Processing system, processing device, autonomous driving device, processing method, and processing program

Abstract

To provide a processing system capable of giving a feeling of ease for a behavior of an autonomous travel device.SOLUTION: A processor of a processing system, which performs processing related to autonomous travel of an autonomous travel device 1, is configured so as to perform processing for: acquiring a future travel route Fr of the autonomous travel device 1; and projecting a notification image In including a boundary image Ib for notifying a boundary Br on the travel range Rd side of an action range Ru permissible for other road users 9 on a track Wr in the future travel route Fr with respect to the travel range Rd of the autonomous travel device 1 along the future travel route Fr.SELECTED DRAWING: Figure 10

Description

[Technical Field]

[0001] The present disclosure relates to a technology for performing processing related to autonomous driving of an autonomous driving device. [Background technology]

[0002] In the technology disclosed in Patent Document 1, when another moving object is detected in the area surrounding the vehicle, an image is projected onto the road surface at a position near the other moving object. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2008-7079 Summary of the Invention [Problem to be solved by the invention]

[0004] However, when the technology disclosed in Patent Document 1 is applied to an autonomous driving device, depending on the image used to alert other moving bodies, it is difficult to notify other moving bodies of the autonomous driving device's future driving behavior and give them a sense of security regarding that behavior.

[0005] An object of the present disclosure is to provide a processing system that gives a sense of security regarding the behavior of an autonomous driving device. Another object of the present disclosure is to provide a processing device that gives a sense of security regarding the behavior of an autonomous driving device, and an autonomous driving device equipped with the processing device. Yet another object of the present disclosure is to provide a processing method that gives a sense of security regarding the behavior of an autonomous driving device. Yet another object of the present disclosure is to provide a processing program that gives a sense of security regarding the behavior of an autonomous driving device. [Means for solving the problem]

[0006] The technical means of the present disclosure for solving the problems will be described below. Note that the claims and the reference characters in parentheses in this section indicate the correspondence with the specific means described in the embodiments described later in detail, and do not limit the technical scope of the present disclosure.

[0007] A first aspect of the present disclosure is A processing system having a processor (12) and performing processing related to autonomous driving of an autonomous driving device (1), The processor Obtaining a future driving route (Fr) of the autonomous driving device; and projecting a notification image (In) onto a travel path (Wr) on the future travel route, the notification image (In) including a boundary image (Ib) that notifies a boundary (Br) on the travel range side of a range of movement (Ru) allowed for other road users (9) with respect to the travel range (Rd) of the autonomous mobile device along the future travel route. 、 The notification image is projected Projecting a notification image in which a boundary image whose display mode changes depending on the distance from the autonomous mobile device on the future driving route is displayed outside the trajectory image (It) in the lateral direction (Da) of the driving path, the boundary image notifying the autonomous mobile device of the future trajectory (Td) to be traced along the future driving route as the driving range. .

[0008] A second aspect of the present disclosure is A processing device having a processor (12), configured to be mountable on an autonomous mobile device (1), and performing processing related to autonomous mobile device autonomous traveling, The processor Obtaining a future driving route (Fr) of the autonomous driving device; and projecting a notification image (In) onto a travel path (Wr) on the future travel route, the notification image (In) including a boundary image (Ib) that notifies a boundary (Br) on the travel range side of a range of movement (Ru) allowed for other road users (9) with respect to the travel range (Rd) of the autonomous mobile device along the future travel route. 、 The notification image is projected Projecting a notification image in which a boundary image whose display mode changes depending on the distance from the autonomous mobile device on the future driving route is displayed outside the trajectory image (It) in the lateral direction (Da) of the driving path, the boundary image notifying the autonomous mobile device of the future trajectory (Td) to be traced along the future driving route as the driving range. .

[0009] A third aspect of the present disclosure is an autonomous driving device equipped with the processing device of the second aspect, in which processing related to autonomous driving is performed by the processing device.

[0010] A fourth aspect of the present disclosure is A processing method executed by a processor (12) to perform processing related to autonomous navigation of an autonomous navigation device (1), comprising: Obtaining a future driving route (Fr) of the autonomous driving device; Projecting a notification image (In) onto a travel path (Wr) on the future travel route, the notification image (In) including a boundary image (Ib) notifying a boundary (Br) on the travel range side of the travel range (Rd) of the autonomous mobile device along the future travel route of the other road users (9). fruit, The notification image is projected Projecting a notification image in which a boundary image whose display mode changes depending on the distance from the autonomous mobile device on the future driving route is displayed outside the trajectory image (It) in the lateral direction (Da) of the driving path, the boundary image notifying the autonomous mobile device of the future trajectory (Td) to be traced along the future driving route as the driving range. .

[0011] A fifth aspect of the present disclosure is A processing program including instructions stored in a storage medium (11) and executed by a processor (12) to perform processing related to autonomous traveling of an autonomous traveling device (1), The command is, Acquiring a future driving route (Fr) of the autonomous driving device; Projecting a notification image (In) onto a travel path (Wr) on the future travel route, the notification image (In) including a boundary image (Ib) notifying a boundary (Br) on the travel range side of the travel range (Rd) of the autonomous mobile device along the future travel route of the other road users (9) of the allowable movement range (Ru). fruit, The notification image is projected and projecting a notification image, which displays a boundary image whose display mode changes according to the distance from the autonomous mobile device on the future driving route, outside the trajectory image (It) that notifies the autonomous mobile device of a future trajectory (Td) to be traced by the autonomous mobile device along the future driving route as a driving range, in the lateral direction (Da) of the driving path. .

[0012] In the first to fifth aspects, a future driving route of the autonomous mobile device is acquired. According to the first to fifth aspects, a notification image is projected onto the driving path of the future driving route, including a boundary image that notifies other road users of the boundary of the driving range of the autonomous mobile device along the future driving route, on the side of the driving range. This allows other road users to recognize not only the driving range of the autonomous mobile device in the future driving, but also the range of movement that is permissible depending on the behavior of the autonomous mobile device within that driving range, from the notification image including the boundary image. This makes it possible to give other road users a sense of security regarding the behavior of the autonomous mobile device in the future driving. [Brief explanation of the drawings]

