JP2016049890A - Vehicular irradiation control system and image irradiation control method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a vehicular irradiation control system capable of irradiating an image of high visibility when viewed from another road connected to a road on which its own vehicle is traveling.SOLUTION: A vehicular irradiation control device 10 includes: an irradiation control section 11 for controlling an irradiation device 20 which irradiates an image in the periphery of its own vehicle; a connection spot detection section 12 for detecting a connection spot of a road on which its own vehicle is traveling (a self-car traveling road) and another road connected to that road (a connection road); and a connection angle determination section 13 for determining a connection angle of the self-car traveling road and the connection road at the connection spot. When irradiating an image at the connection spot by using the irradiation device 20, the irradiation control section 11 adjusts a direction of the image according to the connection angle of the self-car traveling road and the connection road at the connection spot.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an irradiation control system for irradiating light around a vehicle.

  Techniques have been proposed for irradiating light and images representing various types of information on a road surface around the host vehicle using an irradiation device such as a laser device, a projector device, or a headlight (for example, Patent Documents 1 to 1 listed below). 5).

JP 2008-007079 A JP 2008-287669 A JP 2008-009994 A JP 2005-157873 A JP 2013-237427 A

  The image irradiated on the road surface is also visually recognized from other vehicles and pedestrians. Therefore, it is desired to irradiate an image in consideration of visibility (easy to see) from other vehicles and pedestrians. For example, it is conceivable to irradiate an image on the road surface of an intersection for the purpose of notifying other vehicles or pedestrians on other roads connected to the intersection of the existence of the own vehicle. It is desirable to make the image easier to see.

  The present invention has been made to solve the above-described problems, and is for a vehicle capable of irradiating an image with high visibility when viewed from another road connected to the road on which the host vehicle is traveling. An object is to provide an irradiation control system and a method of controlling image irradiation in the system.

  An irradiation control system for a vehicle according to the present invention includes an irradiation control unit that controls an irradiation device that irradiates an image around the own vehicle, an own vehicle traveling road that is a road on which the own vehicle is traveling, and the own vehicle traveling road. A connection point detection unit that detects a connection point with a connection road that is another road to be connected, and a connection angle determination unit that determines a connection angle of the connection road with respect to the traveling road of the vehicle. When irradiating an image to a connection point using the apparatus, the direction of the image to be irradiated is adjusted according to the connection angle between the host vehicle traveling road and the connection road at the connection point.

  According to the present invention, when the irradiation device of the own vehicle irradiates the connection point with the image, the direction of the image to be irradiated is adjusted according to the connection angle between the own vehicle traveling road and the connection road. It is possible to irradiate images that are easy to see from other vehicles and pedestrians. Since it becomes easy for other vehicles and pedestrians to recognize the image irradiated by the own vehicle, it becomes easy to convey information to other vehicles and pedestrians using the image, and convenience is improved.

1 is a block diagram illustrating a configuration of a vehicle irradiation control system according to Embodiment 1. FIG. FIG. 5 is a diagram for explaining the operation of the vehicle irradiation control apparatus according to the first embodiment. FIG. 5 is a diagram for explaining the operation of the vehicle irradiation control apparatus according to the first embodiment. FIG. 5 is a diagram for explaining the operation of the vehicle irradiation control apparatus according to the first embodiment. FIG. 5 is a diagram for explaining the operation of the vehicle irradiation control apparatus according to the first embodiment. FIG. 5 is a diagram for explaining the operation of the vehicle irradiation control apparatus according to the first embodiment. 3 is a flowchart showing the operation of the vehicle irradiation control apparatus according to the first embodiment. It is a figure which shows the example of the image irradiation in an intersection. It is a figure which shows the example of the image irradiation in the intersection with a 2 lane road. It is a figure which shows the example of the image irradiation in T junction. It is a figure which shows the example of the image irradiation in a Y junction. It is a figure which shows the example of the image irradiation in an L-shaped path. 6 is a block diagram illustrating a configuration of a vehicle irradiation control system according to Embodiment 2. FIG. 6 is a block diagram illustrating a configuration of a vehicle irradiation control system according to Embodiment 2. FIG. 6 is a block diagram illustrating a configuration of a vehicle irradiation control system according to Embodiment 2. FIG. FIG. 10 is a diagram for explaining an operation of the vehicle irradiation control system according to the third embodiment. FIG. 10 is a diagram for explaining the operation of the vehicle irradiation control apparatus according to the fourth embodiment. FIG. 10 is a diagram for explaining the operation of the vehicle irradiation control apparatus according to the fourth embodiment. FIG. 10 is a diagram for explaining the operation of the vehicle irradiation control apparatus according to the fourth embodiment. FIG. 10 is a diagram for explaining the operation of the vehicle irradiation control apparatus according to the fourth embodiment. FIG. 10 is a diagram for explaining the operation of the vehicle irradiation control apparatus according to the fourth embodiment. FIG. 10 is a diagram for explaining the operation of the vehicle irradiation control apparatus according to the fourth embodiment. FIG. 10 is a diagram for explaining a modification of the operation of the vehicle irradiation control apparatus according to the fourth embodiment. FIG. 10 is a block diagram illustrating a configuration of a vehicle irradiation control system according to a fifth embodiment. FIG. 10 is a diagram for explaining the operation of a vehicle irradiation control apparatus according to a fifth embodiment. FIG. 10 is a diagram for explaining the operation of a vehicle irradiation control apparatus according to a fifth embodiment. FIG. 10 is a diagram for explaining the operation of a vehicle irradiation control apparatus according to a fifth embodiment. FIG. 10 is a block diagram illustrating a configuration of a vehicle irradiation control system according to a sixth embodiment. FIG. 10 is a block diagram illustrating a configuration of a vehicle irradiation control system according to a seventh embodiment. It is a figure for demonstrating the priority relationship of a road. It is a figure for demonstrating the priority relationship of a road. FIG. 23 is a diagram illustrating an example of an irradiation pattern of light emitted by a vehicle in a seventh embodiment. FIG. 10 is a diagram for explaining the operation of a vehicle irradiation control apparatus according to a seventh embodiment. FIG. 10 is a diagram for explaining the operation of a vehicle irradiation control apparatus according to a seventh embodiment. FIG. 10 is a diagram for explaining the operation of a vehicle irradiation control apparatus according to a seventh embodiment. 18 is a flowchart showing the operation of the vehicle irradiation control apparatus according to the seventh embodiment. It is a flowchart which shows an irradiation pattern determination process. It is a figure for demonstrating the modification of an irradiation pattern determination process. It is a flowchart which shows the modification of an irradiation pattern determination process. It is a figure which shows the example of the figure showing time until the own vehicle arrives at a connection point. It is a figure which shows the example of the figure showing time until the own vehicle arrives at a connection point. It is a figure which shows the example of the figure showing time until the own vehicle arrives at a connection point. It is a figure which shows the example of the figure showing time until the own vehicle arrives at a connection point. It is a figure which shows the example of the figure showing time until the own vehicle arrives at a connection point. It is a figure which shows the example of the figure showing time until the own vehicle arrives at a connection point. It is a figure which shows the example of the figure showing time until the own vehicle arrives at a connection point. It is a figure which shows the example of the figure showing time until the own vehicle arrives at a connection point. It is a figure which shows the example of the figure showing time until the own vehicle arrives at a connection point. It is a figure which shows the example of the figure showing time until the own vehicle arrives at a connection point. It is a figure which shows the example of the figure showing time until the own vehicle arrives at a connection point. It is a figure which shows the example of the figure showing time until the own vehicle arrives at a connection point.

