Track indication device

Abstract

Considering the possibility of contact with obstacles around the vehicle, a trajectory guide light corresponding to the vehicle's trajectory is emitted. [Solution] The trajectory display device 100 emits trajectory guide light B corresponding to the vehicle trajectory L of the vehicle V. The trajectory display device 100 includes a light emitter 20 capable of emitting trajectory guide light B, an obstacle detection unit 11 for detecting obstacles, a trajectory prediction unit 13 for predicting the vehicle trajectory L of the vehicle V, and an illumination control unit 14 that emits trajectory guide light B corresponding to the vehicle trajectory L onto the road surface R using the light emitter 20. When an obstacle is located on the vehicle trajectory L, the illumination control unit 14 emits trajectory guide light B onto the road surface R and the obstacle.

Description

Technical Field

[0001] The present disclosure relates to a trajectory presentation device that irradiates trajectory guide light corresponding to the vehicle body trajectory of the own vehicle.

Background Art

[0002] Various trajectory presentation devices for indicating the travel path of a vehicle have been proposed. For example, Patent Document 1 describes a device that predicts the vehicle body trajectory along which the vehicle body of the own vehicle passes based on the travel path of the own vehicle, and indicates the travel path by irradiating light along the vehicle body trajectory.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of Invention

Problems to be Solved by the Invention

[0004] Various obstacles exist around the vehicle. For this reason, an obstacle may be positioned on the predicted vehicle body trajectory, and the vehicle may come into contact with the obstacle. For example, the device described in the above document does not consider light irradiation in the case where an obstacle is positioned on such a predicted vehicle body trajectory.

[0005] Accordingly, the present disclosure describes a trajectory presentation device capable of irradiating trajectory guide light corresponding to the vehicle body trajectory of the own vehicle in consideration of the possibility of contact with obstacles around the own vehicle.

Means for Solving the Problems

[0006] A trajectory display device according to one aspect of the present disclosure is [1] "a trajectory display device that irradiates a trajectory guide light corresponding to the trajectory of a vehicle body as the vehicle is traveling, the trajectory display device comprising: a light source capable of irradiating the trajectory guide light around the vehicle; an obstacle detection unit that detects obstacles around the vehicle; a steering acquisition unit that acquires steering input values ​​for steering operations of the vehicle; a trajectory prediction unit that predicts the vehicle body trajectory of the vehicle based on the steering input values; and an irradiation control unit that irradiates the trajectory guide light corresponding to the vehicle body trajectory onto the road surface around the vehicle using the light source, wherein the irradiation control unit irradiates the trajectory guide light corresponding to the vehicle body trajectory onto the road surface around the vehicle and onto the obstacle when the obstacle detected by the obstacle detection unit is located on the vehicle body trajectory."

[0007] The above-described trajectory display device may also be [2] "the trajectory display device according to [1] above, wherein the obstacle located on the vehicle trajectory detected by the obstacle detection unit is an object that has entered the vehicle trajectory from the side of the vehicle trajectory while floating above the road surface, and the irradiation control unit irradiates the portion of the obstacle that has entered the vehicle trajectory with the trajectory guide light."

[0008] The above-described trajectory display device may also be [3] "the trajectory display device according to [1] or [2] above, wherein the irradiation control unit irradiates the trajectory guide light corresponding to the vehicle's trajectory onto the road surface and obstacles of the vehicle by changing the irradiation direction of the light source provided in the floodlight, or by switching the light source to be irradiated from among a plurality of light sources arranged in the floodlight so as to have different irradiation directions from each other."

[0009] The above-described trajectory display device may also be [4] "the trajectory display device according to any one of [1] to [3] above, wherein the irradiation control unit does not irradiate the trajectory guide light when the obstacle detected by the obstacle detection unit is a person and the person is located within a predetermined distance from the vehicle."

[0010] The trajectory display device described above may also be [5] "a trajectory display device according to any one of [1] to [4] above, further comprising a camera that takes images of the area around the vehicle and a display that shows the images taken by the camera, wherein the light emits the trajectory guide light at a wavelength different from visible light, and the camera is configured to detect the wavelength of the trajectory guide light emitted by the light emitter." [Effects of the Invention]

[0011] According to one aspect of this disclosure, a trajectory guide light corresponding to the vehicle's trajectory can be emitted, taking into account the possibility of contact with obstacles around the vehicle. [Brief explanation of the drawing]