[0013] [Figure 1] FIG. 1 is a block diagram showing the physical configuration of a processing system according to a first embodiment. [Figure 2] FIG. 2 is a perspective view for explaining a traveling state of an autonomous traveling device to which the first embodiment is applied. [Figure 3] 1 is a perspective view showing an autonomous driving device to which a first embodiment is applied. [Figure 4] 1 is a block diagram showing an autonomous driving device to which a first embodiment is applied; [Figure 5] 1 is a block diagram showing a functional configuration of a processing system according to a first embodiment. [Figure 6] 3 is a flowchart showing a processing flow according to the first embodiment. [Figure 7] FIG. 2 is a perspective view for explaining a processing flow according to the first embodiment. [Figure 8] FIG. 2 is a perspective view for explaining a processing flow according to the first embodiment. [Figure 9] FIG. 2 is a perspective view for explaining a processing flow according to the first embodiment. [Figure 10] FIG. 2 is a perspective view for explaining a processing flow according to the first embodiment. [Figure 11] FIG. 2 is a perspective view for explaining a processing flow according to the first embodiment. [Figure 12]FIG. 2 is a perspective view for explaining a processing flow according to the first embodiment. [Figure 13] 10 is a flowchart showing a processing flow according to a second embodiment. [Figure 14] FIG. 10 is a perspective view for explaining a processing flow according to a second embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0014] Hereinafter, multiple embodiments of the present disclosure will be described with reference to the drawings. Note that corresponding components in each embodiment are designated by the same reference numerals, and redundant description may be omitted. Furthermore, when only a portion of the configuration is described in each embodiment, the configuration of another previously described embodiment may be applied to the remaining portions of the configuration. Furthermore, in addition to the combinations of configurations explicitly stated in the description of each embodiment, configurations of multiple embodiments may be partially combined together even if not explicitly stated, provided that there is no particular problem with the combination.

[0015] (First embodiment) A processing system 10 of the first embodiment shown in Fig. 1 performs processing related to the autonomous driving of the autonomous driving device 1 shown in Fig. 2 (hereinafter referred to as autonomous driving-related processing). In particular, the autonomous driving-related processing of this embodiment includes at least notification processing related to notifications from the autonomous driving device 1 to other road users 9. Here, the other road users 9 relative to the autonomous driving device 1 are road users other than the autonomous driving device 1 that exist in the external environment in which the autonomous driving device 1 is traveling. The other road users 9 include vulnerable road users such as humans, for example, pedestrians, and non-vulnerable road users such as vehicles, for example, cars, trucks, motorcycles, and bicycles.

[0016] The autonomous mobile device 1 is configured to be able to autonomously travel in any direction, including forward, backward, left, or right. The autonomous mobile device 1 may be a delivery vehicle that autonomously travels on roads to transport packages to their destinations. The autonomous mobile device 1 may also be a logistics vehicle that autonomously travels inside and outside a warehouse to transport packages. The autonomous mobile device 1 may also be a disaster support robot that autonomously travels in disaster areas to transport supplies or collect information. Of course, the autonomous mobile device 1 may be of a type other than these. Furthermore, any type of autonomous mobile device 1 may travel autonomously while receiving remote driving assistance or driving control via communication with an external center.

[0017] 3 and 4, the autonomous mobile device 1 includes a body 2, a drive system 3, a sensor system 4, a communication system 5, a map database 6, and an information presentation system 7. The body 2 is hollow and made of, for example, metal. The body 2 holds the other components of the autonomous mobile device 1 inside or across from the inside to the outside.

[0018] The drive system 3 has wheels 30, a battery 32, and an electric actuator 34. A plurality of wheels 30 are supported by the body 2. Each wheel 30 is configured to be able to rotate independently. Of the plurality of wheels 30, a pair of drive wheels 300, one on each side of the body 2, are driven independently by individual electric actuators 34. In particular, in this embodiment, the drive state of the autonomous mobile device 1 is switched between straight-line drive and turning drive depending on the difference in rotational speed between these drive wheels 300 (i.e., the difference in the number of rotations per unit time).

[0019] Specifically, the autonomous mobile device 1 is driven straight when the difference in rotational speed between the left and right drive wheels 300 is zero or within a range that can be assumed to be zero. On the other hand, when the difference in rotational speed between the left and right drive wheels 300 increases, the turning radius of the autonomous mobile device 1 when it is turned decreases in accordance with the increase in the difference in rotational speed. Here, the turning radius means the distance in a plan view between the vertical center line of the body 2 and the turning center of the turning drive, and therefore turning drive in which the turning radius is reduced to essentially zero is particularly point turning drive. Note that the multiple wheels 30 preferably include at least one driven wheel 301 that rotates following the drive wheel 300.

[0020] The battery 32 is mounted inside the body 2. The battery 32 is mainly composed of a storage battery such as a lithium-ion battery. The battery 32 stores power by charging from an external source to supply it to the electrical components of the autonomous mobile device 1 through discharge. The battery 32 may also collect and store regenerated power from the electric actuator 34. The battery 32 is connected via a wire harness to the electric actuator 34, the sensor system 4, the communication system 5, the map database 6, the information presentation system 7, and at least a portion of the processing system 10 mounted on the autonomous mobile device 1 as described below, so as to be able to supply power thereto.

[0021] As shown in FIG. 4, a pair of electric actuators 34 are mounted inside the body 2. Each electric actuator 34 is mainly composed of an individual electric motor. Each electric actuator 34 independently drives and rotates its corresponding drive wheel 300. Each electric actuator 34 is provided with a brake unit 340 that applies braking to the corresponding drive wheel 300 while it is rotating. Each electric actuator 34 may further be provided with a lock unit that locks the corresponding drive wheel 300 while it is stopped.

[0022] 3 and 4 acquires sensing information that can be used in the processing system 10 by sensing the external and internal worlds of the autonomous mobile device 1. To this end, components of the sensor system 4 are mounted in multiple locations on the body 2. Specifically, the sensor system 4 has at least one external sensor 40 and one internal sensor 41.

[0023] The external sensor 40 acquires external information as sensing information from the external world that is the surrounding environment of the autonomous mobile device 1. The external sensor 40 may be an object detection type that detects objects that exist in the external world of the autonomous mobile device 1. The object detection type external sensor 40 is at least one of a camera, LiDAR (Light Detection and Ranging / Laser Imaging Detection and Ranging), radar, sonar, etc. The external sensor 40 may be an environment detection type that detects a specific environmental physical quantity in the external world of the autonomous mobile device 1. The environment detection type external sensor 40 is, for example, an illuminance sensor, etc.

[0024] 4 acquires internal information as sensing information from the internal world that is the internal environment of the autonomous mobile device 1. The internal world sensor 41 may be a motion detection type that detects a specific physical amount of motion in the internal world of the autonomous mobile device 1. The motion detection type internal world sensor 41 is at least one type of sensor, such as a speed sensor, an acceleration sensor, or a yaw rate sensor.

