System and method for pedestrian projection

Abstract

There is a need for systems and methods for pedestrian projection. [Solution] The vehicle system of the vehicle is configured to include one or more processors, which receive sensor data from one or more vehicle sensors when the vehicle is traveling on the road, determine the position of a pedestrian based on the sensor data, perform vehicle-to-vehicle communication with a second vehicle indicating the position of the pedestrian, project an image onto the road based on the position of the pedestrian, determine the movement of the pedestrian, and correct the image projected onto the road based on the movement of the pedestrian.

Description

Technical Field

[0001] This specification relates to vehicle systems, particularly systems and methods for pedestrian projection.

Background Art

[0002] Many modern vehicles can communicate with each other through various communication technologies. As a result, vehicles may be able to warn each other about pedestrians and other road obstacles. Therefore, there is a need for systems and methods for pedestrian projection.

Summary of the Invention

[0003] In an embodiment, a vehicle system of a vehicle includes one or more processors, and the one or more processors are configured to receive sensor data from one or more vehicle sensors when the vehicle is traveling on a road, determine the position of a pedestrian based on the sensor data, perform vehicle-to-vehicle communication with a second vehicle indicating the position of the pedestrian, project an image on the road based on the position of the pedestrian, determine the movement of the pedestrian, and modify the image projected on the road based on the movement of the pedestrian.

[0004] In another embodiment, a method includes receiving sensor data from one or more vehicle sensors of a vehicle when the vehicle is traveling on a road, determining the position of a pedestrian based on the sensor data, performing vehicle-to-vehicle communication with a second vehicle indicating the position of the pedestrian, projecting an image on the road based on the position of the pedestrian, determining the movement of the pedestrian, and modifying the image projected on the road based on the movement of the pedestrian.

Brief Description of the Drawings

[0005] [Figure 1] FIG. 1 schematically depicts a vehicle system according to one or more embodiments shown and described herein. [Figure 2]Figure 2 shows a memory module of the vehicle system of Figure 1 according to one or more embodiments shown and described herein. [Figure 3] Figure 3 illustrates an exemplary situation for performing pedestrian projection according to one or more embodiments shown and described herein. [Figure 4] Figure 4 illustrates another exemplary situation for performing pedestrian projection according to one or more embodiments shown and described herein. [Figure 5] Figure 5 illustrates another exemplary situation for performing pedestrian projection according to one or more embodiments shown and described herein. [Figure 6] Figure 6 depicts an exemplary image produced by the vehicle system of Figure 1 according to one or more embodiments shown and described herein. [Figure 7A] Figure 7A depicts an exemplary image produced by the vehicle system of Figure 1 according to one or more embodiments shown and described herein. [Figure 7B] Figure 7B depicts another exemplary image produced by the vehicle system of Figure 1 according to one or more embodiments shown and described herein. [Figure 7C] Figure 7C depicts another exemplary image produced by the vehicle system of Figure 1 according to one or more embodiments shown and described herein. [Figure 8] Figure 8 shows a flowchart illustrating an exemplary method performed by the vehicle system of Figure 1 according to one or more embodiments shown and described herein. [Modes for carrying out the invention]

[0006] The embodiments shown in the drawings are illustrative and illustrative in nature and are not intended to limit the disclosure. The following detailed description of exemplary embodiments can be understood in conjunction with the following drawings, where similar structures are given the same reference numerals.

[0007] Embodiments disclosed herein include systems and methods for pedestrian projection. When a vehicle is traveling on a road, vehicle sensors are used to detect the presence and movement of a pedestrian. The vehicle then communicates with other vehicles (e.g., via vehicle-to-vehicle (V2V) communication) to warn them of the presence of a pedestrian. The two vehicles then project an image onto the road to indicate whether it is safe for the pedestrian to cross the road or whether the pedestrian should not cross the road. As the pedestrian walks across the road, the projection changes. By detecting pedestrians and projecting an image onto the road based on the pedestrian's position, the vehicle system can make other vehicles more aware of the pedestrian and pedestrians more aware of other vehicles. Furthermore, by modifying the projected image based on the pedestrian's movement, the projected image can dynamically respond to changes in circumstances, such as newly detected unexpected movements of vehicles or pedestrians. Therefore, the overall traffic flow will improve.