[0012] [Figure 1] Figure 1 is a block diagram showing an example of a trajectory display device according to the first embodiment. [Figure 2] Figure 2(a) is a side view of the trajectory guide light emitted from the floodlight in front of the vehicle, as seen from the side of the vehicle. Figure 2(b) is a view of the trajectory guide light emitted from the floodlight in front of the vehicle, as seen from inside the vehicle. [Figure 3] Figure 3 shows the trajectory guide light projected from the floodlight in front of the vehicle, as seen from inside the vehicle. [Figure 4] Figure 4(a) is a top view showing the positional relationship between the vehicle and another vehicle located in front of it. Figure 4(b) is a view from inside the vehicle of the vehicle showing the trajectory guide light projected from the floodlight in front of the vehicle. [Figure 5] Figure 5 is a flowchart showing the flow of the trajectory guide light irradiation process performed in the trajectory display device. [Figure 6] Figure 6 is a block diagram showing an example of a trajectory presentation device according to the second embodiment. [Figure 7] Figure 7 shows the trajectory guide light projected from the floodlight in front of the vehicle, as seen from inside the vehicle. [Figure 8]Figure 8 is a flowchart showing the flow of the trajectory guide light irradiation process performed in the trajectory display device. [Modes for carrying out the invention]

[0013] The following describes exemplary embodiments with reference to the drawings. In each drawing, the same or equivalent elements are denoted by the same reference numerals, and redundant explanations are omitted.

[0014] (First Embodiment) First, a first embodiment of the trajectory display device will be described. As shown in Figure 1, the trajectory display device 100 according to the first embodiment is mounted on the vehicle V. The trajectory display device 100 illuminates the area around the vehicle V with trajectory guide light corresponding to the vehicle trajectory that the vehicle V will travel through when the vehicle V is in motion. The vehicle trajectory that the vehicle V will travel through when the vehicle V is in motion indicates the range that the vehicle V will travel through when the vehicle V is in motion. The vehicle trajectory indicates the range that the vehicle V will travel through when the vehicle V is traveling based on the predicted travel trajectory.

[0015] A trajectory guide light corresponding to a vehicle's trajectory is a light emitted based on the vehicle's trajectory to indicate the area through which the vehicle V will pass. The shape of the trajectory guide light corresponding to the vehicle's trajectory is set based on the vehicle's trajectory. As long as the trajectory guide light can indicate the vehicle's trajectory, the shape of the emitted light is not limited. In this embodiment, as an example, multiple trajectory guide lights are emitted at predetermined intervals along the positions of both ends of the vehicle's trajectory in the vehicle width direction (the edges of both ends of the vehicle's trajectory in the vehicle width direction), thereby displaying a dotted line guide mark on the road surface.

[0016] The trajectory presentation device 100 includes an ECU [Electronic Control Unit] 10 that comprehensively manages the device. The ECU 10 is an electronic control unit having a CPU [Central Processing Unit] and a storage unit. The storage unit is composed of, for example, a ROM [Read Only Memory], a RAM [Random Access Memory], an EEPROM [Electrically Erasable Programmable Read-Only Memory], and the like. In the ECU 10, various functions are realized by, for example, executing a program stored in the storage unit with the CPU. The ECU 10 may be configured by a plurality of electronic control units.

[0017] The trajectory presentation device 100 further includes a light projector 20, an external sensor (camera) 30, and a display 40. The light projector 20, the external sensor 30, and the display 40 are connected to the ECU 10. These devices connected to the ECU 10 are mounted on the host vehicle V.

[0018] The light projector 20 can irradiate trajectory guide light around the host vehicle V. The light projector 20 irradiates the traveling road surface of the host vehicle V with trajectory guide light corresponding to the vehicle body trajectory. In the present embodiment, as an example, the light projector 20 is provided at the front end portion of the host vehicle V in order to indicate the vehicle body trajectory when the host vehicle V moves forward. As an example, the light projector 20 is provided at the rear end portion of the host vehicle V in order to indicate the vehicle body trajectory when the host vehicle V moves backward.

[0019] For example, as shown in Fig. 2(a) and Fig. 2(b), the light projector 20 may be provided inside a headlamp 1 arranged at the front end of the host vehicle V, so as to indicate the vehicle body trajectory of the host vehicle V when moving forward. The light projector 20 is provided with a light source 21. The light projector 20 may be provided with a plurality of light sources 21. The light source 21 emits trajectory guide light B. The light source 21 is movable, and can change the emission direction of the trajectory guide light B. The light projector 20 uses the light source 21 to emit the trajectory guide light B onto the traveling road surface R of the host vehicle V. Based on an instruction from the ECU 10, the light projector 20 emits the trajectory guide light B along the positions of both end portions in the vehicle width direction of the vehicle body trajectory L of the host vehicle V (the edges of both end portions in the vehicle width direction of the vehicle body trajectory L). As a result, the guide mark M is displayed on the traveling road surface R as the trajectory guide light B is emitted thereto. The guide mark M is a mark (reflected light of the trajectory guide light B) displayed on the traveling road surface R when the trajectory guide light B is emitted onto the traveling road surface R.