[0025] The communication system 5 transmits and receives communication information usable in the processing system 10 and externally via wireless communication with the outside world of the autonomous mobile device 1. The communication system 5 is of a V2X type that transmits and receives communication information with a V2X system that exists in the outside world of the autonomous mobile device 1. The V2X type communication system 5 is at least one of, for example, a Dedicated Short Range Communications (DSRC) communication device and a cellular V2X (C-V2X) communication device.

[0026] The communication system 5 may be of a positioning type that receives positioning signals from artificial satellites of the Global Navigation Satellite System (GNSS) that exist in the external world of the autonomous mobile device 1. The external sensor 40 of the positioning type is, for example, a GNSS receiver. The communication system 5 may be of a terminal communication type that transmits and receives communication information to and from a mobile terminal that exists in the external world of the autonomous mobile device 1. The terminal communication type communication system 5 is, for example, at least one of a Bluetooth (registered trademark) device, a Wi-Fi (registered trademark) device, an infrared communication device, etc.

[0027] The map database 6 stores map information that can be used by the processing system 10. The map database 6 includes at least one type of non-transitory tangible storage medium, such as a semiconductor memory, a magnetic medium, or an optical medium. The map database 6 may be a database of a locator that estimates the autonomous mobile device 1's own state quantities, including its own position. The map database 6 may be a database of a planning unit that plans the travel of the autonomous mobile device 1. The map database 6 may be configured by combining multiple types of these databases.

[0028] The map database 6 acquires and stores the latest map information as part of the communication information received from an external center via the communication system 5. Here, the map information may be converted into two-dimensional or three-dimensional data as information representing the driving environment of the autonomous mobile device 1. The map information may include road information representing at least one of the following: the position, shape, and road surface condition of the road. The map information may also include marking information representing at least one of the following: the position and shape of signs and lane markings attached to the road. The map information may also include structure information representing at least one of the following: the position and shape of buildings and traffic lights facing the road.

[0029] 3 and 4 is a notification process among the autonomous driving-related processes, and presents notification information from the autonomous driving device 1 to other road users 9. The information presentation system 7 has at least a projector unit 70 as a visual stimulation type that presents notification information by stimulating the vision of other road users 9, such as humans such as pedestrians and / or humans riding in other road users 9.

[0030] At least one projector unit 70 is mounted on the body 2. The projector unit 70 is mainly composed of, for example, an image projector. The projector unit 70 realizes projection mapping, projecting an image in a registered state onto the travel path Wr (see FIG. 2), which is the road along which the autonomous mobile device 1 travels. The shortest projection distance by the projector unit 70 is set to, for example, 1 meter forward from the autonomous mobile device 1 in the direction of travel. The longest projection distance by the projector unit 70 is set to, for example, 5 meters forward from the autonomous mobile device 1 in the direction of travel.

[0031] The information presentation system 7 may have at least one of a monitor unit, a light-emitting unit, etc. as a visual stimulation type in addition to the projector unit 70. In addition to the visual stimulation type, the information presentation system 7 may also present notification information by stimulating the hearing of a person such as a pedestrian who is the other road user 9 and / or a person riding in the other road user 9. Such an auditory stimulation type information presentation system 7 may have at least one of a speaker, a buzzer, a vibration unit, etc.

[0032] The processing system 10 that is responsible for the control function of such an autonomous mobile device 1 is mainly composed of at least one dedicated computer, including a computer mounted on the body 2. The dedicated computer that constitutes the processing system 10 is connected to the battery 32, the electric actuator 34, the sensor system 4, the communication system 5, the map database 6, and the information presentation system 7 via at least one of, for example, a LAN (Local Area Network) line, a wire harness, an internal bus, or a wireless communication line.

[0033] The dedicated computer that constitutes the processing system 10 may be a planning ECU (Electronic Control Unit) that plans a target trajectory for the autonomous mobile device 1 to travel. The dedicated computer that constitutes the processing system 10 may be a trajectory control ECU that causes an actual trajectory to follow a target trajectory for the autonomous mobile device 1. The dedicated computer that constitutes the processing system 10 may be an actuator ECU that controls each electric actuator 34 of the autonomous mobile device 1.

[0034] The dedicated computer constituting the processing system 10 may be a sensing ECU that controls the sensor system 4 of the autonomous mobile device 1. The dedicated computer constituting the processing system 10 may be a locator ECU that estimates the autonomous mobile device 1's state quantities, including its own position, based on a map database 6. The dedicated computer constituting the processing system 10 may be an information presentation ECU that controls the information presentation system 7 of the autonomous mobile device 1. The dedicated computer constituting the processing system 10 may be a computer outside the body 2 that constitutes, for example, an external center or mobile terminal that can communicate via the communication system 5.

[0035] 4, the dedicated computer constituting the processing system 10 has at least one memory 11 and one processor 12. The memory 11 is at least one type of non-transitory tangible storage medium, such as a semiconductor memory, a magnetic medium, or an optical medium, that non-temporarily stores computer-readable programs, data, etc. The processor 12 includes at least one type of core, such as a central processing unit (CPU), a graphics processing unit (GPU), or a reduced instruction set computer (RISC)-CPU.

[0036] In the processing system 10, the processor 12 executes a plurality of instructions included in a control program stored in the memory 11 in order to perform autonomous driving-related processing of the autonomous driving device 1. In this way, the processing system 10 constructs a plurality of functional blocks for performing autonomous driving-related processing. The plurality of functional blocks constructed in the processing system 10 include an information acquisition block 100 and a projection block 110, as shown in FIG. 5.

[0037] The processing method in which the processing system 10 performs autonomous driving-related processing through the cooperation of these blocks 100 and 110 is executed according to the processing flow shown in Figure 6. The processing flow is executed repeatedly while the autonomous driving device 1 is running. Note that each "S" in the processing flow represents multiple steps executed by multiple instructions included in the processing program.

[0038] In S100, the information acquisition block 100 acquires route information that serves as a driving plan for the future driving route Fr along which the autonomous mobile device 1 will travel in the future, as shown in FIG. 2. The route information may be acquired as part of communication information received from an external center via the communication system 5. The route information may also be acquired by the information acquisition block 100 planning the route based on communication information received from an external center via the communication system 5. The route information may include location plan information, such as a destination and intermediate points, that the autonomous mobile device 1 will reach by autonomous driving. The route information may also include future trajectory information that the autonomous mobile device 1 will follow by autonomous driving in accordance with the location plan information.