[0008] Referring here to the figure, Figure 1 depicts an exemplary vehicle system 100 included in a vehicle. In the example of Figure 1, the vehicle system 100 includes one or more processors 102, a communication path 104, one or more memory modules 106, a satellite antenna 108, one or more vehicle sensors 110, a data storage component 112, and one or more projection devices 114, the details of which are described in the following paragraphs.

[0009] Each of the one or more processors 102 is any device capable of executing machine-readable and executable instructions. Thus, the one or more processors 102 can be a controller, an integrated circuit, a microchip, a computer, or other computing device. The one or more processors 102 are coupled to a communication path 104 that provides signal interconnectivity between various modules of the vehicle system 100. Thus, the communication path 104 enables any number of processors 102 to communicate with one another, allowing the modules coupled to the communication path 104 to operate in a distributed computing environment. Specifically, each module operates as a node that transmits and / or receives data. As used herein, the term “communicatively coupled” means that the coupled components are able to exchange data signals with one another, such as electrical signals over a conductive medium, electromagnetic signals over air, optical signals over an optical waveguide, and equivalents thereof.

[0010] Therefore, the communication path 104 is formed from any medium capable of transmitting signals, such as conductive wires, conductive wiring, optical waveguides, or equivalents thereof. In some embodiments, the communication path 104 facilitates the transmission of radio signals, such as Wi-Fi, Bluetooth®, Near Field Communication (NFC), and equivalents thereof. Furthermore, the communication path 104 may be formed from a combination of mediums capable of transmitting signals. In one embodiment, the communication path 104 comprises a combination of conductive wiring, conductive wires, connectors, and a bus, which cooperate to enable the transmission of electrical data signals to components such as processors, memory, sensors, input devices, output devices, and communication devices. Thus, the communication path 104 comprises, for example, a vehicle bus such as a LIN bus, a CAN bus, a VAN bus, and equivalents thereof. In addition, it should be noted that the term “signal” means a waveform (e.g., electrical, optical, magnetic, mechanical, or electromagnetic) that can move through a medium, such as DC, AC, sine wave, triangular wave, square wave, vibration, and equivalents thereof.

[0011] The vehicle system 100 includes one or more memory modules 106 coupled to a communication path 104. Each of the memory modules 106 comprises RAM, ROM, flash memory, a hard drive, or any device capable of storing machine-readable and executable instructions, such that machine-readable and executable instructions can be accessed by one or more processors 102. The machine-readable and executable instructions comprise, for example, machine code executed directly by the processor, or logic or algorithms written in any programming language of any generation (e.g., 1GL, 2GL, 3GL, 4GL, or 5GL), such as assembly language, object-oriented programming (OOP), scripting language, or microcode, which are compiled or assembled into machine-readable and executable instructions and stored in one or more memory modules 106. Alternatively, the machine-readable and executable instructions may be written in a hardware description language (HDL), such as logic implemented via a field-programmable gate array (FPGA) configuration or an application-specific integrated circuit (ASIC), or their equivalents. Therefore, the methods described herein are implemented in any conventional computer programming language, either as pre-programmed hardware elements or as a combination of hardware and software components.

[0012] Continuing to refer to Figure 1, the vehicle system 100 includes a satellite antenna 108 coupled to a communication path 104 such that the communication path 104 connects the satellite antenna 108 to other modules of the vehicle system 100 in a communicative manner. The satellite antenna 108 is configured to receive signals from Global Positioning System (GSO) satellites. Specifically, in one embodiment, the satellite antenna 108 includes one or more conductive elements that interact with electromagnetic signals transmitted by GSO satellites. The received signals are converted into data signals indicating the position of the satellite antenna 108 (e.g., latitude and longitude), and thus the position of the vehicle, including the vehicle system 100.

[0013] The vehicle system 100 comprises one or more vehicle sensors 110. Each of the one or more vehicle sensors 110 is coupled to a communication path 104 and is communicably coupled to one or more processors 102. The one or more vehicle sensors 110 include, but are not limited to, LiDAR sensors, RADAR sensors, optical sensors (e.g., cameras, laser sensors), proximity sensors, position sensors (e.g., GPS modules), and equivalents thereof. In some examples, the vehicle sensors 110 collect data used to perform autonomous driving functions.

[0014] Continuing to refer to Figure 1, the vehicle system 100 includes a data storage component 112. The data storage component 112 stores data used by various components of the vehicle system 100. In addition, the data storage component 112 stores data collected by the vehicle sensors 110.