[0020] As described above, in this embodiment, the floodlight 20 emits trajectory guide light B such that guide marks M appear as dotted lines along the positions of both ends of the vehicle trajectory L in the vehicle width direction. The floodlight 20 uses multiple light sources 21 to display multiple guide marks M as dotted lines along the positions of both ends of the vehicle trajectory L in the vehicle width direction. In Figures 2(a) and 2(b), the guide marks M are circular in shape, but the shape of the guide marks M is not limited. The guide marks M may be short lines extending along the longitudinal direction of the vehicle trajectory L. Also, in Figures 2(a) and 2(b), the floodlight 20 is provided on the left headlamp 1 of the vehicle V, and the trajectory guide light B is emitted along the position of the left end of the vehicle trajectory L in the vehicle width direction. Similar to the left side, the trajectory display device 100 is also equipped with a floodlight on the right headlamp, which illuminates the trajectory guide light along the position of the right end of the vehicle trajectory L in the vehicle width direction. Furthermore, the number of light sources 21 provided in the floodlight 20 is not limited. For example, the floodlight 20 may be equipped with only one light source 21. In this case, for example, the floodlight 20 may sequentially control the orientation of the floodlight 20 to illuminate the trajectory guide light B sequentially from a position close to the vehicle V, and display the guide marks M as dotted lines along the positions of both ends of the vehicle trajectory L in the vehicle width direction.

[0021] The external sensor 30 is an on-board sensor that detects the external environment of the vehicle V. The external sensor 30 includes at least a camera. The camera is an imaging device that captures images of the external environment of the vehicle V. The camera is installed, for example, behind the windshield of the vehicle V and captures images of the area in front of the vehicle. The camera transmits imaging information regarding the external environment of the vehicle V to the ECU 10. The camera may be a monocular camera or a stereo camera. Multiple cameras may be installed and may capture images of the area in front of the vehicle V, as well as the left side, right side, rear, etc.

[0022] The external sensor 30 may include a radar sensor. A radar sensor is a detection device that uses radio waves (e.g., millimeter waves) or light to detect objects around the vehicle V. Examples of radar sensors include millimeter-wave radar or lidar [LIDAR: Light Detection and Ranging]. The radar sensor detects objects by transmitting radio waves or light around the vehicle V and receiving the radio waves or light reflected by the object. The radar sensor transmits the detected object information to the ECU 10. The external sensor 30 may also include a sonar sensor.

[0023] Furthermore, when the trajectory guide light B is illuminated on the road surface R etc. by the light emitter 20, the external sensor 30 can capture images of the guide marks M displayed on the road surface R etc. by the illumination of the trajectory guide light B.

[0024] The display 40 is an interface that presents information to the vehicle V and the driver (occupant). The display 40 displays images captured by the camera included in the external sensor 30.

[0025] Functionally, the ECU10 comprises an obstacle detection unit 11, a steering acquisition unit 12, a trajectory prediction unit 13, an illumination control unit 14, and a display control unit 15.

[0026] The obstacle detection unit 11 detects obstacles around the vehicle V based on the detection results of the external sensor 30. The obstacles detected by the obstacle detection unit 11 include obstacles located on the vehicle's trajectory L (located within the vehicle's trajectory L). Furthermore, obstacles located on the vehicle's trajectory L detected by the obstacle detection unit 11 include objects that enter the vehicle's trajectory L from the side of the trajectory L while floating above the road surface R. These obstacles include fixed obstacles such as utility poles or road signs, other vehicles, people, bicycles, etc. The obstacle detection unit 11 can detect obstacles using various well-known methods based on the detection results of the external sensor 30.

[0027] The steering input unit 12 acquires the steering input value of the steering operation of the vehicle V. This steering operation is the steering operation (steering wheel operation) performed by the driver of the vehicle V. The steering input value is a value indicating the steering angle. For example, the steering input unit 12 may acquire the detection result of a steering sensor that acquires the rotation angle of the steering shaft connected to the steering wheel as the steering input value. If the vehicle V is an autonomous vehicle, the steering input unit 12 may acquire the steering instruction value when the autonomous driving control unit drives the vehicle V by autonomous driving as the steering input value.