<Embodiment 1>
FIG. 1 is a block diagram illustrating a configuration of a vehicle irradiation control system according to the first embodiment. As shown in FIG. 1, the vehicle irradiation control system includes a vehicle irradiation control device 10, an irradiation device 20, a position information acquisition device 21, and a map information storage device 22. Here, the irradiation device 20, the position information acquisition device 21, and the map information storage device 22 are configured to be externally attached to the vehicle irradiation control device 10, but they are configured integrally with the vehicle irradiation control device 10. It may be.

  The irradiation device 20 is mounted on a vehicle and can irradiate an image around the vehicle. Specific examples of the irradiation device 20 include a laser device, an LED (Light Emitting Diode) light irradiation device, a projector device, and the like, but a vehicle headlight may be used as a light source.

  The position information acquisition device 21 acquires the current position of the vehicle on which the vehicle irradiation control device 10 is mounted. As the position information acquisition device 21, for example, a GNSS receiver that receives a signal transmitted from a GNSS (Global Navigation Satellite System) such as a GPS (Global Positioning System) and acquires information on an absolute position (latitude, longitude). Is representative, but may include a speed sensor, an orientation sensor, and the like for acquiring information on a relative position (change in position).

  The map information storage device 22 is a storage medium such as a hard disk or a removable medium in which map information is stored. It is assumed that the map information stored in the map information storage device 22 includes information on connection angles between the roads. The map information storage device 22 may be a server that provides map information to the vehicle irradiation control device 10 via a communication network such as the Internet.

  The vehicle irradiation control device 10 is a control device that controls the operation of the irradiation device 20, and includes an irradiation control unit 11, a connection point detection unit 12, a connection angle determination unit 13, and a host vehicle position specification unit 14. The vehicle irradiation control device 10 is configured using a computer, and the irradiation control unit 11, the connection point detection unit 12, the connection angle determination unit 13, and the vehicle position specifying unit 14 are operated by a computer according to a program. It is realized by. Hereinafter, a vehicle on which the vehicle irradiation control device 10 and the irradiation device 20 are mounted is referred to as “own vehicle”, and other vehicles are referred to as “other vehicles”.

  The irradiation control unit 11 can control the operation of the irradiation device 20 and irradiate an image around the host vehicle using the irradiation device 20. The irradiation control unit 11 determines the direction in which the irradiation device 20 irradiates an image (position where the image is displayed) and the direction of the image (the posture of the displayed image).

  The connection point detection unit 12 detects connection points (intersections, branch points, etc.) between the road on which the vehicle is traveling and other roads connected to the road. Hereinafter, the road on which the vehicle is traveling is referred to as “own vehicle traveling road”, and the road connected to the own vehicle traveling road is referred to as “connection road”. The connection angle determination unit 13 determines the connection angle between the host vehicle traveling road and the connection road at each connection point.

  The own vehicle position specifying unit 14 performs a map matching process using the information on the current position of the own vehicle acquired by the position information acquisition device 21 and the map information stored in the map information storage device 22. Identify the location of the car above. If the position of the own vehicle is known, the own vehicle traveling road is specified.

  In the first embodiment, the connection point detection unit 12 is based on the map information stored in the map information storage device 22 and the position of the vehicle on the map specified by the vehicle position specifying unit 14. A connection point between the traveling road and the connecting road is detected. In addition, the connection angle determination unit 13 determines the connection angle between the host vehicle traveling road and the connection road at the connection point detected by the connection point detection unit 12 based on the connection angle information between the roads included in the map information. To do.

  The irradiation control unit 11 of the vehicle irradiation control device 10 uses the irradiation device 20 to irradiate an image at a connection point that exists in front of the traveling direction of the host vehicle among the connection points detected by the connection point detection unit 12 ( In this case, the connection point detection unit 12 may detect only a connection point that is ahead in the traveling direction of the host vehicle). Further, the irradiation control unit 11 determines the content of the image to be irradiated to the irradiation device 20 and, when irradiating the image to the connection point, the image according to the connection angle between the own vehicle traveling road and the connection road at the connection point. Adjust the orientation. Various images (irradiation images) that the irradiation control unit 11 irradiates to the connection point using the irradiation device 20 can be considered. In the first embodiment, the image is a character “CAUTION”.

  Next, the operation of the vehicle irradiation control apparatus 10 according to Embodiment 1 will be specifically described. When the vehicle irradiation control device 10 detects the presence of a connection point between the traveling road and the connection road in front of the traveling direction of the host vehicle, the irradiation device 20 uses the irradiation device 20 to display an image (characters “CAUTION”). ).

  At that time, the irradiation control unit 11 adjusts the direction of the image to be irradiated according to the connection angle between the host vehicle traveling road and the connection road at the connection point. For example, when the connecting road R2 is connected to the left side of the vehicle traveling road R1 as shown in FIG. 2, the direction “CAUTION” is viewed in the vertical direction when viewed from the left side (this direction is “leftward”). And the connection point P1 is irradiated. On the other hand, when the connecting road R2 is connected to the right side of the host vehicle traveling road R1 as shown in FIG. 3, the character “CAUTION” can be viewed in the vertical direction when viewed from the right side (this direction is “rightward” To the connection point P1. Also, as shown in FIG. 4 and FIG. 5, when the connecting road R2 is obliquely connected to the host vehicle traveling road R1, the direction of the letters “CAUTION” is adjusted according to the connection angle, Irradiate the connection point P1. That is, the character “CAUTION” rotates in accordance with the direction in which the connection road R2 is connected to the host vehicle travel road R1.

