Drawing control device

Description

Technical Field

[0001] The present disclosure relates to a drawing control device that controls road surface drawing in order to notify the surroundings of the behavior related to the traveling direction of a vehicle.

Background Art

[0002] Conventionally, when a plurality of vehicles are traveling in a queue, using vehicle-to-vehicle communication technology, simultaneous lighting control is performed on the headlights, taillights, and indicators installed on the body of the vehicles participating in the queue driving to improve the recognition of the overall behavior of the queue driving (see, for example, Patent Document 1).

[0003] Also, a technique for improving the recognizability of the behavior of a host vehicle from the outside by synchronously flashing or inversely flashing the direction indicator of the host vehicle with respect to the flashing cycle of the direction indicator of the preceding vehicle has been disclosed (see, for example, Patent Document 2).

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0005] In Patent Documents 1 and 2, when the vehicle performing the lighting control is laterally displaced with respect to the vehicle column in the traveling direction, the lighting of the vehicle may be difficult to see from the surroundings. Thus, conventionally, depending on the position of the vehicle, the lighting of the vehicle may be difficult to see, and there has been room for improvement in that the visibility of the behavior of the vehicle for traffic participants such as pedestrians is not good.

[0006] This disclosure is made to solve these problems and aims to provide a drawing control device that can improve the visibility of vehicle behavior to traffic participants. [Means for solving the problem]

[0007] To solve the above problems, the drawing control device according to this disclosure includes: a surrounding vehicle behavior detection unit that receives behavioral information related to the direction of travel of surrounding vehicles present around the vehicle and detects the behavior related to the direction of travel of surrounding vehicles; a behavior matching determination unit that determines whether the behavior related to the direction of travel of surrounding vehicles matches the behavior related to the direction of travel of the vehicle itself; and a guideline that indicates that the behavior matches when the behavior related to the direction of travel of surrounding vehicles matches the behavior related to the direction of travel of the vehicle itself. In addition to the guidelines, there are also turn signal lines that indicate the direction of the vehicle's movement. It includes a road surface drawing optimization unit that outputs a drawing instruction signal instructing the vehicle to draw on the road surface on the side of the vehicle's direction of movement. [Effects of the Invention]

[0008] According to this disclosure, it is possible to improve the visibility of vehicle behavior to traffic participants.

[0009] The purposes, features, aspects, and advantages of this disclosure will become more apparent from the following detailed description and accompanying drawings. [Brief explanation of the drawing]

[0010] [Figure 1] This is a block diagram showing an example of the configuration of a drawing control device according to Embodiment 1. [Figure 2] This flowchart shows an example of the operation of the drawing control device according to Embodiment 1. [Figure 3] This figure shows an example of drawing guidelines according to Embodiment 1. [Figure 4] This figure shows an example of drawing guidelines related to Modification 5 of Embodiment 1. [Figure 5]This is a block diagram showing an example of the configuration of a drawing control device according to a modified example 8 of Embodiment 1. [Figure 6] This figure shows an example of drawing guidelines and turn signal lines according to modified example 9 of Embodiment 1. [Figure 7] This figure shows an example of drawing guidelines related to modified example 10 of Embodiment 1. [Figure 8] This figure shows an example of drawing a guide according to modified example 11 of Embodiment 1. [Figure 9] This is a block diagram showing an example of the hardware configuration of the drawing control device according to Embodiment 1. [Figure 10] This is a block diagram showing an example of the hardware configuration of the drawing control device according to Embodiment 1. [Modes for carrying out the invention]

[0011] <Embodiment 1> <Structure> Figure 1 is a block diagram showing an example of the configuration of a drawing control device 1 according to Embodiment 1. The drawing control device 1 includes a surrounding vehicle behavior detection unit 2, a behavior consistency determination unit 3, and a road surface drawing optimization unit 4. The drawing control device 1 is also communicated with a shooting device 5, an in-vehicle LAN (Local Area Network) 6, and a projection device 7.

[0012] The surrounding vehicle behavior detection unit 2 receives behavior information related to the traveling direction of surrounding vehicles existing around the host vehicle, and detects the behavior related to the traveling direction of the surrounding vehicles. Specifically, the surrounding vehicle behavior detection unit 2 acquires imaging information (image or video) obtained by photographing surrounding vehicles existing around the host vehicle from the imaging device 5, and detects the blinking state of the turn signals of the surrounding vehicles based on the acquired imaging information, thereby detecting the behavior related to the traveling direction of the surrounding vehicles. The blinking state of the turn signals of the surrounding vehicles can be detected by performing image processing on the photographed information. Here, the behavior related to the traveling direction of the surrounding vehicles includes that the surrounding vehicle travels straight, the surrounding vehicle turns right or left, the surrounding vehicle changes lanes, the surrounding vehicle enters a branch road from the main line, the surrounding vehicle changes its route or lane at an IC (Interchange) or JCT (Junction), the surrounding vehicle enters a road that branches left and right from one road, and the like. The same applies to the behavior of the host vehicle. Note that the surrounding vehicles include a preceding vehicle traveling in front of the host vehicle, a following vehicle traveling behind the host vehicle, and a lateral vehicle traveling on the side including the adjacent lane of the lane in which the host vehicle is traveling.