[0015] The vehicle system 100 includes one or more projection devices 114. The one or more projection devices 114 project an image onto the road. The one or more projection devices 114 are arranged at various positions on the vehicle to project images in various directions. For example, a projection device 114 at the front of the vehicle projects an image forward of the vehicle, a projection device 114 at the side of the vehicle projects an image to the side of the vehicle, and a projection device 114 at the rear of the vehicle projects an image behind the vehicle.

[0016] In some embodiments, one or more projection devices 114 project various images onto the road. For example, an image is generated by a vehicle system 100 (e.g., on a display screen), and a light source is shone on the image to project it onto the road. In some examples, one or more projection devices 114 project images onto other surfaces (e.g., vehicle windows, road signs, buildings or road infrastructure, and their equivalents) rather than onto the road. The images projected by one or more projection devices 114 consist of various shapes, text, and colors. In some examples, the projected images are animated. The images projected by one or more projection devices 114 are discussed in more detail below.

[0017] Referring here to Figure 2, a memory module 106 of the vehicle system 100 is schematically shown. One or more memory modules 106 include a sensor data receiving module 200, a pedestrian detection module 202, an environment detection module 204, a communication module 206, and an image projection module 208. Each of the sensor data receiving module 200, the pedestrian detection module 202, the environment detection module 204, the communication module 206, and the image projection module 208 is a program module in the form of an operating system, application program module, and other program modules stored in one or more memory modules 106. In some embodiments, the program modules are stored in a remote storage device that communicates with the vehicle system 100. Such program modules include, but are not limited to, routines, subroutines, programs, objects, components, data structures, and equivalents for performing a particular task or for performing a particular data type as described below.

[0018] As disclosed herein, the sensor data receiving module 200 receives data from the vehicle sensor 110. As discussed above, the vehicle sensor 110 includes various sensor types such as cameras, Lidar, Radar, and their equivalents. The vehicle sensor 110 captures images, Lidar, Radar, or other data that is received by the sensor data receiving module 200. The received data indicates information about the vehicle's surrounding environment. In particular, the sensor data captures images or other data regarding pedestrians in the vicinity of the vehicle. In some examples, the sensor data indicates environmental conditions around the vehicle (such as weather, visibility, and their equivalents). The sensor data received by the sensor data receiving module 200 is used by the vehicle system 100 to identify pedestrians and / or environmental conditions around the vehicle, as will be described in detail below.

[0019] Continuing to refer to FIG. 2, as disclosed herein, the pedestrian detection module 202 identifies one or more pedestrians based on the sensor data received by the sensor data receiving module 200. In particular, the pedestrian detection module 202 determines the position of the pedestrians and determines the movement of the pedestrians. In an embodiment, the pedestrian detection module 202 analyzes the sensor data received by the sensor data receiving module 200 and uses various image processing or other techniques to identify the position and movement of the pedestrians.

[0020] FIG. 3 shows an example where vehicles 300 and 302 are approaching a pedestrian 306 crossing a road 304 while traveling on the road 304. Vehicles 300 and / or 302 include the vehicle system 100 of FIG. 1. In the example of FIG. 3, the sensor data receiving module 200 of vehicle 300 receives sensor data captured by the vehicle sensor 110 of vehicle 300. The pedestrian detection module 202 of vehicle 300 detects the pedestrian 306. The pedestrian detection module 202 determines the position of the pedestrian 306 and continues to monitor the position of the pedestrian 306 as the pedestrian 306 walks across the road 304.

[0021] Referring back to FIG. 2, as disclosed herein, the environmental detection module 204 determines one or more environmental conditions around the vehicle based on the sensor data received by the sensor data receiving module 200. The environmental detection module 204 uses various image processing or other techniques to identify the environmental conditions. The environmental detection module 204 identifies various environmental conditions such as, for example, weather conditions (e.g., rain, snow, fog, and equivalents thereof), lighting conditions or visibility conditions, road irregularities (e.g., holes or obstacles), and equivalents thereof.

[0022] In some examples, the environmental detection module 204 detects the presence of other vehicles or other road agents based on the sensor data received by the sensor data receiving module 200. In the example of FIG. 3, the environmental detection module 204 of vehicle 300 detects vehicle 302 approaching from behind vehicle 300 along road 304.

