Support method and support device

Abstract

To improve safety in traffic under an environment with low visibility.SOLUTION: A support method comprises: detecting a movement locus of a movable body moving around an own vehicle; acquiring a prediction path of the movable body on the basis of the movement locus of the movable body; determining a display mode relating the movable body in a road surface on the prediction path of the movable body on the basis of the prediction path of the movable body; and controlling irradiation of laser beam to the road surface on the basis of the display mode relating the movable body.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] The present disclosure relates to a support method and a support device.

Background Art

[0002] Conventionally, for example, in an environment with low visibility such as at night, in order to prevent collision accidents between vehicles or between a vehicle and a pedestrian, there is known a technique of irradiating laser light to make the presence of the host vehicle recognized by other vehicles.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Under such circumstances, there has been room for improvement in terms of further enhancing safety with regard to the information made recognizable to other vehicles by irradiating laser light.

[0005] The problem to be solved by the present disclosure is to improve traffic safety in an environment with low visibility.

Means for Solving the Problems

[0006] The support method according to the present disclosure includes detecting a movement trajectory of a moving object moving around the host vehicle, obtaining a predicted path of the moving object based on the movement trajectory of the moving object, determining a display mode regarding the moving object on a road surface on the predicted path of the moving object based on the predicted path of the moving object, and controlling irradiation of laser light onto the road surface based on the display mode regarding the moving object.

Effects of the Invention

[0007] According to this disclosure, traffic safety in environments with low visibility can be improved. [Brief explanation of the drawing]

[0008] [Figure 1] Figure 1 is a schematic diagram showing an example of a vehicle equipped with the support device according to the embodiment. [Figure 2] Figure 2 shows an example of the hardware configuration of the support device according to the present invention. [Figure 3] Figure 3 shows an example of the functional configuration of the support device according to this embodiment. [Figure 4] Figure 4 shows an example of the display configuration in the support processing according to the embodiment. [Figure 5] Figure 5 is a flowchart showing an example of the flow of support processing performed by the support device according to the embodiment. [Modes for carrying out the invention]

[0009] The embodiments of the support device, vehicle, support method, and program related to this disclosure will be described below with reference to the drawings.

[0010] In this disclosure, components having the same or substantially the same function as those described above in previously shown drawings are denoted by the same reference numerals, and explanations may be omitted as appropriate. Furthermore, even when representing the same or substantially the same parts, the dimensions and proportions may be shown differently in different drawings. In addition, for example, from the viewpoint of ensuring the readability of the drawings, reference numerals may be assigned only to the main components in the explanation of each drawing, and reference numerals may not be assigned to components having the same or substantially the same function as those described above in previously shown drawings.

[0011] Figure 1 is a schematic diagram showing an example of a vehicle equipped with the support device 3 according to the embodiment. As shown in Figure 1, the vehicle 1 has a vehicle body 12 and two pairs of wheels 13 arranged on the vehicle body 12 in a predetermined direction. The two pairs of wheels 13 include a pair of front tires 13f and a pair of rear tires 13r.

[0012] Here, the front tire 13f in this embodiment is an example of a first wheel. The rear tire 13r in this embodiment is an example of a second wheel. Note that Figure 1 illustrates a vehicle 1 having four wheels 13, but is not limited to this. The vehicle 1 only needs to have at least one front tire 13f and at least one rear tire 13r. The number of wheels 13 in the vehicle 1 may be two, three, or five or more.

[0013] The vehicle body 12 is supported by wheels 13. The vehicle 1 has a drive mechanism (not shown), and is movable by driving at least one of the wheels 13 of the vehicle 1 (the drive wheel) with the power of the drive mechanism. Any drive mechanism can be applied, such as an engine that uses gasoline or hydrogen as fuel, a motor that uses electricity from a battery, or a combination of an engine and a motor. In this case, the predetermined direction in which the two pairs of wheels 13 are arranged becomes the direction of travel for the vehicle 1. The vehicle 1 can move forward or backward by switching gears (not shown). The vehicle 1 can also turn left or right by steering.