[0013] The imaging device 5 photographs the surrounding vehicles. The imaging device 5 may be one camera installed in front of the host vehicle, or may be a plurality of cameras. Also, the imaging device 5 may be in any form as long as it can photograph the surrounding vehicles, such as a rear camera or a lateral camera.

[0014] The behavior matching determination unit 3 determines whether or not the behavior related to the traveling direction of the surrounding vehicle matches the behavior related to the traveling direction of the host vehicle. Specifically, the behavior matching determination unit 3 acquires information of in-vehicle devices of the host vehicle via the in-vehicle LAN 6. The information of the in-vehicle devices includes information on whether the right and left turn signals of the host vehicle are ON or OFF. The behavior matching determination unit 3 determines whether or not the blinking state of the turn signals of the surrounding vehicle matches the blinking state of the turn signals of the host vehicle. For example, when the right turn signal of the surrounding vehicle is blinking and the right turn signal of the host vehicle is blinking, the behavior matching determination unit 3 determines that the behavior related to the traveling direction of the surrounding vehicle matches the behavior related to the traveling direction of the host vehicle.

[0015] The in-vehicle LAN 6 is connected to in-vehicle devices of the host vehicle and transmits information output from the in-vehicle devices and the like to the behavior matching determination unit 3.

[0016] When the behavior related to the traveling direction of the surrounding vehicle and the behavior related to the traveling direction of the host vehicle match, the road surface drawing optimization unit 4 outputs a drawing instruction signal for instructing the projection device 7 to draw a guideline indicating that the behaviors match on the road surface on the side of the traveling direction of the host vehicle. At this time, the road surface drawing optimization unit 4 formulates the mode of the guideline.

[0017] The projection device 7 projects a guideline on the road surface according to the drawing instruction signal input from the road surface drawing optimization unit 4. That is, the projection device 7 draws a guideline on the road surface.

[0018] <Operation> FIG. 2 is a flowchart showing an example of the operation of the drawing control device 1. The operation in FIG. 2 is assumed to be executed, for example, every fixed time (for example, 100 ms).

[0019] In step S1, the surrounding vehicle behavior detection unit 2 acquires imaging information of the surrounding vehicles from the imaging device 5.

[0020] In step S2, the surrounding vehicle behavior detection unit 2 detects the behavior related to the traveling direction of the surrounding vehicle by detecting the blinking state of the turn signal of the surrounding vehicle based on the acquired imaging information. At this time, the surrounding vehicle behavior detection unit 2 may detect the on / off cycle or timing of the turn signal of the surrounding vehicle.

[0021] In step S3, the behavior matching determination unit 3 compares the behavior of surrounding vehicles related to their direction of travel, as detected by the surrounding vehicle behavior detection unit 2, with the behavior of the own vehicle related to its direction of travel, obtained via the in-vehicle LAN 6, and determines whether or not there are surrounding vehicles whose behavior matches that of the own vehicle. If there are surrounding vehicles whose behavior matches that of the own vehicle, the process proceeds to step S4. On the other hand, if there are no surrounding vehicles whose behavior matches that of the own vehicle, the process proceeds to step S6.

[0022] In step S4, the road surface drawing optimization unit 4 determines the form of the guideline. Specifically, the road surface drawing optimization unit 4 determines that a straight guideline having the same length as the total length of the vehicle should be drawn on the road surface on the side of the vehicle's direction of movement, at a predetermined distance from the side of the vehicle (for example, 30 cm from the side of the vehicle). Note that the guideline is not limited to a straight line, but may be a dotted line, a dashed line, or any other shape.

[0023] In step S5, the projection device 7 draws a guideline on the road surface to the side of the vehicle's direction of movement, in accordance with the drawing instruction signal input from the road surface drawing optimization unit 4. Hereafter, the act of the projection device 7 drawing the guideline may be referred to as "the vehicle drawing the guideline."