[0023] Referring back to FIG. 2, as disclosed herein, the communication module 206 performs vehicle-to-vehicle (V2V) communication between two or more vehicles. In the example of FIG. 3, the communication module 206 performs V2V communication between vehicle 300 and vehicle 302. That is, each of vehicles 300, 302 has a vehicle system 100, and the communication module 206 of vehicle 300 communicates with the communication module 206 of vehicle 302. In particular, the communication module 206 performs V2V communication with another vehicle indicating the position of a pedestrian.

[0024] In this embodiment, the communication module 206 transmits data to and / or receives data from another vehicle. In particular, the communication module 206 of one vehicle transmits pedestrian location information to another vehicle. In the example in Figure 3, the communication module 206 of vehicle 300 transmits the location of pedestrian 306 to vehicle 302. As pedestrian 306 crosses the road 304, the pedestrian detection module 202 continues to monitor and detect the location of pedestrian 306, and the communication module 206 continues to transmit the location of pedestrian 306 to vehicle 302. This allows vehicle 302 to be aware of the location of pedestrian 306 even when vehicle sensors 110 in vehicle 302 cannot detect pedestrian 306.

[0025] In another example, the communication module 206 transmits information about one or more environmental conditions determined by the environmental detection module 204 to another vehicle. For example, the environmental detection module 204 of the first vehicle determines that the sun is shining on the first vehicle's turn signal, causing glare or reflection, which makes it difficult for the driver of the second vehicle to see the first vehicle's turn signal. Therefore, the communication module 206 of the first vehicle transmits the determined glare or reflection information to the second vehicle to make the driver of the second vehicle aware of the situation. For example, the second vehicle displays a notification about the first vehicle's turn signal or provides an audio notification of the first vehicle's turn signal via the second vehicle's speaker. Thus, the driver of the second vehicle will operate more carefully around the first vehicle.

[0026] In another example, in response to the above determination that it is difficult for the driver of the second vehicle to see the turn signal of the first vehicle, the communication module 206 of the first vehicle transmits information about the use of the turn signal to the second vehicle. As a result, the driver of the second vehicle can be aware of the intention of the first vehicle even if the driver cannot directly see the turn signal. For example, if the first vehicle plans to change lanes in front of the second vehicle, the communication module 206 of the first vehicle transmits information about the first vehicle's intention to make this lane change to the second vehicle. As a result, the driver of the second vehicle can be aware of the first vehicle's intention to change lanes even if the driver of the second vehicle cannot clearly see the turn signal of the first vehicle.

[0027] Referring again to Figure 2, as disclosed herein, the image projection module 208 projects an image onto the road. In particular, when the pedestrian detection module 202 detects a pedestrian, the image projection module 208 causes one or more projection devices 114 to project an image onto the road based on the pedestrian's position. Furthermore, when the pedestrian detection module 202 detects the pedestrian's movement, the image projection module 208 causes one or more projection devices 114 to modify the image projected onto the road based on the pedestrian's movement.

[0028] In one embodiment, the image projection module 208 causes one or more projection devices 114 to project various images onto the road. In one example, the image projection module 208 causes one or more projection devices 114 to project an image showing a path for pedestrians to cross the road. In another example, the image projection module 208 causes one or more projection devices 114 to project an image indicating the presence of another vehicle to pedestrians.

[0029] Figure 3 shows an exemplary image 308 projected onto a road 304 by one or more projection devices 114 of a vehicle 300. In the example of Figure 3, the image 308 comprises a first portion 310, a second portion 312, and a third portion 314. The first portion 310 of the image 308 shows a green arrow and the word “WALK” indicating that it is safe for a pedestrian 306 to walk along this portion of the image 308. The second portion 312 of the image 308 shows a yellow arrow indicating that the pedestrian 306 should be vigilant. The third portion 314 of the image 308 shows a red arrow and the word “CAR” indicating that a vehicle 302 is approaching this portion of the road 304. As a result, the image 308 can make the pedestrian 306 aware of where it is safe to cross the road 304.

[0030] In some examples, two or more vehicles jointly project a synchronized image onto a road. Specifically, two vehicles communicate via V2V communication through each vehicle's communication module 206 and coordinate the synchronized image projected onto the road by each vehicle's image projection module 208. Figure 4 shows an example in which vehicles 300 and 302 jointly project a synchronized image 400 onto a road 304. In the example in Figure 4, both vehicles 300 and 302 stop to allow a pedestrian 306 to cross the road 304. As a result, vehicles 300 and 302 jointly project a synchronized image 400 with a green arrow and the word "WALK" indicating that the pedestrian 306 can walk across the road 304. In the example in Figure 4, vehicle 300 projects a first portion 402 of the synchronized image 400 onto the road 304, and vehicle 302 projects a second portion 404 of the synchronized image 400 onto the road 304.