[0014] Furthermore, the vehicle body 12 has a front end F, which is the end on the side of the front tire 13f, and a rear end R, which is the end on the side of the rear tire 13r. When viewed from above, the vehicle body 12 is roughly rectangular, and the four corners of the roughly rectangular shape are sometimes referred to as ends.

[0015] The front and rear ends F and R of the vehicle body 12 are provided with a pair of bumpers 14 near the lower end of the vehicle body 12. The front bumper 14f of the pair of bumpers 14 covers the entire front surface and part of the side near the lower end of the vehicle body 12. The rear bumper 14r of the pair of bumpers 14 covers the entire rear surface and part of the side near the lower end of the vehicle body 12.

[0016] A sonar 15 for transmitting and receiving sound waves such as ultrasonic waves is provided at a predetermined end of the vehicle body 12. The sonar 15 includes transmitting and receiving parts 15f and 15r. For example, one or more transmitting and receiving parts 15f are arranged on the front bumper 14f, and one or more transmitting and receiving parts 15r are arranged on the rear bumper 14r. Further, the number and / or positions of the transmitting and receiving parts 15f and 15r are not limited to the example shown in FIG. 1 and can be changed as appropriate. For example, the vehicle 1 may have transmitting and receiving parts 15f and 15r on the left and right sides.

[0017] In this embodiment, the sonar 15 that uses sound waves such as ultrasonic waves is exemplified, but it is not limited to this. For example, the vehicle 1 may have a radar that transmits and receives electromagnetic waves instead of or in addition to the sonar 15. Further, the sonar 15 may simply be referred to as a sensor.

[0018] The sonar 15 detects obstacles around the vehicle 1 based on the results of transmitting and receiving sound waves. Further, the sonar 15 measures the distance between the obstacles around the vehicle 1 and the vehicle 1 based on the results of transmitting and receiving sound waves. Here, the sonar 15 according to the embodiment is an example of an in-vehicle sensor.

[0019] The vehicle 1 also has a surround camera 16 that images the surroundings of the vehicle 1. As an example, the vehicle 1 has, as the surround camera 16, a front camera 16a that images the front, a rear camera 16b that images the rear, a left side camera 16c that images the left side, and a right side camera (not shown) that images the right side.

[0020] Hereinafter, when the front camera 16a, the rear camera 16b, the left side camera 16c, and the right side camera are not particularly distinguished, they are simply referred to as the surround camera 16. Note that the position and / or number of the surround cameras 16 are not limited to the example shown in FIG. 1 and can be changed as appropriate. For example, the vehicle 1 may have only two cameras: the front camera 16a and the rear camera 16b. Alternatively, in addition to the above example, the vehicle 1 may have other cameras.

[0021] The all-around camera 16 can capture images of the surroundings of the vehicle 1, and is, for example, a camera that captures color images. Note that the captured image captured by the all-around camera 16 may be a video or a still image. Further, the all-around camera 16 may be a camera built into the vehicle 1, or may be a camera of a drive recorder retrofitted to the vehicle 1 or the like. Here, the all-around camera 16 according to the embodiment is an example of an in-vehicle sensor.

[0022] At least one irradiation device 17 is provided at a predetermined end of the vehicle body 12. FIG. 1 illustrates a case where the irradiation device 17 is provided at the front end portion F of the vehicle 1. Note that the irradiation device 17 may be provided on the vehicle interior side of the front window of the vehicle 1, such as a position near the rearview mirror. Further, the irradiation device 17 may be provided on the side surface side of the vehicle 1, such as a side mirror, or may be provided at the rear end portion R.

[0023] The irradiation device 17 includes a light emitter such as an LED (Light Emitting Diode) and an optical system that converges, expands, or deflects the light from the light emitter. The irradiation device 17 switches on / off the light emission by the light emitter according to the control of the support device 3. Further, the irradiation device 17 operates the optical system so that the light from the light emitter has a predetermined irradiation shape at a predetermined position on the road surface in front of the traveling direction of the vehicle 1. In other words, the irradiation device 17 is configured to be able to irradiate the road surface with laser light in the visible light region. As an example, the irradiation device 17 irradiates the road surface in the vehicle traveling direction with visible laser light so as to have an irradiation shape according to the display mode determined by the support device 3.