  In this way, by irradiating the character “CAUTION” to the connection point P1, the vehicle indicates to the driver or pedestrian of the other vehicle on the connection road R2 that the vehicle is approaching the connection point. , Can call attention. Furthermore, the direction of the character “CAUTION” irradiated to the connection point P1 is adjusted so that it can be seen in the correct posture from the connection road R2, so that other drivers or pedestrians on the connection road R2 can select the character. It becomes easy to recognize.

  Here, in Embodiment 1, the connection point detection part 12 shall calculate the distance from the own vehicle to a connection point, when detecting a connection point. Moreover, the irradiation control part 11 shall irradiate an image only to the connection point which exists in the predetermined range ahead of the advancing direction of the own vehicle. That is, as shown in FIG. 6, even if there are two connection points P1a and P1b ahead of the traveling direction of the host vehicle, the vehicle irradiation control device 10 does not irradiate the connection point P1b far from the host vehicle.

  The distance threshold value that serves as a criterion for determining whether or not to irradiate an image at a connection point may be changed according to the speed of the vehicle. For example, when the speed of the host vehicle is high, the time to reach the connection point is short, so it is desirable to start irradiating the image early (that is, irradiating the image to a connection point far from the host vehicle). .

  FIG. 7 is a flowchart showing the operation of the vehicle irradiation control apparatus 10 according to the first embodiment. The operations described with reference to FIGS. 2 to 6 are realized by the vehicle irradiation control apparatus 10 performing the processing shown in FIG. The operation in FIG. 7 is performed when the user performs an operation for ending the operation on the vehicle irradiation control device 10 or when an instruction to end the operation is received from another device. Is input, the process ends when there is an instruction to end the operation from another process performed by the vehicle irradiation control device 10.

  When the vehicle irradiation control device 10 is activated, first, the own vehicle position specifying unit 14 specifies the position of the own vehicle on the map, and based on the specification result, the connection point detecting unit 12 detects the own vehicle traveling road and other roads. A connection point with the road (connection road) is detected (step S11). Moreover, the connection point detection part 12 calculates the distance from the own vehicle to a connection point, and confirms whether a connection point exists in the predetermined range ahead of the advancing direction of the own vehicle (step S12). .

  If the connection point does not exist within a predetermined range ahead of the traveling direction of the host vehicle (NO in step S12), the image is not emitted to the connection point using the irradiation device 20 (step S13). Return to step S11. In step S13, if the image has already been irradiated to the connection point, the irradiation is terminated.

  On the other hand, if there is a connection point within a predetermined range ahead of the traveling direction of the host vehicle (YES in step S12), the connection point becomes an image irradiation target. In that case, the connection angle determination unit 13 determines the connection angle between the host vehicle traveling road and the connection road at the connection point (step S14), and based on the determination result, the irradiation control unit 11 determines the connection point. The direction of the image to be irradiated is determined (step S15). And the irradiation control part 11 controls the irradiation apparatus 20, and irradiates an image toward the said connection point (step S16). The direction of the image irradiated at this time is adjusted to the direction determined in step S15. Then, it returns to step S11. That is, the processes in steps S11 to S16 are repeatedly executed.

  In FIG. 2 to FIG. 5, for simplicity of explanation, an example of a connection point where only one connection road is connected to the host vehicle traveling road is shown at the connection point. However, in the present embodiment, a plurality of connection roads are used. It is applicable when irradiating an image to a connection point to be connected. In that case, it is good to irradiate a connection point with the some image of the direction according to each of the connection angle of each connection road and the own vehicle travel road. For example, as shown in FIG. 8, when a connection road R2a connected to the host vehicle travel road R1 from the left side and a connection road R2b connected from the right side are connected to the host vehicle travel road R1 at the same connection point P1 (that is, When the connection point P1 is an intersection (crossroad), the character “CAUTION” facing left and the character “CAUTION” facing right are irradiated to the connection point P1 simultaneously.

  In addition, when the connecting roads R2a and R2b have a plurality of lanes, taking into account the direction of the vehicle traveling in each lane as shown in FIG. The position (lane) where the left-facing “CAUTION” character is irradiated may be shifted. FIG. 9 shows the case where the connecting roads R2a and R2b are left-handed two-lane (one-lane one-lane) roads. The right “CAUTION” character on the lane closer to the own vehicle, the one far from the own vehicle The position (lane) and the character “CAUTION” facing left are irradiated. The characters “CAUTION” can be seen in the correct posture when viewed from other vehicles passing on the left side of the connecting roads R2a and R2b.

  Moreover, this Embodiment is applicable to the image irradiation to the connection point of the various forms to which two or more roads connect. For example, FIG. 10 is an example of image irradiation at a connection point P1 (T-junction) where two connection roads R2a and R2b are connected from the left and right to the end point of the own vehicle travel road R1, and FIG. FIG. 12 shows an example of image irradiation at a connection point P1 (Y-junction, three-way road) where two connection roads R2a and R2b are connected to the end point of the road R1 from an oblique direction. FIG. It is an example of the image irradiation in the connection point P1 (L-shaped road) where the connection road R2 connects.

<Embodiment 2>
In the first embodiment, the connection point detection unit 12 detects a connection point based on the map information and the position of the vehicle on the map, and the connection angle determination unit 13 connects to the own vehicle traveling road based on the map information. The connection angle with the road was judged. However, the process in which the connection point detection unit 12 detects the connection point and the process in which the connection angle determination unit 13 determines the connection angle of the road may be performed by other methods. Here are some examples.

  For example, infrastructure that distributes traffic information such as beacons is established, and location information of connection points (for example, relative position information such as a distance from the current location) and roads at the connection points may be provided at various locations in the road network. When the distribution facility that distributes the information on the connection angle is installed, each process in the connection point detection unit 12 and the connection angle determination unit 13 may be performed based on information acquired through communication with each distribution facility. it can.

  FIG. 13 is a block diagram showing the configuration of the vehicle irradiation control system in that case. The vehicle irradiation control device 10 is connected to a communication device 23 that communicates with information distribution facilities. The communication device 23 may be built in the vehicle irradiation control device 10.

  The vehicle irradiation control device 10 acquires the location information of the connection point and the information of the connection angle of the road from the information distribution facility by communication using the communication device 23. And the connection point detection part 12 detects the position of the connection point ahead of the advancing direction of the own vehicle based on the positional information on the connection point which the communication apparatus 23 acquired from the delivery equipment. Furthermore, the connection angle determination part 13 determines the connection angle of the own vehicle travel road and the connection road based on the information on the road connection angle acquired by the communication device 23 from the distribution facility. Other processes may be the same as those in the first embodiment.