[0031] In some examples, the vehicle's image projection module 208 causes one or more projection devices 114 to project an image behind the vehicle to indicate the location of a pedestrian detected by the pedestrian detection module 202. In some examples, the vehicle's image projection module 208 causes one or more projection devices 114 to project an image to the side of the vehicle to indicate the location of a pedestrian detected by the pedestrian detection module 202.

[0032] Figure 5 shows an exemplary scenario in which a vehicle projects images in front of, behind, and to the side of the vehicle. In the example in Figure 5, vehicle 300 stops on road 304 while pedestrian 306 crosses the road 304. In the example in Figure 5, the pedestrian detection module 202 of vehicle 300 detects pedestrian 306, and the environment detection module 204 of vehicle 300 detects vehicle 302. Based on these detections, the image projection module 208 of vehicle 300 causes one or more projection devices 114 of vehicle 300 to project an image 500 onto road 304. In the example in Figure 5, image 500 includes a red arrow and the letters “CAR” indicating the presence of vehicle 302 to pedestrian 306. The arrow in image 500 points in the direction of travel of the detected vehicle 302.

[0033] As shown in Figure 5, the vehicle 300 also projects the image 502 onto the road 304 to the side of the vehicle 300. The image 502 includes an image or symbol indicating the presence of a pedestrian (for example, an image similar to a pedestrian crossing sign). The image 502 indicates the presence of a pedestrian 306 to the vehicle 302. The image 502 changes based on the position of the pedestrian 306. In some examples, the image 302 includes 3D rendering or animation.

[0034] In the example in Figure 5, vehicle 300 projects image 504 behind vehicle 300. In some examples, vehicle 300 projects image 504 onto the road 304 behind vehicle 300. In other examples, vehicle 300 projects image 504 onto the rear window of vehicle 300 so that the driver of vehicle 302 can see image 504 when vehicle 302 is approaching vehicle 300. In some examples, vehicle 300 transmits image 504 to vehicle 302 via a communication module 206 using V2V communication, and image 504 is displayed on an internal display in vehicle 302 so that the driver of vehicle 302 can see image 504. In other examples, vehicle 300 transmits data about pedestrian 306 to vehicle 302 via a communication module 206 using V2V communication, and the vehicle system of vehicle 302 generates image 504 and displays the image on the internal display of vehicle 302. For example, the communication module 206 transmits the location of a pedestrian determined by the pedestrian detection module 202 of the vehicle 302. The vehicle 302 receives this information and displays information regarding the pedestrian's location to the driver of the vehicle 302.

[0035] Figure 6 shows an exemplary image 504 that can be displayed on a road 304, on the rear window of a vehicle 300, or on an internal display of a vehicle 302 (e.g., on the head unit). As shown in Figure 6, the image 504 shows a vehicle 300 and a pedestrian 306. As a result, the image 504 allows the driver of vehicle 302 to see the pedestrian 306 even if the pedestrian 306's line of sight is obstructed by the vehicle 300. Thus, the image 504 allows the driver of vehicle 302 to "see through" the vehicle 300. In the example in Figure 6, the image 504 includes the text "Stop 50 feet" indicating that the pedestrian 306 is 50 feet ahead of vehicle 302 and that vehicle 302 should stop to avoid a collision with the pedestrian 306.

[0036] As discussed above, the image projection module 208 causes one or more projection devices 114 to modify the image projected onto the road based on the movement of pedestrians. For example, Figures 7A-7C show an exemplary situation in which the image projected onto the road is modified.

[0037] In the example in Figure 7A, vehicle 300 is stopped along road 304 because a pedestrian is about to cross road 304. Vehicle 300 projects an image 700A across road 304 in front of vehicle 300, which has a green arrow and the word "WALK" indicating that pedestrian 306 may cross road 304. The arrow in image 700A points in the direction in which pedestrian 306 will cross road 304. In the example in Figure 7A, the projected image 700A covers the entire width of road 304.

[0038] In the example shown in Figure 7B, pedestrian 306 begins to cross road 304. Therefore, as pedestrian 306 walks across road 304, vehicle 300 modifies projected image 700A to projected image 700B so that the projected image covers only the width of road 304 that pedestrian 306 has not yet crossed. As shown in Figure 7B, projected image 700B does not cover the portion of road 304 behind pedestrian 306 that pedestrian 306 has already crossed.