[0024] The light-emitting element of the irradiation device 17 is not limited to an LED; other light sources may also be used. For example, the light-emitting element may be a solid-state laser such as a semiconductor laser, a gaseous laser such as a He-Ne laser, or a liquid laser. The light-emitting element may also be an HID (High-Intensity Discharge) lamp or a halogen lamp, or a lamp shared with the vehicle's front lights. Alternatively, the irradiation device 17 may be integrated with the vehicle's front lights.

[0025] The irradiation device 17 may be configured to allow changes in the color and illuminance of the laser light irradiated onto the road surface. The color and illuminance may be changed by the output of the light emitter or by the filter of the optical system.

[0026] The illumination device 17 may also be a projector that projects images or the like onto the road surface in the direction of vehicle travel. Furthermore, the illumination device 17 may be configured to cooperate with other illumination devices, such as the headlights of the vehicle 1. For example, the support device 3 may control the headlight intensity to reduce the light output when the illumination device 17 irradiates the road surface with laser light in a desired display manner.

[0027] Furthermore, vehicle 1 is equipped with a support device 3, as illustrated in Figure 1. The support device 3 is an information processing device that can be mounted on vehicle 1, and is implemented, for example, by an ECU (Electronic Control Unit) or OBU (On Board Unit) located inside vehicle 1. Alternatively, the support device 3 may be an external computer installed near the dashboard of vehicle 1. Note that the support device 3 may also function as a car navigation system or the like.

[0028] Figure 2 shows an example of the hardware configuration of the support device 3 according to the embodiment. As shown in Figure 2, the support device 3 has a CPU (Central Processing Unit) 31, ROM (Read Only Memory) 32, RAM (Random Access Memory) 33, HDD (Hard Disk Drive) 34, and I / F (Interface) 35. The CPU 31, ROM 32, RAM 33, HDD 34, and I / F (Interface) 35 are interconnected by a bus 39, etc., and the hardware configuration is that of a normal computer.

[0029] Furthermore, as shown in Figure 2, Vehicle 1 also has an HMI 21. The sonar 15, the all-around camera 16, the illumination device 17, and the HMI 21 are each connected to the support device 3, for example, via an I / F 35.

[0030] HMI21 is an interface for outputting notifications such as support information to the driver of vehicle 1. HMI21 is installed, for example, around the driver's seat of vehicle 1. However, HMI21 only needs to be able to output predetermined notifications that the driver of vehicle 1 can recognize, and may be installed in other parts around the driver's seat, such as the rear seats.

[0031] Furthermore, HMI21 may be a head-mounted display (HMD) worn on the driver's head. HMI21 may also be a projection-type display device such as a Head-Up Display (HUD) that projects images (virtual images) onto a display area in front of the driver, for example, on the windshield 180 or the dashboard (console) 190. In addition, HMI21 is not limited to a device that displays images; it may also include other notification devices such as a speaker that outputs notification sounds, warning sounds, or voice, or a horn.

[0032] The CPU 31 is the arithmetic unit that controls the entire support device 3. The CPU 31 loads programs stored in the ROM 32 and HDD 34 into the RAM 33 and executes them to perform the processes described later.

[0033] Note that the CPU 31 in this embodiment is an example of a processor in the support device 3. Other processors may be provided instead of or in addition to the CPU 31. Various other processors such as a GPU (Graphics Processing Unit), ASIC (Application Specific Integrated Circuit), and FPGA (Field Programmable Gate Array) can be used as appropriate.

[0034] ROM32 stores programs, parameters, and other information that enable various processes performed by the CPU31.

[0035] RAM33 is, for example, the main memory of the support device 3, and temporarily stores data necessary for various processes performed by the CPU31.

[0036] HDD34 stores various data and programs used by the support device 3. For example, HDD34 stores past movements of monitored moving objects detected by ADAS (Advanced Driving Assistant System) such as sonar 15 and all-around camera 16, the calculated predicted path of the monitored object, and the determined illumination content. Various storage media and devices such as SSD (Solid State Drive) and Flash memory can be used as appropriate in place of or in addition to HDD34.