[0039] In the process flow shown in FIG. 6 , S101 is executed following S100. In S101, the information acquisition block 100 acquires environmental information related to the external environment along the future travel route Fr represented by the route information acquired in S100. The environmental information is acquired based on multiple types of information, including sensing information from the external sensor 40, communication information received from an external center via the communication system 5, and map information from the map database 6. The environmental information includes at least road surface information for the travel path Wr along the future travel route Fr, covering a range from the current travel position of the autonomous mobile device 1 to the longest projection distance of the projector unit 70, as shown in FIG. 2 . Here, the road surface information for the travel path Wr may be at least one type of information, such as road surface flatness information, road surface brightness information, and road surface friction coefficient information. In addition to road surface information, the environmental information may also include at least one type of information, such as stationary object information along the future travel route Fr, weather information along the future travel route Fr, and traffic information along the future travel route Fr.

[0040] As shown in FIG. 6, in the processing flow, S102 is executed in parallel with S101, or before or after S101 (the figure shows an example of the latter). In S102, the information acquisition block 100 acquires state information of the autonomous mobile device 1 at its current traveling position. The state information is acquired based on sensing information from the internal sensor 41. The state information may include at least one type of motion information of the autonomous mobile device 1, such as speed, acceleration, and yaw rate. The state information may also include charge information indicating the charge state of the battery 32. The state information may also include degradation information of at least one type of information, such as the battery 32 and the electric actuator 34.

[0041] After S101 and S102 are executed, the processing flow proceeds to S103 shown in Fig. 6. In S103, the information acquisition block 100 acquires a future trajectory Td in order to set a travel range Rd of the autonomous mobile device 1 along the future travel route Fr represented by the route information acquired in S100, as shown in Fig. 7. At this time, the future trajectory Td is acquired based on the future trajectory information in the route information as the ideal travel range Rd that the autonomous mobile device 1 should follow along the future travel route Fr.

[0042] In the processing flow shown in Fig. 6, S104 is executed following S103. In S104, the information acquisition block 100 assigns multiple distance regions Tdl, Tdm, and Tdc to the future trajectory Td acquired in S103, as shown in Fig. 7. At this time, each of the distance regions Tdl, Tdm, and Tdc is divided into sections based on a set distance from the autonomous mobile device 1 along the future travel route Fr.

[0043] Specifically, the long distance region Tdl is defined as a distance range within which the autonomous mobile device 1 can change the driving plan on the future driving route Fr to avoid a collision with another road user 9 entering the future trajectory Td, which is the ideal driving range Rd according to the driving plan. In other words, the long distance region Tdl is set as a range along the future driving route Fr within which a collision with another road user 9 can be avoided if the autonomous mobile device 1 enters the future trajectory Td by changing the driving plan on the future driving route Fr. However, in this embodiment, the long distance region Tdl is limited to the longest projection distance of the projector unit 70 within the range of distance within which the corresponding driving plan can be changed. This long distance region Tdl is variably adjusted to an optimal range of distance within which the driving plan can be changed based on at least one type of information acquired in steps S100 to S103. Furthermore, changes to the driving plan in the long distance region Tdl may be expected to include at least one of the following: a change to the future driving route Fr, including a temporary change in driving direction; a change in driving speed; etc.

[0044] The medium-distance region Tdm is defined as a distance range within which the autonomous mobile device 1 can brake using the brake unit 340 to avoid a collision when another road user 9 enters the future trajectory Td, which is the travel range Rd. In other words, the medium-distance region Tdm is set as a range along the future travel route Fr within which the autonomous mobile device 1 can avoid a collision with another road user 9 when entering the future trajectory Td by braking on the future travel route Fr. However, in this embodiment, the medium-distance region Tdm is set to a distance range within the corresponding braking distance range excluding the long-distance region Tdl, thereby limiting the distance range to a range closer to the autonomous mobile device 1 than the long-distance region Tdl. This medium-distance region Tdm is variably adjusted to an optimal braking distance range based on at least one type of information acquired in S100 to S103.

[0045] The short distance region Tdc is defined as a distance range where there is a risk of collision with the autonomous mobile device 1 when another road user 9 enters the future trajectory Td, which is the travel range Rd. However, in this embodiment, the short distance region Tdc is set to a distance range from the shortest projection distance to the longest projection distance of the projector unit 70, excluding the long distance region Tdl and the medium distance region Tdm. In other words, the short distance region Tdc is limited to a distance range closer to the autonomous mobile device 1 along the future travel route Fr than the long distance region Tdl and the medium distance region Tdm. This short distance region Tdc is variably adjusted to a distance range according to the long distance region Tdl and the medium distance region Tdm.

[0046] As shown in FIG. 6, in the processing flow, S105 is executed in parallel with S104 or before or after S104 (the figure shows an example of the latter). In S105, the information acquisition block 100 sets a margin range Md, which is assumed to be a margin range for the driving range Rd of the autonomous mobile device 1, for the future trajectory Td acquired in S103, as shown in FIG. 7. In this case, the margin range Md is defined as an assumed range of variation in which the ideal future trajectory Td according to the driving plan may vary in the lateral direction Da of the driving path Wr on the future driving route Fr due to changes in the behavior of the autonomous mobile device 1 in response to disturbances caused by the external environment, for example. Therefore, the margin range Md is assumed to be on both sides of the future trajectory Td in the lateral direction Da of the road that becomes the driving path Wr. Such a margin range Md may be set as a common range for two or all of the distance ranges Tdl, Tdm, and Tdc of the future trajectory Td. The margin range Md may be set as a difference range for each of the distance regions Tdl, Tdm, and Tdc of the future trajectory Td.

[0047] After S104 and S105 are executed, the processing flow proceeds to S106 shown in FIG. 6. In S106, the projection block 110 generates a notification image In to notify the other road user 9 by projecting it onto the travel path Wr of the future travel route Fr, as shown in FIGS. 8 to 12. At this time, the notification image In is generated to include a boundary image Ib, as shown in FIGS. 8 to 12, in order to notify the other road user 9 of the boundary (i.e., limit) Br of the movement range Ru, which is an allowable range of movement for the other road user 9, on the travel range Rd side of the movement range Rd, as shown in FIG. 7. At the same time, the notification image In is generated to include a trajectory image It, as shown in FIGS. 8 to 12, in order to notify the other road user 9 of the ideal future trajectory Td according to the travel plan, as the travel range Rd that serves as a reference for determining the boundary Br of the movement range Ru.