[0039] As pedestrian 306 continues to cross road 304, vehicle 300 continues to modify the projected image to cover only the portion of road 304 that the pedestrian must continue to cross. However, in the example of Figure 7C, vehicle 300 detects another vehicle approaching the intersection. As a result, as shown in Figure 7C, vehicle 300 modifies the projected image 700B to become image 700C, which includes the texts "STOP" and "CAR". Image 700C also changes the direction of the arrows from images 700A and 700B in Figures 7A and 7B, and changes the color of the arrows from green to red. Specifically, the arrows in Figures 700A and 700B point in the direction of travel of pedestrian 306 as it crosses road 304, while the arrows in Figure 700C point in the direction of travel of the detected vehicle approaching the intersection. As a result, this prompts pedestrian 306 to stop to avoid a potential collision with the approaching vehicle.

[0040] In some examples, the image projection module 208 animates the projected image on one or more projection devices 114. In these examples, the image projection module 208 modifies the image animation based on the detected movement of pedestrians and the detected position of vehicles. For example, in the examples of Figures 7A and 7B, the image projection module 208 moves the arrows in Figures 700A and 700B in the direction that pedestrian 306 walks across road 304. In some examples, the speed at which the arrows move is based on the speed at which pedestrian 306 crosses road 304.

[0041] In another example, such as the one in Figure 7C, the image projection module 208 flashes the projected image 700C to attract the attention of pedestrian 306 about an approaching vehicle. If the vehicle continues to approach the intersection and pedestrian 306 continues walking, the image projection module 208 flashes the projected image 700C with increased frequency to indicate an increasing danger to pedestrian 306. In some examples, vehicle 300 also outputs an audible warning along with the projected image 700C to attract the attention of pedestrian 306. In some examples, the projected image 700C or the audible warning changes based on urgency. In some examples, the projected image 700C changes based on the speed or braking state of the approaching vehicle. In some examples, the projected image 700C or the audible warning informs pedestrian 306 that the approaching vehicle may pose a danger to pedestrian 306 (for example, by not braking at an appropriate speed).

[0042] Figure 8 shows a flowchart illustrating an exemplary method performed by the vehicle system 100 in Figure 1. In step 800, the sensor data receiving module 200 receives sensor data captured by one or more vehicle sensors 110 of the vehicle while the vehicle is traveling on a road. For example, in the example in Figure 3, the sensor data receiving module 200 of vehicle 300 receives sensor data captured by one or more vehicle sensors 110 of vehicle 300 while vehicle 300 is traveling on road 304.

[0043] In step 802, the pedestrian detection module 202 determines the pedestrian's position based on the sensor data received by the sensor data receiving module 200. For example, in the example in Figure 3, the pedestrian detection module 202 of the vehicle 300 determines the position of pedestrian 306.

[0044] In step 804, the communication module 206 performs V2V communication with a second vehicle, indicating the location of the pedestrian determined by the pedestrian detection module 202. For example, in the example in Figure 3, the communication module 206 of vehicle 300 transmits the location of pedestrian 306 to vehicle 302.

[0045] In step 806, the image projection module 208 projects an image onto the road based on the position of the pedestrian determined by the pedestrian detection module 202. Specifically, the image projection module 208 causes one or more projection devices 114 to project an image onto the road. For example, in the example in Figure 3, the image projection module 208 causes one or more projection devices 114 to project an image 308 onto the road 304.

[0046] In step 808, the pedestrian detection module 202 determines the movement of the pedestrian. For example, in the example in Figure 3, the pedestrian detection module 202 of vehicle 300 monitors the movement of pedestrian 306 crossing road 304.

[0047] In step 810, the image projection module 208 modifies the image projected onto the road based on the pedestrian's movement. Specifically, the image projection module 208 causes one or more projection devices 114 to modify the image projected onto the road. For example, in the example in Figure 3, when pedestrian 306 crosses the road 304, the image projection module 208 modifies the image 308 projected onto the road 304 based on the pedestrian 306's movement.