[0037] I / F35 is an interface for sending and receiving data. I / F35 receives data from other devices installed on the vehicle 1, such as on-board sensors like the sonar 15 and the all-around camera 16. I / F35 also transmits data to other devices installed on the vehicle 1, such as the illumination device 17 and the HMI 21.

[0038] Furthermore, I / F35 may acquire signals from an accelerator sensor (not shown) that detects the amount of accelerator pedal operation by the driver, or from a brake sensor (not shown) that detects the amount of brake pedal operation by the driver, or from operation amounts based on these signals.

[0039] Furthermore, I / F35 may transmit and receive information with other ECUs mounted on Vehicle 1 via CAN or other means within Vehicle 1, or it may communicate with an external information processing device of Vehicle 1 via a network such as the Internet. For example, I / F35 may acquire vehicle information related to the state of Vehicle 1, such as vehicle speed pulses, various speeds including yaw rate, acceleration, position information, and shift information, from other ECUs or various on-board sensors of Vehicle 1 via CAN.

[0040] Figure 2 illustrates a case where the sonar 15, all-around camera 16, illumination device 17, and HMI 21 are not included in the support device 3, but is not limited to this. Some or all of these may be included in the support device 3. Also, the illumination device 17 may be configured as part of the HMI 21.

[0041] Figure 3 shows an example of the functional configuration of the support device according to the embodiment. The support device 3 executes a program loaded into RAM 33 using CPU 31, thereby realizing the functions of a detection unit 301, a path prediction unit 302, a determination unit 303, an irradiation content determination unit 304, and an irradiation control unit 305, as shown in Figure 3.

[0042] The detection unit 301 monitors the movement of moving objects around the vehicle and detects their movement trajectories. For example, the detection unit 301 acquires data from on-board ADAS sensors installed on the vehicle 1, such as sonar 15 and all-around camera 16, via I / F 35, for example. The detection unit 301 also detects past movements of the monitored object based on the acquired data.

[0043] Here, the object being monitored is, for example, a moving object moving around the vehicle itself, but the vehicle itself may also be included. The vehicle's movement trajectory may be obtained based on the output of GNSS (Global Navigation Satellite System) sensors such as GPS (Global Positioning System) sensors, or other on-board sensors such as wheel speed sensors, inertia sensors, and acceleration sensors.

[0044] Furthermore, a "moving object" is at least one of the following: another vehicle, a pedestrian, or the vehicle itself. More specifically, a "moving object" is at least one of the following: a person, such as a pedestrian, or a mobility device such as a bicycle or automobile that transports a person or goods. Mobility includes various vehicles that can move along a path provided on the ground, such as bicycles, motorcycles, automobiles, kick scooters, and mobility scooters. In addition, such mobility devices may be driven by human power or by the power of a prime mover or motor. Furthermore, such mobility devices may be configured to be autonomously driven.

[0045] The path prediction unit 302 obtains a predicted path for a moving object based on the movement trajectory of the moving object detected by the detection unit 301. In other words, the path prediction unit 302 predicts the future movement of the moving object based on the past movement of the moving object detected by the detection unit 301.

[0046] The determination unit 303 determines the risk of collision between at least two moving objects based on the predicted paths of each of the at least two moving objects moving around the vehicle.

[0047] The illumination content determination unit 304 determines the display mode for the moving object on the road surface along the predicted path of the moving object, based on the predicted path of the moving object moving around the vehicle.

[0048] As an example, a display method for a moving object includes a display showing the predicted path of the moving object.

[0049] As an example, the display of a moving object includes a display indicating the type of the moving object. The type of moving object indicates which type of moving object it is, among the various types of moving objects, such as other vehicles or pedestrians. For example, the type of moving object may include at least one of "automobile," "motorcycle," "bicycle," and "pedestrian," and indicate which of these the moving object is. Alternatively, the type of moving object may indicate, for example, whether it is a "passenger car" or a "truck" among automobiles.

[0050] As an example, a display method for moving objects includes a display indicating a stop line for at least one of at least two moving objects that pose a risk of collision with each other.

[0051] The irradiation control unit 305 controls the irradiation of laser light onto the road surface in front of the vehicle or a moving object moving around the vehicle, based on the display mode for the moving object.