[0024] Figure 3 shows an example of guideline drawing. It is assumed that the lead vehicle P1 and vehicles P2-P4 are each equipped with the drawing control device 1 shown in Figure 1. In Figure 3, all vehicles P1 and P2-P4 are making a left turn at an intersection, and guidelines GL1-GL4 are drawn on the road surface to the left side of each vehicle (the side in the direction of movement). Additionally, the left turn signals of each vehicle P1 and P2-P4 are flashing.

[0025] Note that in Figure 3, for example, if vehicle P3 is going straight through an intersection, guideline GL3 is not drawn to the side of vehicle P3.

[0026] The surrounding vehicle behavior detection unit 2 detects the flashing state of the turn signals of surrounding vehicles by image processing. In this case, the flashing state of the turn signals of surrounding vehicles in front of and behind the vehicle can be reliably detected, but it may not be possible to detect the flashing state of the turn signals of surrounding vehicles further away. For example, if vehicles P1 to P5 are present, and vehicle P3 is going straight through the intersection, and vehicles P1, P2, P4, and P5 are turning left at the intersection, vehicle P4 may be unable to detect the flashing state of vehicles P1 and P2 due to the influence of vehicle P3. In this case, vehicle P4 may detect that vehicle P5's behavior matches that of its own vehicle and draw a guideline on the road surface to its left as the leading vehicle in the group of left-turning vehicles. If vehicle P5 is not present, vehicle P4 will determine that its own vehicle is turning left alone and will not draw a guideline.

[0027] If all vehicles are turning left at an intersection, guidelines will be drawn on the road surface to the left of all vehicles. If there are vehicles turning right and vehicles turning left, guidelines will be drawn on the road surface to the right of one vehicle and on the road surface to the left of the other, according to the direction of the turn. In this case, if there is only one vehicle turning right, no guidelines will be drawn on the road surface to the right of that vehicle. The same applies if there is only one vehicle turning left.

[0028] When it is possible to turn left or right from a single lane, or to change lanes to adjacent lanes to the left or right from a single lane, guidelines drawn on the right side of the vehicle and guidelines drawn on the left side of the vehicle will be mixed. In this case, for example, if the lead vehicle of a group of left-turning vehicles is behind the lead vehicle of a group of right-turning vehicles, the lead vehicle of the left-turning group may draw a guideline that is different in appearance from the guideline drawn by the lead vehicle of the right-turning group. That is, when the flashing of left and right turn signals is mixed, the appearance of the guidelines drawn on the left and right sides of the road surface may be changed.

[0029] In step S6, if there are no surrounding vehicles whose behavior matches that of the current vehicle, the drawing of the guidelines will be terminated.

[0030] In step S7, the behavior matching determination unit 3 determines whether the vehicle's turn signal operation has finished based on the information obtained via the in-vehicle LAN 6. If the vehicle's turn signal operation has finished, the process proceeds to step S8. On the other hand, if the vehicle's turn signal operation has not finished, the process returns to step S1.

[0031] In step S8, the drawing control device 1 finishes drawing the guideline.

[0032] The above describes the case where guidelines are drawn only on the side in the direction of the vehicle's movement, but this is not the only option. For example, guidelines may be drawn on both sides of the vehicle. In this case, the prominence of the guidelines drawn on the side opposite to the direction of movement may be reduced.

[0033] <Effects> According to Embodiment 1, since guidelines indicating the direction of movement of a group of vehicles whose behavior is consistent are projected onto the road surface to the side of the vehicles in the same manner, it is possible to improve the visibility of vehicle behavior to traffic participants.

[0034] <Example 1> In Embodiment 1, the case was described in which the surrounding vehicle behavior detection unit 2 processes the image information of the surrounding vehicle acquired from the camera 5 to detect the blinking state of the turn signals of the surrounding vehicle, but it is not limited to this. The camera 5 may also have a function to process the captured image information. In this case, the surrounding vehicle behavior detection unit 2 will acquire information indicating the blinking state of the turn signals of the surrounding vehicle from the camera 5.

[0035] <Effects> According to Modification 1, the same effects as in Embodiment 1 are achieved. Furthermore, an existing peripheral detection device with image processing capabilities can be used as the imaging device 5.

[0036] <Modification 2> Embodiment 1 describes a case where the surrounding vehicle behavior detection unit 2 processes image information of surrounding vehicles acquired from the camera 5 to detect the blinking state of the turn signals of surrounding vehicles, but it is not limited to this. Instead of the camera 5, a V2X communication device, such as a vehicle-to-vehicle communication device, may be provided, and surrounding vehicle information may be acquired from surrounding vehicles using the V2X communication device. Surrounding vehicle information includes turn signal information (information indicating the lighting state of the turn signals), location information, vehicle ID, etc. The surrounding vehicle behavior detection unit 2 extracts the necessary information from the surrounding vehicle information. Based on the location information of the surrounding vehicles and the location information of the own vehicle, the surrounding vehicle behavior detection unit 2 can detect the relative position of the surrounding vehicles to the own vehicle. The location information of the own vehicle can be acquired via the in-vehicle LAN 6.