[0048] Specifically, the notification image In is synthesized so that a boundary image Ib is displayed on the boundary Br between the margin range Md and the movement range Ru acquired in S105, on both sides of the trajectory image It notifying the future trajectory Td acquired in S103 in the lateral direction Da. This means that the boundary Br is positioned and assumed to be spaced apart from both side edges of the future trajectory Td in the lateral direction Da by the margin range Md. At the same time, the movement range Ru is assumed to extend further outward in the lateral direction Da from the boundary Br between each margin range Md and the opposite edge of the future trajectory Td. However, the movement range Ru is limited to the extent in the lateral direction Da of the road that will be the travel path Wr on the future travel route Fr.

[0049] Based on this assumption, the boundary image Ib is generated as two linear images extending along the future travel route Fr, with a margin range Md in the horizontal direction Da from each of the two edges of the trajectory image It. In this case, the boundary image Ib is displayed in such a way that the distance images Ibl, Ibm, and Ibc, which individually notify the distance regions Tdl, Tdm, and Tdc acquired in S104, sandwich the notification target region of the future trajectory Td from both sides in the horizontal direction Da. These distance images Ibl, Ibm, and Ibc are displayed in a distinguishable manner by changing their display color according to the distance from the autonomous mobile device 1. Note that in FIGS. 8 to 12, the changes or differences in display color for the distance images Ibl, Ibm, and Ibc and the trajectory image It, which will be described in detail later, are schematically represented by different hatching types.

[0050] The long-distance image Ibl notifies the long-distance region Tdl on both sides thereof by displaying the long-distance region Tdl in a long-distance color such as blue. The middle-distance image Ibm notifies the middle-distance region Tdm on both sides thereof by displaying the middle-distance region Tdm in a middle-distance color such as yellow that is more attention-grabbing than the long-distance color. The close-distance image Ibc notifies the close-distance region Tdc on both sides thereof by displaying the close-distance region Tdc in a close-distance color such as red that is more attention-grabbing than the long-distance and middle-distance colors.

[0051] The linear width of the boundary image Ib, which includes these distance images Ibl, Ibm, and Ibc, in the lateral direction Da may be set to be substantially the same width along the future travel route Fr. The linear width of the boundary image Ib may be set to increase in the lateral direction Da in a stepwise or continuous manner as the road surface flatness of the travel path Wr on the future travel route Fr decreases. The linear width of the boundary image Ib may be set to increase in the lateral direction Da in a stepwise or continuous manner as the road surface brightness of the travel path Wr on the future travel route Fr decreases.

[0052] In contrast to the boundary image Ib described above, the trajectory image It may be generated as two lines extending along the future travel route Fr so that the projections are aligned with both side edges of the future trajectory Td, as shown in FIGS. 8 to 10. Here, in the linear trajectory image It, the display color as a display mode different from that of each distance image Ibl, Ibm, and Ibc may be set to a substantially constant color regardless of the distance regions Tdl, Tdm, and Tdc of the future trajectory Td, as shown in FIG. 8. In the linear trajectory image It, the display color as a display mode corresponding to each distance region Tdl, Tdm, and Tdc of the future trajectory Td may be set in accordance with the boundary image Ib, as shown in FIG. 9. Even in these cases, multiple trajectory images Its projected in a scale pattern along the horizontal direction Da may be added between the linear trajectory images It, as trajectory images It representing divisions at regular distances from the autonomous mobile device 1 on the future travel route Fr, as shown in FIG. 10 (which shows a modified example of FIG. 8).

[0053] The trajectory image It may be generated in a strip shape extending along the future travel route Fr so as to project the image so as to fill the space between both edges of the future trajectory Td in the horizontal direction Da, as shown in Figures 11 and 12. Here, in the strip-shaped trajectory image It, a display color as a display mode different from that of each distance image Ibl, Ibm, Ibc may be set to a substantially constant color regardless of the distance regions Tdl, Tdm, Tdc of the future trajectory Td, as shown in Figure 11. In the strip-shaped trajectory image It, a display color as a display mode corresponding to each distance region Tdl, Tdm, Tdc of the future trajectory Td may be set in accordance with the boundary image Ib, as shown in Figure 12.

[0054] In the processing flow shown in Fig. 6, S107 is executed following S106. In S107, the projection block 110 projects, as the notification image In generated in S106, a notification image In including a boundary image Ib and a trajectory image It as shown in any of Figs. 8 to 12, from the projector unit 70 onto the travel path Wr of the future travel route Fr. At this time, the notification image In may be aligned in the lateral direction Da with respect to the travel path Wr by position correction or adjustment of the projection direction of the projector unit 70. At the same time, the position of the notification image In may be corrected so that it is aligned with respect to the travel path Wr in accordance with the distance from the autonomous mobile device 1.

[0055] The projection of the notification image In in S107 may be performed only when an other road user 9 is present in the movement range Ru assumed in S106. In other words, in S107, if an other road user 9 is not present in the movement range Ru assumed in S106, the projection of the notification image In may be stopped, thereby reducing the power consumed by the battery 32. Here, the presence or absence of an other road user 9 in the movement range Ru may be determined based on multiple types of information from among sensing information from the external sensor 40, communication information received from an external center via the communication system 5, and map information in the map database 6. As described above, when the execution of S107 ends, the current execution of the processing flow also ends. (Action and effect) The effects of the first embodiment described above will be explained below.

[0056] In the first embodiment, a future driving route Fr of the autonomous mobile device 1 is acquired. According to the first embodiment, a notification image In is projected onto a driving path Wr of the future driving route Fr, the notification image In including a boundary image Ib notifying the other road user 9 of the boundary Br on the driving range Rd side of the autonomous mobile device 1's permissible movement range Ru. This allows the other road user 9 to recognize, from the notification image In including the boundary image Ib, not only the driving range Rd of the autonomous mobile device 1 in its future driving but also the permissible movement range Ru depending on the behavior of the autonomous mobile device 1 within the driving range Rd. This makes it possible to provide the other road user 9 with a sense of security regarding the behavior of the autonomous mobile device 1 in its future driving. The effects of the first embodiment are particularly effective on a driving path Wr where the driving lane of the autonomous mobile device 1 and the walking lane of pedestrians as other road users 9 are not separated.

[0057] According to the first embodiment, a notification image In displaying a boundary image Ib is projected outside the trajectory image It, which notifies the autonomous mobile device 1 of the future trajectory Td to be traced along the future travel route Fr as the travel range Rd. This allows the other road user 9 to intuitively recognize from the boundary image Ib the range of movement Ru that is permissible in accordance with the behavior of the autonomous mobile device 1 in the travel range Rd, outside the trajectory image It in the lateral direction Da. This makes it possible to provide an appropriate sense of security regarding the behavior of the autonomous mobile device 1 during future travel.