[0052] Figure 4 is a diagram showing an example of the display configuration in the support processing according to the embodiment. Figure 4 illustrates a mobile body 501 as an example of a vehicle 1 equipped with the support device 3 according to the embodiment, and mobile bodies 503, 505, and 507 moving around the mobile body 501. In Figure 4, the triangles attached to each mobile body 501, 503, 505, and 507 indicate the direction of movement of each mobile body 501, 503, 505, and 507.

[0053] In the scene shown in Figure 4, the moving object 501 is, for example, a car attempting to proceed straight through intersection 401. The traffic light is green, but the moving object 501 is stopped without entering intersection 401 because the road ahead is blocked by other moving objects such as moving object 503.

[0054] In the scene shown in Figure 4, the moving object 503 is, for example, a car that proceeded straight through intersection 401 ahead of the moving object 501. The moving object 503 has not yet completely passed through intersection 401 due to traffic congestion ahead.

[0055] In the scene shown in Figure 4, the moving object 505 is, for example, a car that is traveling in the opposite direction to the moving object 501 and is attempting to turn right at intersection 401, i.e., the car that is turning right opposite to the moving object 501. More specifically, the moving object 505 is entering intersection 401, turning right, and attempting to pass between the moving objects 501 and 503.

[0056] In the scene shown in Figure 4, the moving object 507 is, for example, a motorcycle that is passing to the left of the moving object 501 and attempting to go straight through intersection 401.

[0057] As an example, the illumination content determination unit 304 determines the display mode for the moving object 507 on the road surface along the predicted path 403 of the moving object 507 moving around its own vehicle. Here, the display 601, which includes an arrow indicating the predicted path 403 of the moving object 507 and an icon indicating the type of moving object 507, is an example of a display mode for the moving object 507. As an example, the icon indicating the type of moving object 507 is an icon indicating a "motorcycle," as illustrated in Figure 4.

[0058] As an example, the illumination content determination unit 304 determines the display mode for the moving object 505 on the road surface along the predicted path of the moving object 505 moving around its own vehicle. Here, the display 603, which includes an arrow indicating the predicted path of the moving object 505 and an icon indicating the type of moving object 505, is an example of a display mode for the moving object 505. As an example, the icon indicating the type of moving object 505 is an icon indicating "automobile (passenger car, four-wheeled vehicle)" as illustrated in Figure 4.

[0059] Furthermore, the illumination of the road surface with displays 601 and 603, i.e., the predicted path and type, may be performed only when it is determined that a dangerous situation exists. In other words, the illumination content determination unit 304 may determine the display configuration including the predicted path and type when a dangerous situation exists. Alternatively, the illumination control unit 305 may start controlling the irradiation of laser light to the road surface to realize the display configuration including the predicted path and type when a dangerous situation exists.

[0060] Here, a dangerous situation is defined as a situation in which it is determined that there is a risk of collision between at least two of the multiple moving bodies 501, 503, 505, and 507. As an example, the determination unit 303 determines that there is a risk of collision between the moving bodies whose predicted paths intersect when the predicted paths intersect.

[0061] For example, if the irradiation content determination unit 304 determines that a dangerous situation exists, it determines a display configuration for the moving body 507, including a display 605 on the road surface along the predicted path of the moving body 507 that indicates a stop line for the moving body 507.

[0062] For example, if the irradiation content determination unit 304 determines that a dangerous situation exists, it determines a display configuration for the moving body 505, including a display 607 on the road surface along the predicted path of the moving body 505 that indicates a stop line for the moving body 505.

[0063] Furthermore, the projection of indicators 605 and 607, i.e., the stop line onto the road surface, may be carried out regardless of whether or not a dangerous situation has been determined. In other words, indicators 605 and 607 may be displayed on the road surface together with indicators 601 and 603, respectively. In this case, the determination unit 303 does not need to determine whether or not a dangerous situation exists. Alternatively, the determination unit 303 may not be provided in the support device 3.

[0064] Next, the flow of support processing performed by the support device 3 configured as described above will be explained. Figure 5 is a flowchart showing an example of the flow of support processing performed by the support device 3 according to this embodiment.