[0037] Furthermore, surrounding vehicle information may be acquired via vehicle-to-infrastructure communication rather than vehicle-to-vehicle communication. Also, the surrounding vehicle behavior detection unit 2 may acquire information from both the V2X communication device and the imaging device 5. In this case, the behavior of surrounding vehicles can be detected with high accuracy.

[0038] <Effects> Modification 2 provides the same effects as Embodiment 1. In particular, since inter-vehicle communication is essential in platooning, a V2X communication device can be used when platooning. Hardware assets of a high-precision locator system equipped with a V2X communication device can be utilized.

[0039] Furthermore, according to Example 2, it is possible to detect the behavior of surrounding vehicles, which may not be detectable depending on the positional relationship between the imaging device 5 and the surrounding vehicles, as in Embodiment 1 and Modification 1.

[0040] <Variation 3> In Embodiment 1, the position of the guideline formulated by the road surface drawing optimization unit 4 was described as being at a predetermined distance laterally from the vehicle itself, but this is not the only possible position. The road surface drawing optimization unit 4 may adjust the offset position so that the lateral position (lane width direction) of the guideline drawn by the vehicle itself matches the lateral position of the guideline drawn by surrounding vehicles (surrounding vehicle guideline). The lateral position of the guideline drawn by surrounding vehicles may be detected by the surrounding vehicle behavior detection unit 2.

[0041] For example, in the example shown in Figure 3, the lateral position of guideline GL3 drawn by vehicle P3 does not match the lateral positions of guidelines GL2 and GL4 drawn by vehicles P2 and P4, respectively. Therefore, the road surface drawing optimization unit 4 shifts guideline GL3 to the left so that its lateral position matches that of guidelines GL2 and GL4.

[0042] The lateral position of guideline GL3 may be a predetermined distance (for example, 10 cm) away from the lane boundary line, the position of the guideline drawn by the preceding vehicle, or the position of the guideline drawn at the outermost edge (closest to the boundary line) within the lane.

[0043] Furthermore, if the vehicle is equipped with the V2X communication device described in Modification 2, the drawing control device 1 may acquire information regarding the position of guidelines drawn by surrounding vehicles through vehicle-to-vehicle communication via the V2X communication device.

[0044] <Effects> According to Modification 3, the horizontal position of the guidelines drawn by each of the multiple vehicles is aligned, which improves the visibility of vehicle behavior to traffic participants.

[0045] <Modification 4> In the modified example 3, the road surface drawing optimization unit 4 may choose not to draw the guideline when the distance (lateral distance) between the guideline drawn by surrounding vehicles and the side of its own vehicle is within a predetermined distance. In this case, the road surface drawing optimization unit 4 outputs a drawing instruction signal to the projection device 7 indicating that the guideline should not be drawn.

[0046] <Effects> In Modification 3, when aligning the guidelines drawn by the own vehicle with the guidelines drawn by surrounding vehicles, if the distance between the guidelines drawn by the surrounding vehicles and the side of the own vehicle is too close, it becomes necessary to draw the guidelines right next to the side of the own vehicle. However, depending on the vehicle model, the drawing of the guidelines may be obstructed by the bulge of the vehicle body. In such cases, it is possible to prevent the guidelines from being drawn unnecessarily by prohibiting the drawing of the guidelines.

[0047] <Modification 5> In the third modified example, the guidelines drawn by the vehicle itself may be made to connect to the guidelines drawn by surrounding vehicles located in front of and behind the vehicle (see Figure 4).

[0048] <Effects> This variation provides an even greater sense of unity in the guidelines than variation 3, making it possible to further improve the visibility of vehicle behavior to traffic participants.

[0049] <Variation 6> In Modification 5, when multiple vehicles perform some form of cooperative driving, such as platooning, follow-me driving, or group driving, the guidelines drawn by each vehicle performing cooperative driving may be made to connect, while the guidelines drawn by vehicles that behave the same but are not performing cooperative driving may not be made to connect.

[0050] Specifically, when the vehicle is traveling in coordination with at least one other vehicle traveling in the same lane as the vehicle, the road surface drawing optimization unit 4 outputs a drawing instruction signal to the projection device 7 instructing it to draw guidelines that connect to the guidelines drawn by the surrounding vehicle. The projection device 7 then draws guidelines on the road surface in accordance with the drawing instruction signal, connecting to the guidelines drawn by the surrounding vehicle.