[0028] The trajectory prediction unit 13 predicts the vehicle trajectory L when the vehicle V is traveling, based on the steering input values ​​acquired by the steering acquisition unit 12. The trajectory prediction unit 13 has previously stored information such as the vehicle width of the vehicle V, and can predict the vehicle trajectory L based on this information and the steering input values ​​acquired by the steering acquisition unit 12. In other words, the degree of curvature of the vehicle trajectory L predicted by the trajectory prediction unit 13 will differ depending on the steering angle, for example.

[0029] The illumination control unit 14 uses the floodlight 20 to illuminate the road surface R around the vehicle V with trajectory guide light B corresponding to the vehicle trajectory L predicted by the trajectory prediction unit 13. As described above, the illumination control unit 14 uses the floodlight 20 to illuminate the trajectory guide light B so that guide marks M are displayed as dotted lines along the positions of both ends of the vehicle trajectory L in the vehicle width direction (see Figure 2(b)). The illumination control unit 14 illuminates the trajectory guide light B corresponding to the vehicle trajectory L using the floodlight 20 by changing the direction of the light source 21 provided in the floodlight 20 (the illumination direction of the trajectory guide light B) so that guide marks M appear as dotted lines along the positions of both ends of the vehicle trajectory L in the vehicle width direction.

[0030] Furthermore, if an obstacle detected by the obstacle detection unit 11 is located on the vehicle trajectory L, the illumination control unit 14 illuminates the road surface R and the detected obstacle with trajectory guide light B corresponding to the vehicle trajectory L. For example, as shown in Figure 3, an obstacle D such as a utility pole may be located on (within) the vehicle trajectory L. In this case, the illumination control unit 14 also illuminates the obstacle D with trajectory guide light B. If none of the multiple trajectory guide light B emitted by the illumination control unit 14 illuminates the obstacle D, the illumination control unit 14 can control the orientation of at least one of the multiple light sources 21 so that the trajectory guide light B illuminates the obstacle D. Whether or not the trajectory guide light B is illuminating the obstacle D can be determined, for example, based on the image captured by the camera provided by the external sensor 30. Alternatively, whether or not the trajectory guide light B is illuminating the obstacle D may be determined based on the position of the detected obstacle D and the orientation of each light source 21.

[0031] The illumination control unit 14 illuminates the portion of the obstacle D that is on the vehicle trajectory L with trajectory guide light B. When illuminating the obstacle D with trajectory guide light B, the illumination control unit 14 may illuminate the trajectory guide light B slightly upward (upward by a predetermined angle) compared to when illuminating the trajectory guide light B toward the edge of the vehicle trajectory L, so that the guide mark M is displayed at a higher position on the side of the obstacle D. In this case, the illumination control unit 14 may illuminate the trajectory guide light B slightly outward (outward by a predetermined length) from the edge of the vehicle trajectory L so that the guide mark M is displayed at a higher position on the side of the obstacle D. In this case, the occupants (driver) of the vehicle V can easily determine that there is a possibility that the vehicle V may come into contact with the obstacle D.

[0032] For example, as shown in Figure 4(a), there may be an obstacle around the vehicle V, such as another vehicle V1 parked in front of the vehicle V. Also, the right side of the rear bumper V1a of the other vehicle V1 extends into the vehicle trajectory L of the vehicle V. The rear bumper V1a is floating above the road surface R. Furthermore, the right side of the rear bumper V1a extends into the vehicle trajectory L from the left side of the vehicle trajectory L while floating above the road surface R. In this case, the illumination control unit 14 illuminates the portion of the rear bumper V1a of the other vehicle V1 that extends onto the vehicle trajectory L (the right side of the rear bumper V1a). The illumination control unit 14 controls the direction of illumination of the trajectory guide light B so that it illuminates the right side of the rear bumper V1a that is floating above the road surface R. Furthermore, when illuminating the right side portion of the rear bumper V1a with the trajectory guide light B, the illumination control unit 14 may illuminate the vehicle trajectory L slightly upward compared to when illuminating the edge of the vehicle trajectory L, so that the guide mark M is displayed at a higher position on the side of the right side portion of the rear bumper V1a.

[0033] In this way, the trajectory display device 100 illuminates the right side of the rear bumper V1a of another vehicle V1, which is within the vehicle trajectory L, with trajectory guide light B when the rear bumper V1a of the other vehicle V1 is floating above the road surface R. As a result, the occupant (driver) of the vehicle V can easily determine that there is a possibility of contact between the vehicle V and the obstacle (for example, the right side of the rear bumper V1a of the other vehicle V1), even when the obstacle is floating above the road surface R and located on the vehicle trajectory L.