[0065] The detection unit 301 monitors the movement of other moving objects (S101). The path prediction unit 302 predicts the path of other moving objects (S102).

[0066] The irradiation content determination unit 304 determines the irradiation mode to display the predicted path on the road surface. The irradiation control unit 305 then irradiates the road surface with laser light from the irradiation device 17, thereby irradiating the predicted path of other moving objects on the road surface in the determined irradiation mode (S103).

[0067] The determination unit 303 determines whether the traffic around vehicle 1 is in a dangerous condition (S104). If it is not determined that the situation is dangerous (S104: No), the process shown in Figure 5 ends.

[0068] On the other hand, when a dangerous situation is determined (S104: Yes), the irradiation content determination unit 304 determines the display mode for displaying the stop line on the road surface. The irradiation control unit 305 then irradiates the road surface with laser light from the irradiation device 17 to project a stop line for other moving objects onto the road surface in the determined irradiation mode (S105). After that, the flow shown in Figure 5 ends.

[0069] Furthermore, the support device 3 may irradiate the road surface with laser light in a display mode related to the vehicle itself, not limited to display modes related to moving objects moving around the vehicle. In other words, the detection unit 301 may acquire the predicted path of the vehicle based on the vehicle's movement trajectory. Also, the irradiation content determination unit 304 may determine the display mode related to the vehicle on the road surface along the predicted path of the vehicle based on the vehicle's predicted path, not limited to display modes related to other moving objects around the vehicle. In addition, the irradiation control unit 305 may control the irradiation of laser light to the road surface based on the display mode related to the vehicle.

[0070] The detection unit 301 may also acquire vehicle information such as the position, speed, direction of movement, and type of moving objects moving around its own vehicle through V2X communication such as vehicle-to-vehicle communication or vehicle-to-infrastructure communication.

[0071] Furthermore, the irradiation control unit 305 may, for example, send a control signal via V2X communication to cause the laser beam to be irradiated onto the road surface not only by the irradiation device 17 on its own vehicle, but also by an irradiation device 17 mounted on a mobile body moving around the vehicle or an irradiation device 17 installed on the road.

[0072] In addition, the support device 3 may also perform control to sound the horn instead of, or in addition to, illuminating the road surface with the stop line.

[0073] As described above, the support device 3 according to this embodiment predicts the future path of other vehicles based on their past movements and notifies the presence of other vehicles by irradiating the road surface with laser light in a display manner based on the predicted path. Furthermore, if the support device 3 according to this embodiment determines that there is a danger not limited to its own vehicle, such as between other vehicles or between other vehicles and pedestrians, it notifies the other vehicle of the danger by irradiating a stop line.

[0074] This configuration allows both the driver of the vehicle and the driver of other vehicles to be alerted to the presence of motorcycles or other vehicles passing by. Therefore, even in environments with blind spots or low visibility, such as at night or in traffic jams, it can improve safety not only for the driver of the vehicle but also for other vehicles, such as reducing the risk of being hit by another vehicle in an accident.

[0075] In each of the embodiments described above, "determining whether it is A" may mean "determining that it is A," "determining that it is not A," or "determining whether or not it is A."

[0076] The programs executed by the support device 3 in each of the above embodiments are provided as files in an installable or executable format, recorded on a computer-readable recording medium such as a CD-ROM, floppy disk, CD-R, or DVD.

[0077] Furthermore, the program executed by the support device 3 in each of the above embodiments may be stored on a computer connected to a network such as the Internet and provided by downloading it via the network. Alternatively, the program executed by the support device 3 may be provided or distributed via a network such as the Internet.

[0078] Furthermore, the program executed by the support device 3 in each of the above embodiments may be pre-installed and provided in ROM or the like.

[0079] Furthermore, the program executed by the support device 3 in each of the above embodiments is configured as a module including the above-described functional units (detection unit 301, path prediction unit 302, determination unit 303, irradiation content determination unit 304, and irradiation control unit 305). In actual hardware, the CPU 31 reads the program from the ROM 32 or HDD 34 and executes it, thereby loading the above-described functional units onto the RAM 33 and generating the above-described functional units on the RAM 33.