[0051] <Effects> According to Modification 6, traffic participants can determine whether or not a group of vehicles are driving in a coordinated manner. For example, since guidelines are drawn as continuous lines between each vehicle driving in a convoy, traffic participants can easily recognize them as a series of vehicles.

[0052] Furthermore, guidelines may be drawn on both sides of a group of vehicles performing coordinated driving. In this case, the sense of unity among the group of vehicles performing coordinated driving is enhanced. Emphasizing the guideline on the side facing the direction of movement among the guidelines drawn on both sides of the vehicle is effective because it makes the behavior of the group of vehicles performing coordinated driving easier to understand.

[0053] If the vehicle itself and surrounding vehicles traveling in a convoy do not have the function to draw guidelines, the road surface drawing optimization unit 4 may output a drawing instruction signal to the projection device 7 instructing it to draw guidelines on the road surface to the side of the surrounding vehicles. The projection device 7 draws guidelines on the road surface to the side of the surrounding vehicles in accordance with the drawing instruction signal. In this way, if the surrounding vehicles traveling in a convoy do not have the function to draw guidelines, or if the function to draw guidelines in the surrounding vehicles is malfunctioning, the drawing control device 1 of the vehicle itself can draw guidelines on behalf of the surrounding vehicles.

[0054] <Example 7> The guidelines drawn by the projection device 7 may be in a manner that changes over time. Specifically, the road surface drawing optimization unit 4 outputs a drawing instruction signal to the projection device 7 instructing it to make the guidelines blink so that they change regularly over time, and to coordinate the timing of the drawing of guide runs that blink so that they change regularly over time, by surrounding vehicles whose behavior matches that of the vehicle itself. The projection device 7 draws the guidelines on the road surface in accordance with the drawing instruction signal, in coordination with the timing of the guidelines drawn by surrounding vehicles.

[0055] For example, in Figure 3, suppose the lead vehicle P1 draws guideline GL1 such that it repeatedly flashes with Tg / 2 on and the remaining Tg / 2 off during the flashing period Tg. If the flashing function of guideline GL1 is Gp1(t) and the flashing function of guideline GLn (n=2~4) is Gpn(t), then "perfect synchronization," "inverted synchronization," and "wave coordination" can be considered as examples of projection coordination.

[0056] Perfect synchronization means that the guidelines drawn by all vehicles flash at the same time. In this case, equation (1) below holds true. Gpn(t)=Gp1(t) | n=2~4 ···(1)

[0057] Reverse synchronization refers to the phenomenon where the guidelines drawn by the preceding and succeeding vehicles flash in a reversed pattern at the same time. For example, as soon as the preceding vehicle draws its guideline, the guideline drawn by the following vehicle disappears, and as soon as the guideline drawn by the preceding vehicle disappears, the guideline drawn by the following vehicle begins to be drawn. In this case, equations (2) to (4) below hold true. Gp2(t) = -Gp1(t) ... (2) Gp3(t) = Gp1(t) ... (3) Gp4(t) = -Gp1(t) ... (4)

[0058] Wave coordination refers to a method where the timing of each vehicle drawing the guideline is staggered, causing the guideline to flash as if moving from front to back. In this case, equation (5) below holds true. Gpn(t)=Gp1(t-(n-1)·Δt) | n=2~4 ···(5)

[0059] In equation (5), Δt is, for example, Tg / 8. Alternatively, the guideline may be made to blink as it moves from back to front.

[0060] Furthermore, in the above coordination, the color tone of the guidelines may be changed over time, the thickness, length, or shape of the guidelines may be changed periodically, and the guideline may be changed arbitrarily.

[0061] In the above coordination, any vehicle can be used as the reference, but if your vehicle is the lead vehicle, it may formulate its own flashing function, and if your vehicle is not the lead vehicle, it may emphasize the flashing function of the preceding vehicle.

[0062] In the above coordination, it is desirable to adjust the lateral position of the guidelines as shown in Modification 3.

[0063] Guidelines may be drawn on both sides of the vehicle, not just one side. In this case, guidelines drawn on the side opposite to the direction of movement may be made less conspicuous, such as by not flashing.

[0064] <Effects> According to Modification 7, by emphasizing the flashing cycle of the guidelines drawn by each vehicle whose behavior matches, it can function as one large flashing guideline, improving the visibility of the vehicle group's behavior to traffic participants.

[0065] <Differentiation Example 8> Figure 5 is a block diagram showing an example of the configuration of the drawing control device 8 according to the modified example 8. The drawing control device 8 is characterized by including a turn signal optimization unit 9. The drawing control device 8 is also connected to the turn signal device 10. The other configurations are the same as those of the drawing control device 1 according to Embodiment 1 (see Figure 1), so a detailed explanation is omitted here.