[0034] Furthermore, if the obstacle detection unit 11 detects an obstacle and the obstacle includes a person (pedestrian, cyclist, etc.), and that person is located within a predetermined distance from the vehicle V, the irradiation control unit 14 will not irradiate the trajectory guide light B. The people who will not be irradiated with the trajectory guide light B are those located on the side to which the trajectory guide light B is irradiated. For example, when irradiating the front of the vehicle V with the trajectory guide light B, the trajectory guide light B may not be irradiated when a person is detected in front of the vehicle V, but may be irradiated when a person is detected behind the vehicle V. Conversely, for example, when irradiating the rear of the vehicle V with the trajectory guide light B, the trajectory guide light B may not be irradiated when a person is detected behind the vehicle V, but may be irradiated when a person is detected in front of the vehicle V. In this case, the trajectory display device 100 can suppress the feeling that people around the vehicle V are uncomfortable with the trajectory guide light B irradiated around the vehicle V.

[0035] Furthermore, the illumination control unit 14 will not illuminate the trajectory guide light B if instructed to stop the illumination of the trajectory guide light B by the occupants (driver, etc.) of the vehicle V. In this case, the trajectory display device 100 can control whether or not to illuminate the trajectory guide light B based on the instructions of the occupants of the vehicle V. Also, even when the illumination control unit 14 illuminates the trajectory guide light B, it may illuminate the trajectory guide light B only in the vicinity of the vehicle V in order to suppress the trajectory guide light B from entering the eyes of people around the vehicle V and occupants of other vehicles.

[0036] The display control unit 15 displays the image captured by the camera included in the external sensor 30 on the display 40. When the trajectory guide light B is emitted from the floodlight 20, the guide marks M displayed by the illumination of the trajectory guide light B are also displayed on the display 40. As a result, the occupants of the vehicle V can determine the possibility of contact with obstacles around the vehicle V by directly viewing the guide marks M of the trajectory guide light B emitted from the floodlight 20, and by viewing the captured image including the guide marks M displayed on the display 40.

[0037] Furthermore, the floodlight 20 may emit trajectory guide light B at a wavelength different from visible light that is visible to humans. In this case, the camera of the external sensor 30 is configured to detect the wavelength of the trajectory guide light B emitted by the floodlight 20. As a result, the camera can capture the guide marks M of the trajectory guide light B emitted at a wavelength different from visible light. The display control unit 15 then displays the captured image captured by this camera on the display 40. In this case, even if the trajectory guide light B is emitted at a wavelength different from visible light, the occupants can determine the possibility of contact with obstacles around their vehicle V by viewing the captured image including the guide marks M displayed on the display 40. In addition, since people around the vehicle V cannot see the trajectory guide light B, it is possible to suppress the feeling of discomfort that people around the vehicle V may have from the emitted trajectory guide light B.

[0038] Next, the process of irradiating the trajectory guide light B in the trajectory display device 100 will be explained. Note that the process shown in Figure 5 starts, for example, when the ignition switch of the vehicle V is turned on. Also, when the process shown in Figure 5 reaches its end, it starts again from the beginning after a predetermined time. As shown in Figure 5, when the irradiation process of the trajectory guide light B starts, the irradiation control unit 14 determines whether the occupant of the vehicle V (driver, etc.) has instructed (irradiation ON setting) to irradiate the trajectory guide light B (S101). If the instruction to irradiate the trajectory guide light B has not been given, that is, if the instruction to stop irradiating the trajectory guide light B has been given (S101: NO), the process proceeds to the end.

[0039] If the irradiation of the trajectory guide light B is instructed (S101: YES), the irradiation control unit 14 determines whether or not a person has been detected around the vehicle V by the obstacle detection unit 11 (S102). If a person is detected (S102: YES), the process proceeds to the end. If no person is detected (S102: NO), the steering input unit 12 acquires the steering input value (S103). The trajectory prediction unit 13 predicts the vehicle trajectory L when the vehicle V is traveling, based on the steering input value acquired by the steering input unit 12 (S104). The irradiation control unit 14 uses the light projector 20 to irradiate the road surface R around the vehicle V with the trajectory guide light B corresponding to the vehicle trajectory L predicted by the trajectory prediction unit 13 (S105). Note that an obstacle detected by the obstacle detection unit 11 may be located on the vehicle trajectory L. In this case, as described above, the irradiation control unit 14 also irradiates obstacles located on the vehicle trajectory L with the trajectory guide light B.