[0080] According to at least one embodiment described above, traffic safety in low-visibility environments can be improved.

[0081] While several embodiments of the present invention have been described, these embodiments are presented as examples only and are not intended to limit the scope of the invention. These embodiments can be carried out in a variety of other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their variations are included in the scope and spirit of the invention, as well as in the claims and their equivalents.

[0082] (Note) Based on the above description of embodiments, the following technologies are disclosed. (1) To detect the movement trajectory of a moving object moving around the vehicle, Obtaining a predicted path for the moving object based on the movement trajectory of the moving object, Based on the predicted path of the moving object, the display method for the moving object on the road surface along the predicted path of the moving object is determined, To control the irradiation of the road surface with laser light based on the display mode of the moving body. Support methods including those mentioned above. (2) Based on the predicted paths of at least two of the aforementioned moving objects moving around the vehicle, the risk of collision between the at least two moving objects is determined. The further includes initiating control of laser beam irradiation onto the road surface when there is a risk of collision, The support methods described in (1) above. (3) The display mode relating to the moving object includes the display of the predicted path of the moving object. The support methods described in (1) or (2) above. (4) The display method relating to the mobile body includes an indication of the type of mobile body, The support method described in any of (1) to (3) above. (5) The type of moving object includes at least one of the following: automobile, motorcycle, bicycle, and pedestrian. The support methods described in (4) above. (6) The moving object is at least one of the following: another vehicle or a pedestrian. The support method described in any of (1) through (5) above. (7) Based on the predicted paths of at least two of the aforementioned moving objects moving around the vehicle, the risk of collision between the at least two moving objects is determined. When there is a risk of collision, a display configuration for the moving object, including the display of a stop line for the moving object, is determined. The support method described in any of the above (1) to (6). (8) A detection unit that detects the movement trajectory of a moving object moving around the vehicle, A path prediction unit that acquires a predicted path for the moving object based on the movement trajectory of the moving object, A unit for determining the illumination content determines the display mode for the moving body on the road surface along the predicted path of the moving body based on the predicted path of the moving body, An irradiation control unit that controls the irradiation of the road surface with laser light based on the display mode of the moving body. A support device equipped with the following features. (9) The system further includes a determination unit that determines the risk of collision between at least two moving bodies based on the predicted paths of each of the at least two moving bodies moving around the vehicle, The irradiation control unit starts controlling the irradiation of the road surface with laser light when there is a risk of collision. The support device described in (8) above. (10) The irradiation content determination unit determines a display mode for the moving body, including the display of the predicted path of the moving body. The support device described in (8) or (9) above. (11) The irradiation content determination unit determines a display configuration for the moving body, including the display of the type of the moving body. The support device described in any of (8) to (10) above. (12) The type of moving object includes at least one of the following: automobile, motorcycle, bicycle, and pedestrian. The support device described in (11) above. (13) The moving object is at least one of the following: another vehicle or a pedestrian. The support device described in any of (8) to (12) above. (14) The system further includes a determination unit that determines the risk of collision between at least two moving bodies based on the predicted paths of each of the at least two moving bodies moving around the vehicle, The illumination content determination unit determines, when there is a risk of collision, the display configuration for the moving object, including the display of a stop line for the moving object. The support device described in any of (8) to (13) above. (15) The system further includes an irradiation device configured to irradiate the road surface along the predicted path of the moving object with laser light. The support device described in any of (8) to (14) above. (16) A support device as described in any of (8) to (14) above, An on-board sensor for detecting the moving object, An irradiation device configured to irradiate the road surface along the predicted path of the moving object with laser light, A vehicle equipped with the following features. (17) A program that causes a computer to perform any of the support methods described in (1) through (7) above. (18) A computer program that is executed by a computer, and on which the program described in (17) above is recorded (Computer Program Product). [Explanation of symbols]

[0083] 1 vehicle 12 car bodies 13 wheels 14 Bumper 15. Sonar (vehicle-mounted sensor) 16. All-around camera (vehicle-mounted sensor) 17 Irradiation device 21 HMI 3 Support equipment 31 CPU 32 ROM 33 RAM 34 HDD 35 I / F 39 bus 301 Detection unit 302 Route prediction unit 303 Judgment section 304 Irradiation content determination section 305 Irradiation Control Unit