[0066] The turn signal optimization unit 9 outputs a turn signal instruction signal to the turn signal device 10, instructing it to synchronize the flashing period of its own vehicle's turn signals with the flashing period of surrounding vehicles whose behavior matches that of its own vehicle. The turn signal device 10 then flashes its own vehicle's turn signals in accordance with the turn signal instruction signal, synchronizing them with the flashing period of surrounding vehicles' turn signals.

[0067] For example, if the flashing period of the turn signal of vehicle P1 is Ts, and the on and off flashing waveforms are Sp1(t), then the flashing waveform Spn(t) of "vehicle Pn|n=2~4" can be set to Spn(t)=Sp1(t) to achieve perfect synchronization.

[0068] Alternatively, the flashing period Tg of the guideline, as described in Modification Example 7, may be synchronized with the flashing period Ts of the turn signal (Tg=Ts). In this case, the road surface drawing optimization unit 4 outputs a drawing instruction signal to the projection device 7, instructing it to synchronize the flashing period of the guideline with the flashing period of the turn signal. The projection device 7 then draws the guideline on the road surface in synchronization with the flashing period of the turn signal.

[0069] Alternatively, the flashing period Tg of the guideline and the flashing period Ts of the turn signal may be made the same, and the timing of drawing the guideline and the timing of illuminating the turn signal may be staggered. In this case, a relationship such as Gp1(t)=Sp1(t-Δt) may be used.

[0070] <Effects> According to Modification 8, by coordinating the flashing cycle of the turn signal with the flashing cycle of the guideline, it is possible to improve the visibility of vehicle behavior to road users.

[0071] <Modification 9> In Embodiment 1, the case in which a turn signal is drawn on the road surface on the side of the vehicle's direction of movement was described, but a turn signal line indicating the direction of movement may also be drawn near the turn signal.

[0072] Specifically, the road surface drawing optimization unit 4 outputs a drawing instruction signal to the projection device 7, which instructs the unit to draw turn signal lines in addition to the guidelines.

[0073] Figure 6 shows an example of drawing guideline and turn signal lines. In Figure 6, the leading vehicle P1 has drawn guideline GL1 and turn signal line SL1 on the road surface to the left of the vehicle. The same applies to the other vehicles P2 to P4. In the example in Figure 6, all vehicles have drawn guideline and turn signal lines, but it is sufficient for at least the leading vehicle to have them drawn.

[0074] The turn signal line may be animated with an arrow moving from the foreground towards the direction of movement. Furthermore, as explained in Modification 7, the turn signal line may flash in coordination with the flashing cycle of the guideline.

[0075] <Effects> According to Modification 9, by adding turn signal lines in addition to the guidelines, it is possible to improve the visibility of vehicle behavior to road users.

[0076] <Variation 10> In Embodiment 1, we described the case where guidelines are drawn when there are surrounding vehicles whose behavior matches that of the own vehicle. However, these surrounding vehicles may be limited to only those traveling in the same lane as the own vehicle.

[0077] Specifically, when there is at least one surrounding vehicle traveling in the same lane as the vehicle in question and whose behavior matches that of the vehicle in question, the road surface drawing optimization unit 4 outputs a drawing instruction signal to the projection device 7 instructing it to draw guidelines.

[0078] Figure 7 shows an example of drawing guidelines related to Modification 10. In Figure 7, of the four lanes on one side, the two leftmost lanes are left-turn lanes, the second lane from the right is a straight-ahead lane, and the first lane from the right is a right-turn lane.

[0079] In the first lane from the left, there are four vehicles, including the lead vehicle P1, and a series of guideline groups GLp are drawn between these four vehicles. In the second lane from the left, there are three vehicles, including the lead vehicle Q1, and a series of guideline groups GLq are drawn between these three vehicles. Furthermore, in the first lane from the right, there are two vehicles, including the lead vehicle V1, and a series of guideline groups GLv are drawn between these two vehicles.

[0080] The characteristics (color tone, shape, and flashing cycle) of guideline groups GLp, GLq, and GLv may differ from each other. For example, the characteristics of the guidelines drawn by vehicles in other lanes may be different from those drawn by vehicles in the leftmost lane.

[0081] Note that the two vehicles, including the lead vehicle R1, do not make right or left turns, so no guidelines are drawn for them.

[0082] <Effects> According to Modification 10, since the guidelines indicating the direction of vehicle movement are separated on a lane-by-lane basis, it is possible to improve the visibility of vehicle behavior to traffic participants.