  Further, for example, the connection point detection unit based on the surrounding image captured by the camera (vehicle camera) mounted on the vehicle and information acquired by various sensors (vehicle sensors) mounted on the vehicle. 12 may detect a connection point, or the connection angle determination part 13 may determine the connection angle of a road.

  FIG. 14 is a block diagram showing a configuration of the vehicle irradiation control system when the vehicle-mounted camera 24 is used (the vehicle-mounted camera 24 may be built in the vehicle irradiation control device 10). In this configuration, the vehicle irradiation control device 10 captures an image in front of the traveling direction of the host vehicle using the in-vehicle camera 24, and performs analysis processing on the captured image. In this image analysis processing, for example, extraction of connection points, calculation of distances to connection points, extraction of road signs (including road markings such as stop lines), contour lines and center lines of own vehicle traveling roads and connection roads, etc. Processing such as extraction and estimation of the widths of the traveling road and the connecting road is performed. And the connection point detection part 12 detects the position of the connection point ahead of the advancing direction of the own vehicle based on the result of image analysis. Further, the connection angle determination unit 13 estimates the direction in which the host vehicle travel road and the connection road extend based on the result of the image analysis, and determines the connection angle between the host vehicle travel road and the connection road. Other processes may be the same as those in the first embodiment.

  FIG. 15 is a block diagram showing a configuration of the vehicle irradiation control system when the vehicle-mounted sensor 25 is used (the vehicle-mounted sensor 25 may be built in the vehicle irradiation control device 10). In this configuration, the vehicle irradiation control device 10 analyzes sensor information obtained from the in-vehicle sensor 25 (for example, a distance sensor or a radar that detects an object around the vehicle), and determines whether there is a connection point or not. The distance, the type of road sign, the position of the contour line and center line of the host vehicle traveling road and the connecting road, the width of the host vehicle traveling road and the connecting road, and the like are determined. And the connection point detection part 12 detects the position of the connection point ahead of the advancing direction of the own vehicle based on the analysis result of sensor information. The connection angle determination unit 13 estimates the direction in which the host vehicle travel road and the connection road extend based on the analysis result of the sensor information, and determines the connection angle between the host vehicle travel road and the connection road. Other processes may be the same as those in the first embodiment.

  Further, the method using the communication device 23, the in-vehicle camera 24, or the in-vehicle sensor 25 may be combined with the method using the position information acquisition device 21 and the map information storage device 22 of the first embodiment. For example, a method using the communication device 23 is performed in an area where information distribution facilities are prepared or a place where a GNSS signal cannot be received, and a method using the position information acquisition device 21 and the map information storage device 22 in other regions. You may make it perform. In addition, by correcting the result of the map matching process performed by the vehicle position specifying unit 14 based on the image captured by the vehicle-mounted camera 24 or the analysis result of the sensor information obtained by the vehicle-mounted sensor 25, the position of the vehicle is determined. The accuracy can also be improved.

<Embodiment 3>
There may be a plurality of irradiation devices 20 controlled by the vehicle irradiation control device 10. In that case, for example, as a result of the connection point detection unit 12 detecting a plurality of connection points at the same time, as shown in FIG. 16, two connection points P1a and P1b are within a predetermined range ahead of the traveling direction of the vehicle When it is determined that it exists, an image can be irradiated to each of the connection points P1a and P1b.

  At this time, if the connection angle between the host vehicle travel road R1 and the connection road R2a at the connection point P1a is different from the connection angle between the host vehicle travel road R1 and the connection road R2b at the connection point P1b, the connection point P1a. , P1b is irradiated with an image in a direction corresponding to the connection angle of the connection roads R2a, R2b. In FIG. 16, a leftward image (character “CAUTION”) is irradiated to the connection point P1a at which the connection road R2a is connected to the left side of the host vehicle travel road R1, and the connection road R2b is connected to the right side of the host vehicle travel road R1. An example is shown in which a right-pointing image is irradiated to the connection point P1b.

<Embodiment 4>
In the first embodiment, the example in which the image (irradiation image) that the irradiation control device 10 for the vehicle uses to irradiate the connection point with the irradiation device 20 is used as the character “CAUTION” is shown. However, the irradiation image is limited to this. Absent.

  Moreover, you may use the image which changes according to the position and speed of the own vehicle. For example, it is conceivable that a character indicating the distance from the vehicle to the connection point is irradiated to a connection point in front of the traveling direction of the host vehicle. 17 and 18 show changes in the irradiation image in that case. When the host vehicle is 30 meters before the connection point P1, the character "30m" is irradiated to the connection point P1 as shown in FIG. 17, and when the host vehicle is 20 meters before the connection point P1, the connection point P1 is " 20m "is irradiated.

  Moreover, you may irradiate the character which shows the time until the own vehicle arrives at the connection point ahead of the traveling direction of the own vehicle. 19 and 20 show changes in the irradiation image in that case. Five seconds before the host vehicle reaches the connection point P1, as shown in FIG. 19, the character “5 sec” is irradiated to the connection point P1, and three seconds before the host vehicle reaches the connection point P1, Thus, the character “3 sec” is applied to the connection point P1.

  Moreover, you may irradiate the connection point ahead of the traveling direction of the own vehicle with the figure which shows the distance from the own vehicle to the connection point, or the time until the own vehicle reaches the connection point. 21 and 22 show changes in the irradiation image in that case. Five rectangles before the host vehicle reaches the connection point P1 are irradiated with five rectangles as shown in FIG. 21, and three seconds before the host vehicle reaches the connection point P1, as shown in FIG. Three rectangles are irradiated to the connection point P1.

  Depending on the distance from the vehicle to the connection point or the display mode of the image showing the time until the vehicle reaches the connection point, depending on the distance from the vehicle to the connection point or the time until the vehicle reaches the connection point May be changed. For example, when it is difficult to irradiate characters clearly at the connection point P1 when the vehicle is at a position away from the connection point P1, as shown in FIG. It is preferable to irradiate an image including “ And if a self-vehicle approaches to the connection point P1 to some extent, as shown in FIGS. 17-22, a character and a figure will be irradiated to the connection point P1.

  Furthermore, the image indicating the distance from the vehicle to the connection point or the time until the vehicle reaches the connection point may be a code (for example, a two-dimensional barcode) that can be read by the electronic device. For example, by causing a code reading device of another vehicle to read a code irradiated to the connection point by the own vehicle, the on-vehicle device of the other vehicle can recognize the position of the own vehicle and can be used for traveling control of the other vehicle.