[0040] As described above, when an obstacle detected by the obstacle detection unit 11 is located on the vehicle's trajectory L, the trajectory display device 100 illuminates the road surface R of the vehicle V and the obstacle with trajectory guide light B corresponding to the vehicle's trajectory L. This allows the trajectory display device 100 to illuminate the vehicle's trajectory L with trajectory guide light B, taking into account the possibility of contact with obstacles around the vehicle V.

[0041] (Second Embodiment) Next, a second embodiment of the trajectory display device will be described. The following description will focus on the differences from the trajectory display device 100 according to the first embodiment. As shown in Figure 6, the trajectory display device 100A according to the second embodiment includes an ECU 10A, a light emitter 20A, an external sensor 30, and a display 40.

[0042] The floodlight 20A emits trajectory guide light B, similar to the floodlight 20 in the first embodiment. As shown in Figure 7, in this embodiment, the floodlight 20A is equipped with a plurality of light sources 21A. The orientation of the light sources 21A is fixed relative to the headlamp 1. The plurality of light sources 21A include a plurality of first light sources 21Aa and a plurality of second light sources 21Ab. The first light sources 21Aa emit trajectory guide light B corresponding to the vehicle trajectory at the maximum steering angle of the vehicle V around the vehicle V. Here, the maximum steering angle of the vehicle V is the steering angle when the vehicle V is steered to the maximum extent in the direction it is being steered. The vehicle trajectory at the maximum steering angle of the vehicle V indicates the range through which the vehicle body of the vehicle V passes when the vehicle V is steered to the maximum extent in the direction it is being steered.

[0043] The vehicle trajectory of the vehicle V at its maximum steering angle is referred to as the maximum vehicle trajectory LA. The trajectory guide light B emitted by the first light source 21Aa is referred to as the first trajectory guide light Ba. The guide mark M displayed by the first trajectory guide light Ba is referred to as the first guide mark Ma. In this embodiment as well, the first light source 21Aa emits the first trajectory guide light Ba such that the first guide mark Ma is displayed as a dotted line along the positions of both ends of the maximum vehicle trajectory LA in the vehicle width direction. In other words, the direction of emission of the first light source 21Aa is preset so that the first trajectory guide light Ba can be emitted to the edge of the maximum vehicle trajectory LA when the vehicle V is traveling at its maximum steering angle.

[0044] The second light source 21Ab emits trajectory guide light B at a predetermined distance outward in the vehicle width direction from the maximum vehicle trajectory LA at the maximum steering angle of the vehicle V. The trajectory guide light B emitted by the second light source 21Ab is referred to as the second trajectory guide light Bb. The guide mark M displayed by the second trajectory guide light Bb is referred to as the second guide mark Mb. In this embodiment as well, the second light source 21Ab emits the second trajectory guide light Bb so that the second guide mark Mb is displayed as a dotted line at a predetermined distance outward in the vehicle width direction from the maximum vehicle trajectory LA, along the positions of both ends of the maximum vehicle trajectory LA in the vehicle width direction. In other words, the direction of illumination of the second light source 21Ab is predetermined so that it can illuminate the second trajectory guide light Bb at a predetermined distance outward from the edge of the maximum vehicle trajectory LA when the vehicle V is traveling at the maximum steering angle.

[0045] For example, as in the examples shown in Figures 3 and 4(b), obstacles may exist near both ends of the maximum vehicle trajectory LA in the vehicle width direction in this embodiment. Assume that both the first trajectory guide light Ba and the second trajectory guide light Bb can illuminate these obstacles. In this case, on the side of the obstacle, the second guide mark Mb displayed by the second trajectory guide light Bb will be displayed at a higher position than the first guide mark Ma displayed by the first trajectory guide light Ba. Also, for example, the position of this obstacle may be such that it does not come into contact with the illuminated first trajectory guide light Ba. Even in this case, since the illumination directions of the first trajectory guide light Ba and the second trajectory guide light Bb are different, the second guide mark Mb may be displayed on the side of the obstacle by the second trajectory guide light Bb.

[0046] Thus, the multiple light sources (first light source 21Aa and second light source 21Ab) provided in the floodlight 20A are arranged such that the irradiation direction of the trajectory guide light B is different from that of the other light sources. Based on instructions from the ECU 10A, the floodlight 20A can switch which of the multiple first light sources 21Aa and second light sources 21Ab emits the trajectory guide light B.