[0048] It should be understood here that the embodiments described herein pertain to systems and methods for pedestrian projection. The vehicle system can make other vehicles more aware of pedestrians and pedestrians more aware of other vehicles by detecting pedestrians and projecting images onto the road based on the pedestrians' positions. Furthermore, by modifying the projected image based on the movement of pedestrians, the projected image can dynamically respond to changing situations, such as unexpected movements of newly detected vehicles or pedestrians. Thus, the overall traffic flow can be improved.

[0049] Note that the terms “substantially” and “about” are used herein to express the degree of uncertainty inherent in any quantitative comparison, value, measurement, or other expression. Furthermore, these terms are used herein to express the degree to which a quantitative expression may deviate from a defined standard without altering the fundamental function of the subject matter.

[0050] While specific embodiments have been illustrated and described herein, it should be understood that various other changes and modifications can be made without departing from the spirit and scope of the subject matter described in the claims. Furthermore, while various aspects of the subject matter described in the claims have been described herein, it is not necessary to use such aspects in combination. Therefore, the appended claims are intended to cover all changes and modifications within the scope of the subject matter described in the claims.

Claims

1. A vehicle system comprising one or more processors, The aforementioned one or more processors When the vehicle is traveling on the road, it receives sensor data from one or more vehicle sensors. Based on the aforementioned sensor data, the position of the pedestrian is determined. Perform vehicle-to-vehicle communication with a second vehicle to indicate the location of the pedestrian. Based on the position of the pedestrian, an image is projected onto the road. Determine the movement of the aforementioned pedestrian, A vehicle system configured to modify the image projected onto the road based on the movement of the pedestrian.

2. The vehicle system according to claim 1, wherein the image shows a path for the pedestrian to cross the road.

3. The vehicle system according to claim 1, wherein the image above indicates that the pedestrian should not cross the road.

4. The vehicle system according to claim 1, wherein the image above indicates the presence of the second vehicle to the pedestrian.

5. The vehicle system according to claim 1, wherein the aforementioned image is a synchronized image generated by the vehicle and the second vehicle.

6. The vehicle system according to claim 5, wherein the synchronized image includes a first portion projected by the vehicle and a second portion projected by the second vehicle.

7. The vehicle system according to claim 1, wherein one or more processors are configured to project the image onto the road behind the vehicle in order to indicate the position of the pedestrian to the second vehicle.

8. The aforementioned one or more processors The aforementioned image is animated, The vehicle system according to claim 1, configured to modify the animation of the image based on the movement of the pedestrian and the position of the second vehicle.

9. The aforementioned one or more processors The second vehicle receives the position of the pedestrian, The vehicle system according to claim 1, configured to display information regarding the location of the pedestrian to the driver of the vehicle.

10. The aforementioned one or more processors Based on the aforementioned sensor data, one or more environmental conditions are determined, The vehicle system according to claim 1, configured to transmit information relating to one or more environmental conditions to the second vehicle via vehicle-to-vehicle communication.

11. When a vehicle is traveling on a road, sensor data is received from one or more vehicle sensors of the said vehicle, The position of the pedestrian is determined based on the aforementioned sensor data, Perform vehicle-to-vehicle communication with a second vehicle to indicate the location of the aforementioned pedestrian, Projecting an image onto the road based on the position of the pedestrian, Determining the movement of the aforementioned pedestrian, The image projected onto the road is modified based on the movement of the pedestrian. Methods that include...

12. The method according to claim 11, wherein the image shows a path for the pedestrian to cross the road.

13. The method according to claim 11, wherein the image above shows that the pedestrian should not cross the road.

14. The method according to claim 11, wherein the image above indicates the presence of the second vehicle to the pedestrian.

15. The method according to claim 11, wherein the image is a synchronized image generated by the first vehicle and the second vehicle.

16. The method according to claim 15, wherein the synchronized image includes a first portion projected by the vehicle and a second portion projected by the second vehicle.

17. The method according to claim 11, further comprising projecting the image onto the road behind the vehicle in order to indicate the position of the pedestrian to the second vehicle.

18. To animate the aforementioned image, The animation of the image is modified based on the movement of the pedestrian and the position of the second vehicle. The method according to claim 11, further comprising:

19. Receiving the position of the pedestrian from the second vehicle, To display information regarding the location of the pedestrian to the driver of the vehicle. The method according to claim 11, further comprising:

20. Determining one or more environmental conditions based on the aforementioned sensor data, The information relating to one or more of the aforementioned environmental conditions is transmitted to the second vehicle via vehicle-to-vehicle communication. The method according to claim 11, further comprising:

Images