<Embodiment 5>
FIG. 24 is a block diagram illustrating a configuration of a vehicle irradiation control system according to the fifth embodiment. This vehicle irradiation control system has a configuration in which the other vehicle detection unit 15 is provided in the vehicle irradiation control device 10 with respect to the configuration of the first embodiment (FIG. 1).

  The other vehicle detection unit 15 has a function of detecting the presence of another vehicle traveling on a connection road connected to the own vehicle traveling road. The method of detecting the other vehicle by the other vehicle detection unit 15 may be arbitrary, for example, the presence of the other vehicle based on the position information of the other vehicle received by the communication device that communicates with the other vehicle (so-called “inter-vehicle communication”). It is conceivable to detect this. In addition, there are other methods for detecting the presence of other vehicles by analyzing images around the vehicle taken by the in-vehicle camera, methods for detecting the presence of other vehicles from various sensor information acquired by the in-vehicle sensors, A method in which two or more methods are combined may be used.

  In particular, when it is assumed that the other vehicle is equipped with the vehicle irradiation control device 10 of the present invention, an image of the other vehicle irradiating the connection point is taken and analyzed with the vehicle-mounted camera of the own vehicle. By doing so, the presence of another vehicle may be detected. In that case, you may recognize the various information which the image which the other vehicle irradiates shows. For example, when the other vehicle is irradiating an image indicating the distance from the other vehicle to the connection point or the time until the other vehicle reaches the connection point, the other vehicle It is also possible to determine the position and direction of travel.

  In the vehicle irradiation control device 10 according to the fifth embodiment, the irradiation control unit 11 is directed toward the connection point between the connection road where the presence of the other vehicle is detected by the other vehicle detection unit 15 and the own vehicle traveling road. 20 is used to irradiate the image. Further, the irradiation control unit 11 adjusts the direction of the image to be irradiated according to the connection angle between the connection road determined by the connection angle determination unit 13 and the host vehicle traveling road. For example, when there is a connection point P1 that is an intersection (crossroad) ahead of the traveling direction of the host vehicle, as shown in FIG. 25, when there is another vehicle on the connecting road R2a connected to the left side of the host vehicle traveling road R1. The image ("CAUTION" character) is turned to the left, and the image is turned to the right when there is another vehicle on the connecting road R2b connected to the right side of the host vehicle traveling road R1, as shown in FIG. As described above, by minimizing the image irradiated to the connection point P1, the visibility of the image from other vehicles can be increased.

  When other vehicles exist on both the connecting road R2a and the connecting road R2b, both the left-facing image and the right-facing image may be irradiated to the connecting point P1 as shown in FIG. When no other vehicle is detected on the connecting road R2a or the connecting road R2b, both the left-facing image and the right-facing image may be irradiated to the connecting point P1 as in FIG. May not be irradiated. When the image is not irradiated, light that does not include the image may be irradiated, or light irradiation may not be performed at all.

  FIG. 24 shows the configuration in which the other vehicle detection unit 15 is provided in the vehicle irradiation control apparatus (FIG. 1) according to the first embodiment. However, the present embodiment is not limited to the various types shown in the second embodiment. The present invention is also applicable to a vehicle irradiation control device (FIGS. 13 to 15).

<Embodiment 6>
FIG. 28 is a block diagram illustrating a configuration of a vehicle irradiation control system according to the sixth embodiment. This vehicle irradiation control system has a configuration in which an alarm unit 16 and a travel control unit 17 are provided in the vehicle irradiation control device 10 with respect to the configuration of the fifth embodiment (FIG. 24). The alarm unit 16 has a function of issuing an alarm to the driver, and the travel control unit 17 has a function of controlling the vehicle drive device 26 for causing the host vehicle to travel.

  In the vehicle irradiation control apparatus 10 according to the sixth embodiment, the other vehicle detection unit 15 detects the presence of another vehicle traveling on a connection road connected to a connection point ahead in the traveling direction, and the progress of the detected other vehicle. Based on the direction and speed, it is determined whether or not the other vehicle enters the connection point simultaneously with the own vehicle. When the other vehicle detection unit 15 detects that another vehicle traveling on the connection road enters the connection point ahead of the traveling direction at the same time as the own vehicle, the warning unit 16 issues a warning to the driver to inform the driver. . In addition, when the other vehicle detection unit 15 detects that another vehicle traveling on the connection road enters the connection point ahead of the traveling direction at the same time as the own vehicle, the traveling control unit 17 decelerates or pauses the own vehicle. The vehicle drive device 26 is controlled so as to perform the above.

  Thereby, the collision with the own vehicle and another vehicle can be avoided. In addition, when the traveling control unit 17 causes the own vehicle to decelerate or temporarily stop, the alarm unit 16 issues a warning, so that the driver is performing the deceleration or temporary stop by the traveling control unit 17. Can be recognized.

  In the present embodiment, an example in which both the alarm unit 16 and the travel control unit 17 are provided in the vehicle irradiation control device 10 has been shown. However, either the alarm unit 16 or the travel control unit 17 is included in the vehicle irradiation control device 10. Only one side may be provided.

<Embodiment 7>
FIG. 29 is a block diagram illustrating a configuration of a vehicle irradiation control system according to the seventh embodiment. This vehicle irradiation control system has a configuration in which a priority relationship determination unit 18 is provided in the vehicle irradiation control device 10 with respect to the configuration of the first embodiment (FIG. 1).

  In the seventh embodiment, it is assumed that the map information stored in the map information storage device 22 includes information on the priority relationship of each road. The priority relationship determination unit 18 determines the priority relationship between the host vehicle traveling road and the connection road at the connection point detected by the connection point detection unit 12 based on the priority relationship information of each road included in the map information.

  Here, the priority relationship of roads without traffic lights will be described. Usually, the priority relationship of roads is defined by road signs (including road markings) and road widths. For example, at the connection point P1 where the road R1 and the road R2 are connected, only the center line of the road R1 is continuously connected as shown in FIG. 30A, or the road as shown in FIG. 30B. When there is a stop line only at R2, road R1 has priority over road R2. That is, the traffic of the vehicle A traveling on the road R1 is given priority over the traffic of the vehicle B traveling on the road R2. Even if there is no road sign or the like at the connection point P1, as shown in FIG. 30C, when the road R1 is clearly wider than the road R2, the road R1 has priority over the road R2.