[0047] Figure 7 shows a case where a floodlight 20A is provided in the left headlamp 1 of the vehicle V, and trajectory guide light B (first trajectory guide light Ba, second trajectory guide light Bb) is projected along the left end of the maximum vehicle trajectory LA in the vehicle width direction. Similarly to the left side, the trajectory display device 100A is also provided with a floodlight in the right headlamp, and trajectory guide light is projected along the right end of the maximum vehicle trajectory LA in the vehicle width direction. Furthermore, the number of light sources 21A provided in the floodlight 20A is not limited. In addition, as shown in Figure 7, the floodlight 20A is equipped with first and second light sources for left turns, similar to the first and second light sources 21Aa and second light sources 21Ab for right turns, so that trajectory guide light can be projected not only for right turns but also for left turns in the maximum vehicle trajectory.

[0048] ECU10A includes a trajectory prediction unit 13A and an illumination control unit 14A with different configurations from the trajectory prediction unit 13 and illumination control unit 14 of ECU10 according to the first embodiment. The trajectory prediction unit 13A predicts the maximum vehicle trajectory LA based on the steering input value acquired by the steering acquisition unit 12. The trajectory prediction unit 13A predicts the trajectory that the vehicle body will take when the vehicle V is steered to the maximum extent in the direction in which it is being steered, as the maximum vehicle trajectory LA. The trajectory prediction unit 13A predicts the maximum vehicle trajectory LA if the steering input value acquired by the steering acquisition unit 12 is greater than or equal to a predetermined steering angle threshold. The trajectory prediction unit 13A can predict the maximum vehicle trajectory LA based on a preset maximum steering angle of the vehicle V. Alternatively, the trajectory prediction unit 13A may read a preset predicted value from a storage unit or the like when predicting the maximum vehicle trajectory LA.

[0049] The illumination control unit 14A uses the light projector 20A to illuminate the road surface R around the vehicle V with trajectory guide light B corresponding to the maximum vehicle trajectory LA predicted by the trajectory prediction unit 13A. In this case, if the obstacle detection unit 11 does not detect any obstacles on the maximum vehicle trajectory LA, the illumination control unit 14A illuminates the road surface R with first trajectory guide light Ba from a plurality of first light sources 21Aa.

[0050] Furthermore, if an obstacle detected by the obstacle detection unit 11 is located on the maximum vehicle trajectory LA, the illumination control unit 14A illuminates the road surface R and the detected obstacle with trajectory guide light B corresponding to the maximum vehicle trajectory LA. The illumination control unit 14A illuminates the road surface R and the detected obstacle with trajectory guide light B by switching the light source emitting the trajectory guide light B from among the plurality of first light sources 21Aa and second light sources 21Ab. Here, in addition to the first trajectory guide light Ba emitted by the first light source 21Aa, the illumination control unit 14A may also emit a second trajectory guide light Bb from the second light source 21Ab so as to illuminate the obstacle. Alternatively, the illumination control unit 14A may emit a second trajectory guide light Bb from the second light source 21Ab so as to illuminate the obstacle, instead of at least one of the plurality of first light sources 21Aa.

[0051] Furthermore, if the first trajectory guide light Ba emitted from the first light source 21Aa does not illuminate an obstacle located on the maximum vehicle trajectory LA, the illumination control unit 14A may emit the second trajectory guide light Bb from the second light source 21Ab. Also, even if the first trajectory guide light Ba emitted from the first light source 21Aa can illuminate an obstacle located on the maximum vehicle trajectory LA, the illumination control unit 14A may emit the second trajectory guide light Bb from the second light source 21Ab.

[0052] In this way, by irradiating the obstacle with the second trajectory guide light Bb of the second light source 21Ab, the second guide mark Mb can be displayed at a higher position on the side of the obstacle. In this case, the occupant (driver) of the vehicle V can easily determine that there is a possibility of the vehicle V coming into contact with the obstacle.

[0053] Furthermore, if the steering angle of the vehicle V is small and the trajectory prediction unit 13A cannot predict the maximum vehicle trajectory LA, the illumination control unit 14A will not emit the trajectory guide light B from the floodlight 20A. Also, similar to the first embodiment, if the obstacle detected by the obstacle detection unit 11 is a person, the illumination control unit 14A will not emit the trajectory guide light B.

[0054] Next, the process of irradiating the trajectory guide light B in the trajectory display device 100A will be explained. The process shown in Figure 8 is started, for example, when the ignition switch of the vehicle V is turned on. When the process shown in Figure 8 reaches its end, it is restarted from the beginning after a predetermined time. The processes S201 to S203 shown in Figure 8 are the same as the processes S101 to S103 shown in Figure 5, so their explanation will be omitted.