[0083] <Variation 11> In situations where surrounding vehicles have their turn signals on and are drawing guidelines, if your vehicle has its turn signals off, you may draw guidelines that are different in nature from those drawn by the surrounding vehicles.

[0084] Figure 8 shows an example of guide drawing according to modified example 11. In Figure 8, since the leading vehicle P1 and vehicles P2 and P4 turn left, guidelines GL1, GL2, and GL4 are drawn on the road surface to the left of each vehicle P1, P2, and P4. On the other hand, since vehicle P3 goes straight, guide G3 is drawn surrounding vehicle P3. Note that the guidelines GL1, GL2, and GL4 drawn by the leading vehicle P1 and vehicles P2 and P4 may be made to blink, while the guide G3 drawn by vehicle P3 may not blink.

[0085] Furthermore, it is desirable that Modification 11 be performed on vehicles traveling in the same lane, as in Modification 10.

[0086] Furthermore, the operation of the drawing control device in Modification 11 differs from step S7 in Figure 2 described in Embodiment 1. In Modification 11, in step S7, the guide G3 shown in Figure 8 is drawn.

[0087] <Effects> According to Modification 11, the guidelines for vehicles with different behaviors can be distinguished, thereby improving the visibility of vehicle behavior to road users.

[0088] <Hardware Configuration> The surrounding vehicle behavior detection unit 2, the behavior consistency determination unit 3, and the road surface drawing optimization unit 4 in the drawing control device 1 described in Embodiment 1 are each realized by a processing circuit. That is, the drawing control device 1 includes a processing circuit that detects the behavior of surrounding vehicles in relation to their direction of travel, determines whether the behavior of the surrounding vehicles in relation to their direction of travel matches the behavior of the own vehicle in relation to its own direction of travel, and outputs a drawing instruction signal that instructs the drawing of guidelines on the side of the road surface on the side of the direction of the own vehicle's movement when the behavior of the surrounding vehicles and the behavior of the own vehicle match. The processing circuit may be dedicated hardware, or it may be a processor (also called a CPU, central processing unit, processing unit, arithmetic unit, microprocessor, microcomputer, or DSP (Digital Signal Processor)) that executes a program stored in memory.

[0089] When the processing circuit is dedicated hardware, as shown in Figure 9, the processing circuit 20 may be, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or a combination thereof. The surrounding vehicle behavior detection unit 2, the behavior matching determination unit 3, and the road surface drawing optimization unit 4 may each be implemented in a separate processing circuit 20, or all functions may be implemented together in a single processing circuit 20.

[0090] If the processing circuit 20 is the processor 30 shown in Figure 10, the functions of the surrounding vehicle behavior detection unit 2, the behavior matching determination unit 3, and the road surface drawing optimization unit 4 are realized by software, firmware, or a combination of software and firmware. The software or firmware is written as a program and stored in memory 31. The processor 30 realizes each function by reading and executing the program recorded in memory 31. In other words, the drawing control device 1 has memory 31 for storing a program that will ultimately execute the steps of detecting the behavior of surrounding vehicles in relation to the direction of travel, determining whether the behavior of surrounding vehicles in relation to the direction of travel matches the behavior of the own vehicle, and outputting a drawing instruction signal that instructs to draw guidelines on the road surface on the side of the direction of travel of the own vehicle when the behavior of surrounding vehicles and the behavior of the own vehicle match. Furthermore, these programs can be said to cause the computer to execute the procedures or methods of the surrounding vehicle behavior detection unit 2, the behavior matching determination unit 3, and the road surface drawing optimization unit 4. Here, "memory" refers to non-volatile or volatile semiconductor memory such as RAM (Random Access Memory), ROM (Read Only Memory), flash memory, EPROM (Erasable Programmable Read Only Memory), EEPROM (Electrically Erasable Programmable Read Only Memory), magnetic disks, flexible disks, optical disks, compact disks, DVDs (Digital Versatile Discs), or any other storage medium that may be used in the future.

[0091] Furthermore, some functions of the surrounding vehicle behavior detection unit 2, behavior matching determination unit 3, and road surface rendering optimization unit 4 may be implemented using dedicated hardware, while other functions may be implemented using software or firmware.

[0092] Thus, the processing circuit can realize each of the above-mentioned functions through hardware, software, firmware, or a combination thereof.

[0093] It should be noted that the embodiments may be modified or omitted as appropriate within the scope of this disclosure.