[0058] In the notification image In according to the first embodiment, the boundary image Ib is projected with a margin range Md outside the edge of the trajectory image It in the lateral direction Da. This allows the other road user 9 to intuitively recognize the permissible range of movement Ru from the boundary image Ib, which leaves a margin range Md in the lateral direction Da outside the traveling range Rd of the autonomous mobile device 1 that can be directly recognized from the trajectory image It, according to the behavior of the autonomous mobile device 1 in that traveling range Rd. This makes it possible to ensure a sense of security regarding the behavior of the autonomous mobile device 1 during future traveling.

[0059] In the first embodiment, the notification image In projects a boundary image Ib whose display mode changes depending on the distance from the autonomous mobile device 1 along the future travel route Fr. This allows other road users 9 to intuitively recognize a highly safe movement range Ru outside the lateral direction Da of the travel range Rd of the autonomous mobile device 1 that can be directly recognized from the trajectory image It, from the change in the display mode of the boundary image Ib according to the distance from the autonomous mobile device 1 within the travel range Rd. This makes it possible to increase a sense of security regarding the behavior of the autonomous mobile device 1 during future travel.

[0060] In the notification image In according to the first embodiment, a trajectory image It is projected, which represents divisions at regular distances from the autonomous mobile device 1 on the future driving route Fr. This allows other road users 9 to intuitively recognize the highly safe movement range Ru not only from the change in the display mode of the boundary image Ib according to the distance from the autonomous mobile device 1 in the driving range Rd, but also from the division representation of the trajectory image It inside the lateral direction Da. This makes it possible to increase a sense of security regarding the behavior of the autonomous mobile device 1 during future driving.

[0061] As the boundary image Ib of the notification image In according to the first embodiment, a long-distance image Ibl is projected, notifying the other road user 9 of a long-distance area Tdl in which the autonomous mobile device 1 can change its travel plan on the future travel route Fr in response to the entry of the other road user 9 into the travel range Rd. This allows the other road user 9 to intuitively recognize from the long-distance image Ibl the long-distance area Tdl as the travel range Rd in which a collision can be avoided by changing the plan of the autonomous mobile device 1, even if the other road user 9 does enter.

[0062] The boundary image Ib of the notification image In according to the first embodiment also projects a mid-distance image Ibm that notifies the other road user 9 of a mid-distance region Tdm that is closer to the autonomous mobile device 1 than the long-distance region Tdl and that is an area in which the autonomous mobile device 1 can brake in response to entry of the other road user 9 into the driving range Rd. This allows the other road user 9 to intuitively recognize from the mid-distance image Ibm the mid-distance region Tdm as the driving range Rd in which a collision can be avoided by braking the autonomous mobile device 1, even if the other road user 9 should enter.

[0063] As the boundary image Ib of the notification image In according to the first embodiment, a close-distance image Ibc is further projected to notify the user of a close-distance region Tdc that is closer to the autonomous mobile device 1 than the long-distance region Tdl and the medium-distance region Tdm. This allows the other road user 9 to intuitively recognize the close-distance region Tdc as the traveling range Rd where there is a risk of collision from the close-distance image Ibc.

[0064] In the boundary image Ib according to the first embodiment, the long-distance image Ibl, the medium-distance image Ibm, and the short-distance image Ibc are represented by changes in display mode according to the distance from the autonomous mobile device 1 along the future driving route Fr. This allows other road users 9 to distinguish and recognize the long-distance region Tdl, the medium-distance region Tdm, and the short-distance region Tdc from the changes in display mode in the boundary image Ib. As a result, it is possible to ensure a high sense of security regarding the behavior of the autonomous mobile device 1 during future driving.

[0065] In the notification image In according to the first embodiment, the linear boundary image Ib is projected with a wider width in the lateral direction Da as the road surface flatness of the road Wr decreases. This makes it possible to prevent deterioration of the projection state by widening the width in the lateral direction Da, even for the linear boundary image Ib, whose projection state is likely to deteriorate as the flatness of the road Wr decreases. This makes it possible to provide an appropriate sense of security regarding the behavior of the autonomous mobile device 1 during future travel.

[0066] In the notification image In according to the first embodiment, the linear boundary image Ib is projected with a wider width in the lateral direction Da as the road surface brightness of the road Wr decreases. This makes it possible to prevent deterioration of the projection condition of the linear boundary image Ib, whose projection condition tends to deteriorate as the brightness of the road Wr decreases, by widening the width in the lateral direction Da. This makes it possible to provide a sense of security about the future behavior of the autonomous mobile device 1.

[0067] Second Embodiment The second embodiment is a modification of the first embodiment.

[0068] As shown in Fig. 13, in the processing flow of the second embodiment, S2106 is executed instead of S106. In S2106, the projection block 110 generates a notification image In in which a message image Im is displayed in the movement range Ru, which is at least one of both outer sides of the boundary image Ib that sandwiches the trajectory image It in the horizontal direction Da, as shown in Fig. 14. Note that Fig. 14 representatively shows an example of a notification image In in which a message image Im is displayed on both outer sides of the boundary image Ib that sandwiches the trajectory image It in the horizontal direction Da in the case of Fig. 10 in the first embodiment.

[0069] The message image Im is generated to display messages for the long-distance image Ibl, the medium-distance image Ibm, and the short-distance image Ibc in association with each other, in order to notify the other road user 9 of the message. The long-distance image Ibl notifies the other road user 9 of the distance range within which the autonomous mobile device 1 can change its travel plan on the future travel route Fr to avoid a collision with the other road user 9 entering the future trajectory Td by displaying a message using text on the side of the long-distance region Tdl. The medium-distance image Ibm notifies the other road user 9 of the distance range within which the autonomous mobile device 1 can brake to avoid a collision with the other road user 9 entering the future trajectory Td by displaying a message using text on the side of the medium-distance region Tdm. The short-distance image Ibc notifies the other road user 9 of the distance range within which the autonomous mobile device 1 can brake to avoid a collision with the other road user 9 entering the future trajectory Td by displaying a message using text on the side of the short-distance region Tdc.

[0070] Such a message image Im notifies a message regarding at least one of the trajectory image It and the boundary image Ib in the case corresponding to FIG. 10 of the first embodiment as shown in FIG. 14, and in the cases corresponding to FIGS. 8, 9, 11, and 12 of the first embodiment (not shown). Note that, except for the points described above, S2106 is executed in the same manner as S106 of the first embodiment. As a result, in S107 of the second embodiment, a notification image In including the message image Im together with the boundary image Ib and trajectory image It generated in S2106 is projected as shown in FIG.