  At the connection point P1, when both center lines of the roads R1 and R2 are interrupted as shown in FIG. 31A, or when both the roads R1 and R2 are stopped as shown in FIG. If there is, there is no priority relationship between the roads R1 and R2 (the priorities of the roads R1 and R2 are the same). Further, as shown in FIG. 31C, when there is no road sign and there is no clear road width difference between the roads R1 and R2, the priority relationship between the roads R1 and R2 is unknown (generally There is no priority relationship). In this case, both the vehicles A and B must stop or slow down in front of the connection point P1 and travel with each other (in some countries, the priority relationship of traffic in this case is defined. For example, in Japan, when both of the vehicles A and B go straight ahead, in principle, priority is given to the traffic of the vehicle B entering the connection point P1 from the left side). The example of the road priority relationship shown in FIGS. 30 and 31 is also used in the following drawings.

  When the irradiation control unit 11 of the vehicle irradiation control apparatus 10 according to the seventh embodiment irradiates an image at a connection point, the irradiation pattern of the image depends on the priority relationship between the own vehicle traveling road and the connection road at the connection point. To change. The “irradiation pattern” of the image here is one or more of the color, brightness, shape of the image projected onto the road surface, and image (characters, symbols, figures, etc.) projected onto the road surface. It is the irradiation mode of the image comprised by these elements.

  In the seventh embodiment, three different irradiation patterns are defined according to the priority relationship between the host vehicle traveling road and the connecting road. FIG. 32 shows the three irradiation patterns. The irradiation control unit 11 uses red light as shown in FIG. 32A as an irradiation pattern (first irradiation pattern) when the vehicle traveling road irradiates an image to a connection point that has priority over a connection road. The irradiation pattern includes an image drawn here (here, “CAUTION” is used). In addition, an irradiation pattern (second irradiation pattern) in a case where an image is irradiated to a connection point where the connection road has priority over the host vehicle traveling road is drawn using green light as shown in FIG. An irradiation pattern including Further, an irradiation pattern (third irradiation pattern) of an image when the image is irradiated to a connection point where the priority of the own vehicle traveling road and the connection road is the same or the priority relationship is unknown is as shown in FIG. The illumination pattern includes an image drawn using yellow light.

  Here, red, green, and yellow irradiation patterns are selected in the image of a traffic light. However, as long as they can be distinguished from each other, the configuration of each irradiation pattern may be arbitrary. In general, red or orange is recognized as a warning or prohibition color, yellow is a caution color, and green or blue is a permission color. Further, the irradiation image is not limited to the characters “CAUTION”, and as shown in the fourth embodiment, for example, an image showing the distance from the own vehicle to the connection point or the time until the own vehicle reaches the connection point, etc. But you can. Moreover, the images included in the first to third irradiation patterns may be different from each other.

  Next, the operation of the vehicle irradiation control apparatus 10 according to the seventh embodiment will be specifically described. When the vehicle irradiation control device 10 detects the presence of a connection point P1 between the vehicle traveling road R1 and the connection road R2 ahead of the traveling direction of the host vehicle, the vehicle irradiation control device 10 irradiates the connection point P1 with the irradiation device 20. To do. At this time, as shown in FIG. 33, when the own vehicle traveling road R1 has priority over the connection road R2, the image is irradiated to the connection point P1 with the first irradiation pattern (red). Accordingly, it is possible to warn the driver or pedestrian of the other vehicle on the connection road R2 that the own vehicle is approaching the connection point P1 and that the traffic of the own vehicle has priority.

  Further, as shown in FIG. 34, when the connection road R2 has priority over the host vehicle travel road R1, the image is irradiated to the connection point P1 with the second irradiation pattern (green). This indicates to other vehicles and pedestrians on the connection road R2 that the vehicle is approaching the connection point P1, and that the traffic of the other vehicle on the connection road R2 has priority over the traffic of the own vehicle. be able to.

  Furthermore, as shown in FIG. 35, when the priority of the host vehicle traveling road R1 and the connection road R2 is the same, or when the priority relationship is unknown, the connection point P1 is irradiated with an image with the third irradiation pattern (yellow). Accordingly, it is possible to call attention to other vehicles and pedestrians on the connection road R2 by indicating that the vehicle is approaching the connection point P1.

  FIG. 36 is a flowchart showing the operation of the vehicle irradiation control apparatus 10 according to the seventh embodiment. The operation described with reference to FIGS. 33 to 35 is realized by the vehicle irradiation control apparatus 10 performing the process shown in FIG. The flowchart of FIG. 36 is obtained by adding steps S21 and S22 between steps S15 and S16 of the flowchart of FIG. Description of steps other than steps S21 and S22 is omitted. The operation of FIG. 36 is performed when the user performs an operation for ending the operation on the vehicle irradiation control device 10 or when an instruction to end the operation is received from another device. Is input, the process ends when there is an instruction to end the operation from another process performed by the vehicle irradiation control device 10.

  In step S21, the priority relationship determination unit 18 determines the priority relationship between the vehicle traveling road and the connection road at the connection point detected in step S11. In step S22, based on the determination result, the irradiation control unit 11 determines an irradiation pattern of an image irradiated to the connection point. Therefore, in step S16, the image adjusted in the direction determined in step S15 is irradiated to the connection point with the irradiation pattern determined in step S22.

  FIG. 37 is a flowchart showing the process (irradiation pattern determination process) in step S22 in which the irradiation control unit 11 determines the irradiation pattern of the image irradiated to the connection point.

  In the irradiation pattern determination process, first, the priority relationship between the vehicle traveling road and the connecting road is confirmed (step S221). In the seventh embodiment, when the own vehicle traveling road has priority over the connection road, the irradiation control unit 11 determines the irradiation pattern as the first irradiation pattern (the red irradiation pattern shown in FIG. 32A) ( Step S222). When the connected road has priority over the own vehicle traveling road, the irradiation control unit 11 determines the irradiation pattern as the second irradiation pattern (green irradiation pattern shown in FIG. 32B) (step S223). Furthermore, when the priority of the own vehicle traveling road and the connecting road is the same or the priority relationship is unknown, the irradiation control unit 11 changes the irradiation pattern to the third irradiation pattern (yellow irradiation pattern shown in FIG. 32C). Determine (step S224).

  According to the vehicle irradiation control system according to the seventh embodiment, the priority relationship between the host vehicle traveling road and the connection road can be determined from the irradiation pattern of the image irradiated to the connection point. The driver of the own vehicle can determine the priority relationship of the road at the connection point from the irradiation pattern of the image irradiated by the own vehicle. Moreover, since the image irradiated to the connection point is also visually recognized by the driver of another vehicle traveling on the connection road, the priority relationship of the road can be shown to the driver of the other vehicle. Therefore, not only the driver of the own vehicle but also the driver of the other vehicle is prevented from erroneously determining the priority relationship of the road.