Claims

1. To detect the movement trajectory of a moving object moving around the vehicle, Obtaining a predicted path for the moving object based on the movement trajectory of the moving object, Based on the predicted path of the moving object, the display method for the moving object on the road surface along the predicted path of the moving object is determined, Controlling the irradiation of laser light onto the road surface based on the display mode for the moving object, Based on the predicted paths of at least two of the aforementioned moving objects moving around the vehicle, the risk of collision between the at least two moving objects is determined. A support method that includes, When there is a risk of collision, control of the irradiation of laser light onto the road surface is initiated. How to help.

2. To detect the movement trajectory of a moving object moving around the vehicle, Obtaining a predicted path of the moving object based on the movement trajectory of the moving object, Based on the predicted path of the moving object, the display method for the moving object on the road surface along the predicted path of the moving object is determined, Controlling the irradiation of laser light onto the road surface based on the display mode for the moving object, A support method that includes, The display mode relating to the moving object includes the display of the predicted path of the moving object. How to help.

3. The display method relating to the mobile body includes an indication of the type of mobile body, The support method according to claim 1.

4. The type of moving object includes at least one of the following: automobile, motorcycle, bicycle, and pedestrian. The support method according to claim 3.

5. The moving object is at least one of the following: another vehicle or a pedestrian. The support method according to claim 1.

6. To detect the movement trajectory of a moving object moving around the vehicle, Obtaining a predicted path of the moving object based on the movement trajectory of the moving object, Based on the predicted path of the moving object, the display method for the moving object on the road surface along the predicted path of the moving object is determined, Controlling the irradiation of laser light onto the road surface based on the display mode for the moving object, Based on the predicted paths of at least two of the aforementioned moving objects moving around the vehicle, the risk of collision between the at least two moving objects is determined. A support method that includes, When there is a risk of collision, a display configuration for the moving object, including the display of a stop line for the moving object, is determined. How to help.

7. A detection unit that detects the movement trajectory of a moving object moving around the vehicle, A path prediction unit that acquires a predicted path for the moving object based on the movement trajectory of the moving object, A unit for determining the illumination content determines the display mode for the moving body on the road surface along the predicted path of the moving body based on the predicted path of the moving body, An irradiation control unit that controls the irradiation of laser light onto the road surface based on the display mode relating to the moving body, A determination unit that determines the risk of collision between at least two moving objects based on the predicted paths of each of the at least two moving objects moving around the vehicle, A support device equipped with, The irradiation control unit starts controlling the irradiation of the road surface with laser light when there is a risk of collision. Support equipment.

8. A detection unit for detecting the movement trajectory of a moving object moving around the vehicle, A path prediction unit that acquires a predicted path for the moving object based on the movement trajectory of the moving object, A unit for determining the illumination content determines the display mode for the moving body on the road surface along the predicted path of the moving body based on the predicted path of the moving body, An irradiation control unit that controls the irradiation of laser light onto the road surface based on the display mode relating to the moving body, A support device equipped with, The display mode relating to the moving object includes the display of the predicted path of the moving object. Support equipment.

9. The display method relating to the mobile body includes an indication of the type of mobile body, The support device according to claim 7.

10. The type of moving object includes at least one of the following: automobile, motorcycle, bicycle, and pedestrian. The support device according to claim 9.

11. The moving object is at least one of the following: another vehicle or a pedestrian. The support device according to claim 7.

12. A detection unit for detecting the movement trajectory of a moving object moving around the vehicle, A path prediction unit that acquires a predicted path for the moving object based on the movement trajectory of the moving object, A unit for determining the illumination content determines the display mode for the moving body on the road surface along the predicted path of the moving body based on the predicted path of the moving body, An irradiation control unit that controls the irradiation of laser light onto the road surface based on the display mode relating to the moving body, A determination unit that determines the risk of collision between at least two moving objects based on the predicted paths of each of the at least two moving objects moving around the vehicle, A support device equipped with, The irradiation control unit determines a display configuration for the moving object, including the display of a stop line, when there is a risk of collision. Support equipment.

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