[0071] According to the second embodiment described above, in order to notify the other road user 9 of a message, a notification image In is projected so that a message image Im, which displays a message associated with each of the distance images Ibl, Ibm, and Ibc, is displayed outside the boundary image Ib in the horizontal direction Da. This allows the other road user 9 to directly recognize the significance of the notification from each distance image Ibl, Ibm, and Ibc from the message in the message image Im projected in the range outside the boundary image Ib, which is the movement range Ru that can be intuitively recognized from the boundary image Ib. This makes it possible to increase the sense of security regarding the behavior of the autonomous mobile device 1 during future driving.

[0072] From a different perspective, according to the second embodiment, a notification image In is projected so that a message image Im for notifying the other road user 9 of a message regarding at least one of the trajectory image It and the boundary image Ib is displayed outside the boundary image Ib in the lateral direction Da. This allows the other road user 9 to directly recognize the significance of the notification by the trajectory image It and the boundary image Ib from the message of the message image Im projected in the range outside the boundary image Ib, which is the movement range Ru that can be intuitively recognized from the boundary image Ib. This makes it possible to increase the sense of security regarding the behavior of the autonomous mobile device 1 in future traveling.

[0073] (Other embodiments) Although multiple embodiments have been described above, the present disclosure should not be construed as being limited to those embodiments, and can be applied to various embodiments and combinations within the scope that does not deviate from the gist of the present disclosure.

[0074] In a modified example, the dedicated computer constituting the processing system 10 may have at least one of a digital circuit and an analog circuit as a processor. Here, the digital circuit is at least one of the following: an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), a system on a chip (SOC), a programmable gate array (PGA), and a complex programmable logic device (CPLD). Such a digital circuit may also have a memory that stores a program.

[0075] In a modified notification image In, the display color of the boundary image Ib as a display mode may be set to be substantially constant regardless of the distance regions Tdl, Tdm, and Tdc of the future trajectory Td. In a modified notification image In, the trajectory image It may be omitted. In a modified notification image In, the hue of the display color as a display mode may be adjusted in accordance with changes in the road surface color of the travel path Wr. In a modified notification image In, a message image Im that notifies the autonomous mobile device 1 of the traveling status by a message may be displayed in the movement area Ru. In a modified notification image In, a message image Im that indicates, by a message, at least one of, for example, the type of luggage being transported and a warning about the luggage, may be displayed in the movement area Ru of the autonomous mobile device 1 that transports luggage. In a modified example, the content of the message displayed by the message image Im may be notified by sound from an auditory stimulation type information presentation system 7.

[0076] In addition to the embodiments described above, the above-described embodiments and modifications may be implemented in the form of a processing circuit (e.g., a processing ECU, etc.) or a semiconductor device (e.g., a semiconductor chip, etc.) as a processing device that is configured to be mountable on the autonomous driving device 1 and has at least one processor 12 and one memory 11. Furthermore, the above-described embodiments and modifications may, of course, be implemented as an autonomous driving device 1 equipped with such a processing device.

[0077] (Additional remarks) This specification discloses the following technical ideas and combinations thereof.

[0078] (Technical thought 1) A processing system having a processor (12) and performing processing related to autonomous driving of an autonomous driving device (1), The processor: Acquiring a future driving route (Fr) of the autonomous driving device; A processing system configured to project a notification image (In) onto a driving path (Wr) on the future driving route, the notification image (In) including a boundary image (Ib) that notifies other road users (9) of the boundary (Br) on the driving range side of the driving range (Rd) of the autonomous driving device along the future driving route.

[0079] This technical idea 1 and the technical ideas 2 to 10 described below may be realized in the form of a method and a program.

[0080] (Technical thought 2) The projection of the notification image is The processing system described in technical idea 1 includes projecting the notification image, in which the boundary image is displayed outside the lateral direction (Da) of the driving path, more than the trajectory image (It) that notifies the autonomous driving device of the future trajectory (Td) to be followed by the autonomous driving device according to the future driving route as the driving range.

[0081] (Technical Thought 3) The projection of the notification image is The processing system according to Technical Idea 2 includes projecting the boundary image by leaving a margin range (Md) outside the edge of the trajectory image in the horizontal direction.

[0082] (Technical Thought 4) The projection of the notification image is The processing system according to Technical Idea 2 or 3 includes projecting the boundary image, the display mode of which changes depending on the distance from the autonomous driving device on the future driving route.

[0083] (Technical Thought 5) The projection of the notification image is The processing system described in Technical Idea 4 includes projecting the trajectory image, which represents divisions at regular distances from the autonomous driving device on the future driving route.

[0084] (Technical Thought 6) The projection of the notification image is a long-distance image (Ibl) notifying the autonomous driving device of a long-distance area (Tdl) in which the autonomous driving device can change its driving plan on the future driving route in response to the entry of the other road user into the driving range; a medium-distance image (Ibm) notifying a medium-distance area (Tdm) closer to the autonomous mobile device than the long-distance area as an area in which the autonomous mobile device can brake in response to the entry of the other road user into the driving range; A close-distance image (Ibc) notifying a close-distance area (Tdc) closer to the autonomous driving device than the long-distance area and the medium-distance area, The processing system according to Technical Idea 4 or 5 includes projecting the boundary image expressed by changing the display mode.

[0085] (Technical Thought 7) The projection of the notification image is The processing system described in Technical Idea 6 includes projecting the notification image, in which a message image (Im) is displayed outside the boundary image in the horizontal direction, in which the message for each of the long-distance image, the medium-distance image, and the close-distance image is individually associated with the message to notify the other road users.

[0086] (Technical Thought 8) The projection of the notification image is A processing system described in any one of technical ideas 2 to 6, which includes projecting a notification image in which a message image (Im) for notifying the other road user of a message regarding at least one of the trajectory image and the boundary image is displayed outside the boundary image in the horizontal direction.

[0087] (Technical Thought 9) The projection of the notification image is The processing system according to any one of Technical Ideas 2 to 8, including projecting the linear boundary image with a wider width in the lateral direction as the road surface flatness of the road decreases.

[0088] (Technical Thought 10) The projection of the boundary image is The processing system according to any one of Technical Ideas 2 to 9, including projecting the linear boundary image with a wider width in the lateral direction as the road surface brightness of the road decreases.

