodiments of the present disclosure, they are not limited to the presented order. Furthermore, the steps of the flowcharts shown in the embodiments of the present disclosure may be performed in parallel or in a concurrent manner to the extent that they are consistent.

[0043] The MCU 12 acquires an interior image captured by the interior sensor 22 (step S101). The MCU 12 detects the traveling direction (forward or reverse), traveling speed, and steering angle of the moving object 20 based on the acquired interior image (step S102). For example, the MCU 12 detects the traveling direction of the moving object 20 from the position of the forward / reverse lever included in the interior image. The MCU 12 also detects the steering angle from the direction of the steering wheel included in the interior image. The MCU 12 may detect the traveling direction of the moving object 20 based on the positions of both the forward / reverse lever and the turn signal lever. In this case, the accuracy of detecting the traveling direction is improved.

[0044] If the steering angle is zero degrees while moving forward, the moving object 20 is moving straight and not turning. In this case (step S103: YES), the MCU 12 stops the projection of the image by the projector 30 (step S104) and ends the processing of this flowchart. That is, when the steering angle is zero degrees, the MCU 12 does not project the image onto the road surface except for the example in FIG. 11. By limiting the timing of image projection to when the moving object 20 is turning, it is possible to effectively make the driver aware of preventing a collision accident that may occur when turning.

[0045] If the steering angle is not zero degrees (step S103: NO), the MCU 12 estimates the object interference range (in other words, the movement trajectory) of the moving object 20 based on the traveling speed, traveling direction, and steering angle (including the turning direction) detected in step S102 (step S105). Here, as described above, the object interference range also changes depending on the traveling speed of the moving object 20. Therefore, the MCU 12 estimates the object interference range of the moving object 20 based not only on the traveling direction and steering angle of the moving object 20 but also on the traveling speed of the moving object 20. This improves the estimation accuracy of the object interference range. In this way, the MCU 12 estimates the movement trajectory when the moving object turns depending on the situation of the moving object (traveling direction, traveling speed, steering angle, etc.). Note that the MCU 12 detects the traveling speed of the moving object 20 from, for example, a speedometer included in the in-vehicle image. Furthermore, the MCU 12 can monitor the output of a vehicle speed sensor to detect the traveling speed of the moving object 20. In addition, the MCU 12 estimates the movement trajectory of the moving object 20 when the moving object 20 is moving forward on a road surface or when the moving object 20 is turning while stopped. As an example, when a forward left turn and a large steering angle are detected, the ranges C1 and C2 shown in the upper diagram of Fig. 6 are estimated as the object interference ranges.

[0046] The MCU 12 controls the projector 30 to project an image into the object interference range estimated in step S105 (step S106). That is, the MCU 12 projects an image (an example of light) by the projector 30 (an example of a projection device installed on the moving body) into the object interference range estimated in step S105 (an example of a range including a movement trajectory). The MCU 12 causes the projector 30 to adjust the projection range of the image according to the traveling speed and steering angle detected in step S102. The MCU 12 also causes the projector 30 to adjust the projection range of the image according to the traveling direction (i.e., forward or backward) of the moving body 20.

[0047] The MCU 12 acquires an outside-of-vehicle image captured by the outside-of-vehicle sensor 24 (step S107). The outside-of-vehicle image is, for example, an image of the surroundings of the moving object 20 including the object interference range onto which the image was projected in step S106.

[0048] The MCU 12 performs object detection processing based on the vehicle exterior image acquired in step S107 (step S108). Illustratively, the MCU 12 attempts to detect a distorted portion (an example of a portion other than the road surface) from the projected image captured in the vehicle exterior image. If no distorted portion is detected (step S108: NO), the MCU 12 ends the processing of this flowchart. In this case, since there is no object that could be an obstacle W within the object interference range, the MCU 12 may stop the projection of images by the projector 30. In other words, the MCU 12 projects images only at times when there is a high possibility of contact with an object. By projecting images only at such times, the driver can be more effectively made aware of preventing a collision accident.

[0049] If a distorted portion is detected (step S108: YES), the MCU 12 projects an identification image according to the position and shape of the object in the distorted portion (step S109). That is, the MCU 12 projects an image of a form (color, pattern, etc.) different from that of the road surface onto the area of ​​the object interference range where the distorted portion is detected. This allows the driver to easily recognize the object within the object interference range. This makes it possible to prevent a collision accident involving the moving object 20.

[0050] In step S109, the MCU 12 may project a message image (see FIGS. 8, 10, and 11) for the driver depending on the situation. If a person is detected around the moving object 20, the MCU 12 may project a message image (see FIG. 12) for the detected person.

[0051] The above is a description of exemplary embodiments of the present disclosure. The embodiments of the present disclosure are not limited to those described above, and various modifications are possible within the scope of the technical concept of the present disclosure. For example, an appropriate combination of embodiments explicitly exemplified in the specification or obvious embodiments is also included in the embodiments of the present application. For example, while the image 200 is projected in different forms onto the obstacle W and onto an object other than the obstacle W, the present invention is not limited to this, and the image 200 may be projected only onto the obstacle W. [Explanation of symbols]

[0052] 1: projection system, 10: projection control device, 20: moving body, 30: projector

Claims

1. Estimating a movement trajectory of the moving object when the moving object turns in accordance with the state of the moving object on the road surface; If an obstacle is present within the range of the estimated movement trajectory, a projection image is projected onto the obstacle within the range of the movement trajectory by a projection device installed on the moving body. A control unit is provided. Projection control device.

2. If the obstacle is present within the range of the estimated movement trajectory, the projection device projects the projection images in different forms for the obstacle and the object other than the obstacle within the range of the movement trajectory. The projection control device according to claim 1 .

3. The control unit acquiring a peripheral image including the periphery of the moving body captured by a camera installed on the moving body, the peripheral image including the range onto which the projection image is projected; Detecting the obstacle based on the acquired surrounding image; causing the projection device to project the projection image onto the detected obstacle; The projection control device according to claim 1 .

4. When the control unit detects the obstacle, the control unit causes the projection device to project a message image to call attention to the obstacle in an orientation that is highly readable by the driver of the moving object. The projection control device according to claim 3 .

5. When the control unit detects a person around the moving object by the sensor, the control unit controls the projection device to project a message image calling attention to the person in an orientation that is highly readable by the person. The projection control device according to claim 1 .

6. The control unit Detecting the traveling speed and steering angle of the moving body; causing the projection device to adjust the range in which the projection image is projected in accordance with the detected traveling speed and steering angle; The projection control device according to claim 1 .

7. the control unit does not cause the projection device to project the projection image when the steering angle is zero degrees. The projection control device according to claim 6 .

8. The control unit Detecting forward or backward movement of the moving body; adjusting the range in which the projection image is projected according to the detection result; The projection control device according to claim 1 .

9. A projection control device according to any one of claims 1 to 8; The moving body; the projection device; A projection system comprising:

10. Estimating a movement trajectory of the moving object when the moving object turns in accordance with the state of the moving object on the road surface; If an obstacle is present within the range of the estimated movement trajectory, a projection image is projected onto the obstacle within the range of the movement trajectory by a projection device installed on the moving body. Have a computer execute the process, method.

11. Estimating a movement trajectory of the moving object when the moving object turns in accordance with the state of the moving object on the road surface; If an obstacle is present within the range of the estimated movement trajectory, a projection image is projected onto the obstacle within the range of the movement trajectory by a projection device installed on the moving body. Have a computer execute the process, program.

Images