[0094] Although this disclosure has been described in detail, the above description is illustrative and not limiting in all aspects. It is understood that countless variations not illustrated are possible. [Explanation of Symbols]

[0095] 1. Drawing control device, 2. Surrounding vehicle behavior detection unit, 3. Behavior consistency determination unit, 4. Road surface drawing optimization unit, 5. Photography device, 6. In-vehicle LAN, 7. Projection device, 8. Drawing control device, 9. Turn signal optimization unit, 10. Turn signal device, 20. Processing circuit, 30. Processor, 31. Memory.

Claims

1. A surrounding vehicle behavior detection unit receives behavioral information regarding the direction of travel of surrounding vehicles present around the vehicle and detects the behavior of the surrounding vehicles regarding the direction of travel, A behavior consistency determination unit that determines whether the behavior of the surrounding vehicles in terms of their direction of travel matches the behavior of the vehicle itself in terms of its direction of travel. A road surface drawing optimization unit outputs a drawing instruction signal that, when the behavior of the surrounding vehicles in the direction of travel and the behavior of the own vehicle in the direction of travel coincide, instructs the drawing of a guideline indicating that the behaviors coincide, as well as a turn signal line indicating the direction of the own vehicle's movement, on the side of the road surface on the side of the direction of the own vehicle's movement. A drawing control device comprising:

2. The drawing control device according to claim 1, wherein the road surface drawing optimization unit outputs a drawing instruction signal that instructs the road surface drawing optimization unit to blink the guideline so that it changes regularly in a time series, and to coordinate the timing of the blinking of the guideline so that it changes regularly in a time series with the timing of the surrounding vehicles whose behavior matches that of the vehicle itself.

3. The system further includes a turn signal optimization unit that outputs a turn signal instruction signal instructing the flashing period of the vehicle's own turn signal to synchronize with the flashing period of the turn signals of surrounding vehicles whose behavior matches that of the vehicle itself. The drawing control device according to claim 2, wherein the road surface drawing optimization unit outputs a drawing instruction signal that instructs to synchronize the flashing period of the guideline with the flashing period of the turn signal.

4. The drawing control device according to claim 1, wherein, when there is at least one surrounding vehicle traveling in the same lane as the vehicle in which it is traveling and whose behavior matches that of the vehicle in question, the road surface drawing optimization unit outputs a drawing instruction signal that instructs the unit to draw the turn signal line when the vehicle in question is at the front.

5. The drawing control device according to claim 1, wherein the road surface drawing optimization unit outputs a drawing instruction signal that instructs the unit to draw the guideline at a position a predetermined distance in the lane width direction from the edge of the lane in which the vehicle is traveling, or so that the position in the lane width direction matches the position of the surrounding vehicle guideline drawn on the road surface to the side in the direction of movement of the surrounding vehicle that is traveling in the same lane as the vehicle traveling.

6. The drawing control device according to claim 5, wherein the road surface drawing optimization unit outputs a drawing instruction signal that instructs not to draw the guideline when the distance between the guideline drawn by the surrounding vehicle and the side of the vehicle is within a predetermined distance.

7. The drawing control device according to claim 5, wherein when the vehicle is traveling in coordination with at least one of the surrounding vehicles traveling in the same lane as the vehicle, the road surface drawing optimization unit outputs a drawing instruction signal instructing the unit to draw the guidelines so as to connect to the surrounding vehicle guidelines drawn by the surrounding vehicle.

8. The drawing control device according to claim 5, wherein when the vehicle is traveling in coordination with at least one of the surrounding vehicles traveling in the same lane as the vehicle, the road surface drawing optimization unit outputs a drawing instruction signal instructing the surrounding vehicle to draw the surrounding vehicle guideline on the road surface to the side of the surrounding vehicle when the surrounding vehicle has not drawn the surrounding vehicle guideline.

9. The drawing control device according to claim 1, wherein, when there is at least one surrounding vehicle traveling in the same lane as the vehicle in which it is traveling and whose behavior matches that of the vehicle in question, the road surface drawing optimization unit outputs the drawing instruction signal that instructs the drawing of the guideline.

10. The drawing control device according to claim 1, wherein when a surrounding vehicle traveling in a lane different from the lane in which the vehicle is traveling is drawing surrounding vehicle guidelines on the road surface to the side of its direction of movement, the road surface drawing optimization unit outputs a drawing instruction signal that instructs the drawing of the guidelines in a manner different from the surrounding vehicle guidelines.

11. The drawing control device according to claim 1, wherein when the surrounding vehicle draws surrounding vehicle guidelines on the road surface to the side of its direction of movement, and the behavior of the surrounding vehicle in the direction of travel differs from the behavior of the vehicle itself in the direction of travel, the road surface drawing optimization unit outputs a drawing instruction signal instructing the unit to draw a guide in a manner different from the surrounding vehicle guidelines.

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