[0055] After processing in S203, the trajectory prediction unit 13 determines whether the steering input value acquired by the steering acquisition unit 12 is equal to or greater than a predetermined steering angle threshold (S204). If the steering input value is not equal to or greater than the predetermined steering angle threshold (S204: NO), the process proceeds to the end. If the steering input value is equal to or greater than the predetermined steering angle threshold (S204: YES), the trajectory prediction unit 13A predicts the maximum vehicle trajectory LA that the vehicle body of the vehicle V will pass through if the vehicle V is steered to the maximum extent in the direction it is being steered (S205).

[0056] The illumination control unit 14A uses the light projector 20A to project trajectory guide light B, which corresponds to the maximum vehicle trajectory LA predicted by the trajectory prediction unit 13, onto the road surface R around the vehicle V (S205). Note that obstacles detected by the obstacle detection unit 11 may be located on the maximum vehicle trajectory LA. In this case, the illumination control unit 14A also projects trajectory guide light B onto obstacles located on the maximum vehicle trajectory LA, as described above. When projecting trajectory guide light B onto an obstacle, the illumination control unit 14A can project second trajectory guide light Bb from the second light source 21Ab towards the obstacle.

[0057] As described above, when an obstacle detected by the obstacle detection unit 11 is located on the maximum vehicle trajectory LA, the trajectory display device 100A irradiates the road surface R of the vehicle V and the obstacle with trajectory guide light B corresponding to the maximum vehicle trajectory LA. This allows the trajectory display device 100A to irradiate trajectory guide light B corresponding to the maximum vehicle trajectory LA of the vehicle V, taking into account the possibility of contact with obstacles around the vehicle V.

[0058] Furthermore, since the light sources 21A (first light source 21Aa, second light source 21Ab) installed in the floodlight 20A are fixed, maintenance of the floodlight 20A is made easier.

[0059] Furthermore, the trajectory display device 100A may be configured not to emit the trajectory guide light B if the obstacle detection unit 11 does not detect any obstacles around the vehicle V. In other words, the trajectory display device 100A may determine whether or not there are obstacles based on whether or not the driver of the vehicle V is steering to avoid an obstacle, and then emit the trajectory guide light B. [Explanation of symbols]

[0060] 11...Obstacle detection unit, 12...Steering acquisition unit, 13,13A...Trajectory prediction unit, 14,14A...Illumination control unit, 20,20A...Floodlight, 21,21A...Light source, 30...External sensor (camera), 100,100A...Trajectory display device, B...Trajectory guide light, D...Obstacle, L...Vehicle trajectory, LA...Maximum vehicle trajectory (vehicle trajectory), R...Road surface, V...Own vehicle.

Claims

1. A trajectory display device that illuminates the area around the vehicle with trajectory guide light corresponding to the trajectory the vehicle body passes through while the vehicle is in motion, A floodlight capable of illuminating the trajectory guide light around the vehicle, An obstacle detection unit for detecting obstacles around the vehicle, A steering input unit that acquires steering input values ​​for steering operations of the vehicle, A trajectory prediction unit that predicts the vehicle's trajectory based on the steering input value, An illumination control unit that uses the floodlight to project the trajectory guide light corresponding to the vehicle's trajectory onto the road surface surrounding the vehicle, Equipped with, The irradiation control unit is a trajectory display device that, when an obstacle detected by the obstacle detection unit is located on the vehicle's trajectory, irradiates the vehicle's road surface and the obstacle with trajectory guide light corresponding to the vehicle's trajectory.

2. The obstacle located on the vehicle trajectory detected by the obstacle detection unit is an object that entered the vehicle trajectory from the side of the vehicle trajectory while floating above the road surface. The trajectory presentation device according to claim 1, wherein the irradiation control unit irradiates the trajectory guide light onto the portion of the obstacle that has entered the vehicle trajectory.

3. The trajectory display device according to claim 1, wherein the irradiation control unit irradiates the trajectory guide light corresponding to the vehicle's trajectory onto the road surface and obstacles of the vehicle by changing the irradiation direction of the light source provided in the floodlight, or by switching the light source to be irradiated from among a plurality of light sources arranged in the floodlight so as to have different irradiation directions.

4. The trajectory display device according to claim 1, wherein the irradiation control unit does not irradiate the trajectory guide light if the obstacle detected by the obstacle detection unit is a person and the person is located within a predetermined distance from the vehicle.

5. A camera that captures images of the area around the vehicle, A display for displaying the image captured by the aforementioned camera, Furthermore, The aforementioned light emits the trajectory guide light at a wavelength different from visible light, The trajectory presentation device according to any one of claims 1 to 3, wherein the camera is configured to detect the wavelength of the trajectory guide light emitted by the light projector.

Images