  In the seventh embodiment, three irradiation patterns are used according to the case where the own vehicle traveling road has priority, the case where the connection road has priority, and the case where the priority is the same or the priority relationship is unknown. Although an example is shown, in the present invention, at least two or more irradiation patterns may be used.

  For example, as shown in FIG. 38, when the vehicle traveling road R1 and the connecting road R2 have the same priority, and when the priority relationship is unknown, as in the case where the vehicle traveling road R1 has priority (FIG. 34), The irradiation controller 11 may select the first irradiation pattern (red). FIG. 39 is a flowchart showing an irradiation pattern determination process (step S22 in FIG. 36) in the case of selecting an irradiation pattern in that way. In the flowchart of FIG. 39, when the priority of the own vehicle traveling road and the connecting road is the same or the priority relationship is unknown in step S221, the process proceeds to step S222 for determining the irradiation pattern as the first irradiation pattern (red). Since this is the same as FIG. 37, detailed description thereof is omitted.

  In FIG. 29, the priority relationship determination unit 18 is provided in the vehicle irradiation control device 10 having the configuration of the first embodiment (FIG. 1), and the priority relationship determination unit 18 is added to the map information stored in the map information storage device 22. Based on this, the priority relationship with the road was determined. However, the process in which the priority relationship determination unit 18 determines the road priority relationship may be performed by other methods.

  For example, when infrastructure that distributes traffic information such as beacons is established, and distribution facilities that distribute location information of the connection points and road priority information at the connection points are installed at various locations in the road network Each process in the priority relationship determination unit 18 can be performed based on information acquired through communication with each distribution facility. In this case, for example, the vehicle irradiation control apparatus 10 shown in FIG. 13 is provided with a priority relationship determination unit 18, and the priority relationship determination unit 18 is based on the road priority relationship information acquired by the communication device 23 from the distribution facility. It is conceivable to determine the priority relationship between the vehicle traveling road and the connecting road.

  Further, for example, the priority relationship determination unit 18 may determine the priority relationship of the road based on the analysis result of the surrounding image of the own vehicle captured by the in-vehicle camera. In that case, for example, the vehicle irradiation control apparatus 10 shown in FIG. 14 is provided with a priority relationship determination unit 18, and the priority relationship determination unit 18 travels based on the result of image analysis of the video taken by the in-vehicle camera. It is conceivable to determine the priority relationship between the road and the connecting road.

  Further, for example, the priority relationship determination unit 18 may determine the priority relationship of the road based on information acquired by the in-vehicle sensor. In that case, for example, a priority relationship determination unit 18 is provided in the vehicle irradiation control apparatus 10 shown in FIG. 15, and the priority relationship determination unit 18 determines whether the vehicle traveling road and the connection road are based on the analysis result of the sensor information. It is conceivable to determine the priority relationship.

<Eighth embodiment>
In FIG. 21 and FIG. 22 shown above, the vehicle irradiation control device 10 uses the irradiation device 20 until the vehicle reaches the connection point in the overlapping travel area of the connection point ahead of the host vehicle in the traveling direction. Although the example which irradiates the figure showing this time (henceforth "remaining time") was shown, the said figure is not restricted to what was shown in FIG.21 and FIG.22. In the present embodiment, a modified example of a graphic representing the remaining time is shown. In addition, the example of the figure demonstrated below can also be used for the purpose of showing the distance from the own vehicle to the connection point.

  In the example of FIG. 21 and FIG. 22, as shown in FIG. 40, a rectangular figure (hereinafter referred to as “bar”) is used as an element (hereinafter referred to as “element figure”) constituting the figure representing the remaining time, and depending on the number of bars. It represents the remaining time. In the examples of FIGS. 21 and 22, the thickness (width) of each bar is constant, but as shown in FIG. 41, each bar may be made thicker as the number of bars decreases. As the remaining time decreases, the bar becomes thicker, indicating that the degree of urgency is increasing. It is more effective to increase the total area of the bars as the number of bars decreases.

  For example, as shown in FIG. 42, even if the number of bars is reduced, the width of the entire area in which the bars are drawn may be maintained. For example, as shown in FIG. 43, when the number of bars is reduced, adjacent bars may be connected while maintaining the position of each bar. By not moving the position of each bar, the change in the image becomes continuous and the change in the number of bars can be easily recognized. Furthermore, when connecting adjacent bars, as shown in FIG. 44, animation may be performed so that the interval between the connecting bars gradually decreases. Alternatively, as shown in FIG. 45, after changing the color of the area between the bars to be connected, the two bars may be connected by changing the color of the area to the same color as the bar.

  21 and 22, the vertically long bars are arranged horizontally when viewed from the other vehicle. On the contrary, the horizontally long bars may be vertically aligned when viewed from the other vehicle. Good. For example, FIGS. 46 and 47 are examples in which a horizontally long bar is used as viewed from the other vehicle (the dotted arrows in FIGS. 46 and 47 indicate the direction of the line of sight from the other vehicle). In FIG. 46, one of the plurality of bars is made longer than the other bars, and the remaining time is indicated by the position of the long bar (the number of bars is constant). As the remaining time decreases, the longer bar moves closer to the other vehicle, so the driver of the other vehicle can intuitively recognize that the urgency is increasing. In addition, as shown in FIG. 47, the position of a long bar may be moved while reducing the number of bars according to the remaining time.

  Elements (element figures) constituting a figure representing the remaining time are not limited to rectangular bars. For example, as shown in FIG. 48, a fan-shaped element figure may be used. In this case, not only the number and thickness of the sectors may be changed according to the remaining time, but the radius of the sectors may be changed. For example, it is possible to indicate that the degree of urgency is increased by making the sector thicker as the remaining time decreases or by increasing the sector radius.

  Moreover, when using a some element figure, they do not need to be arranged in one direction. For example, FIG. 49 is an example using a plurality of concentric circular element figures. In this case, when reducing the number of element figures according to the remaining time, the circle may be thickened or the radius of the circle may be increased. A plurality of concentric rectangles or a plurality of concentric polygons may be used as the element figure.

  Further, as shown in FIG. 50, the remaining time may be expressed not by the number or shape of element figures but by color, pattern, brightness, or the like. In this case, it is preferable to make the element figure stand out as the remaining time decreases. For example, it may be possible to change the color to light pink 5 seconds ago, dark pink 3 seconds ago, red 1 second, etc. Further, as shown in FIG. 51, the color of the element figure or the pattern may be partially changed, and the area of the conspicuous part (for example, the darker part) may be increased as the remaining time is reduced.