[0089] (Technical Thought 11) A processing device having a processor (12), configured to be mountable on an autonomous mobile device (1), and performing processing related to autonomous mobile device autonomous traveling, The processor: Acquiring a future driving route (Fr) of the autonomous driving device; A processing device configured to project a notification image (In) onto a driving path (Wr) on the future driving route, the notification image (In) including a boundary image (Ib) that notifies other road users (9) of the boundary (Br) on the driving range side of the driving range (Rd) of the autonomous driving device along the future driving route.

[0090] (Technical Thought 12) An autonomous driving device equipped with the processing device described in Technical Idea 11, in which processing related to autonomous driving is performed by the processing device. [Explanation of symbols]

[0091] 1: Autonomous driving device, 9: Other road users, 10: Processing system, 11: Memory, 12: Processor, Br: Boundary, Da: Lateral direction, Fr: Future driving route, Ib: Boundary image, Ibc: Short-distance image, Ibl: Long-distance image, Ibm: Mid-distance image, Im: Message image, In: Notification image, It: Trajectory image, Md: Margin range, Rd: Driving range, Ru: Action range, Td: Future trajectory, Tdc: Short-distance area, Tdl: Long-distance area, Tdm: Mid-distance area, Wr: Driving path

Claims

1. A processing system having a processor (12) and performing processing related to autonomous driving of an autonomous driving device (1), The processor: Acquiring a future driving route (Fr) of the autonomous driving device; and projecting a notification image (In) onto a travel path (Wr) on the future travel route, the notification image (In) including a boundary image (Ib) that notifies a boundary (Br) on the travel range side of a movement range (Ru) allowed for another road user (9) with respect to the travel range (Rd) of the autonomous traveling device along the future travel route; The projection of the notification image is A processing system including: projecting the notification image, in which the boundary image whose display mode changes depending on the distance from the autonomous driving device on the future driving route is displayed outside in the lateral direction (Da) of the driving path, of a trajectory image (It) that notifies the autonomous driving device of the future trajectory (Td) that the autonomous driving device will follow according to the future driving route as the driving range.

2. The projection of the notification image is The processing system according to claim 1 , further comprising projecting the boundary image with a margin range (Md) spaced outward from an edge of the trajectory image in the horizontal direction.

3. The projection of the notification image is The processing system according to claim 1 , further comprising: projecting the trajectory image, which represents divisions at regular distances from the autonomous mobile device on the future travel route.

4. The projection of the notification image is a long-distance image (Ibl) notifying the autonomous driving device of a long-distance area (Tdl) in which the autonomous driving device can change its driving plan on the future driving route in response to the entry of the other road user into the driving range; a medium-distance image (Ibm) notifying the autonomous mobile device of a medium-distance area (Tdm) closer to the autonomous mobile device than the long-distance area as an area in which the autonomous mobile device can brake in response to the entry of the other road user into the driving range; a short-distance image (Ibc) notifying a short-distance area (Tdc) closer to the autonomous driving device than the long-distance area and the medium-distance area; The processing system according to claim 1 , further comprising: projecting the boundary image expressed by the change in the display mode.

5. The projection of the notification image is The processing system of claim 4 further comprises projecting a notification image in which a message image (Im) is displayed outside the boundary image in the horizontal direction, the message image (Im) individually corresponding to each of the long-distance image, the medium-distance image, and the close-distance image, in order to notify the other road user of a message.

6. The projection of the notification image is The processing system according to any one of claims 1 to 5, further comprising projecting the notification image, in which a message image (Im) for notifying the other road user of a message regarding at least one of the trajectory image and the boundary image is displayed outside the boundary image in the horizontal direction.

7. The projection of the notification image is The processing system according to any one of claims 1 to 5, further comprising projecting the linear boundary image with a wider width in the lateral direction as the road surface flatness of the road decreases.

8. The projection of the boundary image is The processing system according to any one of claims 1 to 5, further comprising projecting the linear boundary image with a wider width in the lateral direction as the road surface brightness of the road decreases.

9. A processing device having a processor (12), configured to be mountable on an autonomous driving device (1), and performing processing related to autonomous driving of the autonomous driving device, The processor: Acquiring a future driving route (Fr) of the autonomous driving device; and projecting a notification image (In) onto a travel path (Wr) on the future travel route, the notification image (In) including a boundary image (Ib) that notifies a boundary (Br) on the travel range side of a movement range (Ru) allowed for another road user (9) with respect to the travel range (Rd) of the autonomous traveling device along the future travel route; The projection of the notification image is A processing device that includes projecting the notification image, in which the boundary image whose display mode changes depending on the distance from the autonomous driving device on the future driving route is displayed outside in the lateral direction (Da) of the driving path, of a trajectory image (It) that notifies the autonomous driving device of the future trajectory (Td) to be followed by the autonomous driving device according to the future driving route as the driving range.

10. An autonomous driving device equipped with the processing device according to claim 9, wherein processing related to autonomous driving is performed by the processing device.

11. A processing method executed by a processor (12) to perform processing related to autonomous driving of an autonomous driving device (1), comprising: Acquiring a future driving route (Fr) of the autonomous driving device; Projecting a notification image (In) onto a travel path (Wr) on the future travel route, the notification image (In) including a boundary image (Ib) notifying a boundary (Br) on the travel range side of a movement range (Ru) allowed for other road users (9) with respect to the travel range (Rd) of the autonomous driving device along the future travel route; The projection of the notification image is A processing method including: projecting the notification image, in which the boundary image whose display mode changes depending on the distance from the autonomous driving device on the future driving route is displayed outside in the lateral direction (Da) of the driving path, of a trajectory image (It) that notifies the autonomous driving device of the future trajectory (Td) to be followed by the autonomous driving device according to the future driving route as the driving range.

12. A processing program including instructions stored in a storage medium (11) and executed by a processor (12) to perform processing related to autonomous driving of an autonomous driving device (1), The instruction: acquiring a future driving route (Fr) of the autonomous driving device; Projecting a notification image (In) onto a travel path (Wr) on the future travel route, the notification image (In) including a boundary image (Ib) notifying a boundary (Br) on the travel range side of a movement range (Ru) allowed for other road users (9) with respect to the travel range (Rd) of the autonomous driving device along the future travel route, The projection of the notification image is A processing program that includes projecting the notification image, in which the boundary image whose display mode changes depending on the distance from the autonomous driving device on the future driving route is displayed outside the lateral direction (Da) of the driving path, of a trajectory image (It) that notifies the autonomous driving device of the future trajectory (Td) that the autonomous driving device will follow according to the future driving route as the driving range.

Images