  It should be noted that the present invention can be freely combined with each other within the scope of the invention, and each embodiment can be appropriately modified or omitted.

  DESCRIPTION OF SYMBOLS 10 Vehicle irradiation control apparatus, 11 Irradiation control part, 12 Connection point detection part, 13 Connection angle determination part, 14 Own vehicle position specification part, 15 Other vehicle detection part, 16 Alarm part, 17 Travel control part, 18 Priority relation determination Part, 20 irradiation device, 21 position information acquisition device, 22 map information storage device, 23 communication device, 24 vehicle-mounted camera, 25 vehicle-mounted sensor, 26 vehicle drive device.

Claims (22)

An irradiation control unit that controls an irradiation device that irradiates an image around the vehicle;
A connection point detection unit for detecting a connection point between the own vehicle traveling road which is a road on which the own vehicle is traveling and a connection road which is another road connected to the own vehicle traveling road;
A connection angle determination unit that determines a connection angle of the connection road with respect to the vehicle traveling road;
With
When the irradiation control unit irradiates an image at a connection point using the irradiation device, the irradiation control unit adjusts the direction of the image to be irradiated according to the connection angle between the host vehicle traveling road and the connection road at the connection point. A vehicle irradiation control system. The vehicle irradiation control system according to claim 1, wherein the image that the irradiation control unit causes the irradiation apparatus to irradiate includes an image of a character, a symbol, or a code. 3. The vehicle according to claim 2, wherein the irradiation control unit sets a direction of an image irradiated by the irradiation device so that a vertical direction can be correctly viewed when a character, a symbol, or a code included in the image is viewed from a connection road. Irradiation control system. The vehicle irradiation control system according to any one of claims 1 to 3, wherein the irradiation control unit causes the irradiation device to irradiate an image toward a connection point existing ahead in the traveling direction of the host vehicle. The connection point detection unit further detects the distance from the vehicle to the connection point,
The vehicle irradiation control system according to claim 4, wherein the irradiation control unit causes the irradiation device to irradiate an image toward a connection point existing within a predetermined range from the own vehicle. The image which the said irradiation control part irradiates to the said irradiation apparatus is an image showing the time from the own vehicle to a connection point, or the time until the own vehicle arrives at a connection point. The vehicle irradiation control system according to item. The said irradiation control part is a vehicle irradiation control system of Claim 6 which changes the display mode of the said image according to the distance from the own vehicle to a connection point, or the time until the own vehicle reaches | attains a connection point. The irradiation control unit, when irradiating an image using the irradiation device to a connection point where a plurality of connection roads connect, displays a plurality of images in directions corresponding to connection angles between the connection roads and the vehicle traveling road. The vehicle irradiation control system according to claim 1, wherein the irradiation device is irradiated. The connection point detection unit is capable of detecting a plurality of connection points,
The connection angle determination unit determines a connection angle between the host vehicle traveling road and the connection road at each of the plurality of connection points,
The irradiation control unit causes the irradiation device to irradiate an image in a direction corresponding to a connection angle between a traveling road and a connection road at each connection point toward each of the plurality of connection points. The vehicle irradiation control system according to claim 8. Based on the map information, the vehicle further includes a vehicle position specifying unit that specifies the position of the vehicle on the map,
The said connection point detection part detects the connection point of the own vehicle travel road and a connection road based on the said map information and the position of the own vehicle on a map. Vehicle irradiation control system. Based on the map information, the vehicle further includes a vehicle position specifying unit that specifies the position of the vehicle on the map,
The vehicle connection control system according to any one of claims 1 to 9, wherein the connection angle determination unit determines a connection angle between the host vehicle traveling road and the connection road based on the map information. The vehicle connection control system according to any one of claims 1 to 9, wherein the connection point detection unit acquires position information of a connection point between the host vehicle traveling road and the connection road by communication with the outside. The vehicle connection control system according to any one of claims 1 to 9, wherein the connection angle determination unit acquires information on a connection angle between the host vehicle traveling road and the connection road by communication with the outside. The connection point detection unit detects a connection point between the own vehicle traveling road and the connection road based on video captured by the vehicle camera or information acquired by the vehicle sensor. The irradiation control system for vehicles as described in any one of Claims. The said connection angle determination part determines the connection angle of the own vehicle travel road and the said connection road based on the image | video which the camera of the own vehicle image | photographed, or the information which the sensor of the own vehicle acquired. The vehicle irradiation control system according to claim 1. A priority relationship determination unit that determines a priority relationship between the host vehicle traveling road and the connection road at the connection point;
The said irradiation control part changes the irradiation pattern of an image according to the priority relationship of the own vehicle traveling road and connection road in the said connection point, when irradiating an image to a connection point using the said irradiation apparatus. The vehicle irradiation control system according to claim 15. The irradiation control unit includes a first irradiation pattern which is an irradiation pattern of an image to a connection point where the own vehicle traveling road has priority over the connection road, and an image of the image to the connection point where the connection road has priority over the own vehicle traveling road. The vehicle irradiation control system according to claim 16, wherein the irradiation pattern is different from the second irradiation pattern. It further includes an other vehicle detection unit that detects the presence of another vehicle traveling on the connection road,
The said irradiation control part adjusts the direction of the image to irradiate according to the connection angle of the own vehicle travel road and the connection road from which the presence of the other vehicle was detected. Vehicle irradiation control system. The vehicle irradiation control system according to claim 18, wherein the other vehicle detection unit detects the presence of the other vehicle by analyzing an image irradiated to the connection point by the other vehicle. 20. An alarm unit that issues a warning to a driver when it is detected that another vehicle traveling on a connection road enters the connection point ahead of the traveling direction of the host vehicle simultaneously with the host vehicle. The vehicle irradiation control system described. When the other vehicle detection unit detects that another vehicle traveling on a connection road enters the connection point in front of the traveling direction of the own vehicle at the same time as the own vehicle, the vehicle decelerates or temporarily stops traveling. The vehicle irradiation control system according to any one of claims 18 to 20, further comprising a control unit. An image irradiation control method in an irradiation control system for a vehicle,
The connection point detection unit of the irradiation control system detects a connection point between a host vehicle traveling road that is a road on which the host vehicle is traveling and a connection road that is another road connected to the host vehicle traveling road,
The connection angle determination unit of the irradiation control system determines a connection angle between the vehicle traveling road and the connection road at the connection point,
The irradiation control unit of the irradiation control system determines the direction of the image to be irradiated to the connection point according to the connection angle between the host vehicle traveling road and the connection road at the connection point,
The irradiation control unit irradiates the connection point with an image using an irradiation apparatus.

Images