JP2018192836A - Road surface drawing system - Google Patents

Road surface drawing system Download PDF

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Publication number
JP2018192836A
JP2018192836A JP2017095726A JP2017095726A JP2018192836A JP 2018192836 A JP2018192836 A JP 2018192836A JP 2017095726 A JP2017095726 A JP 2017095726A JP 2017095726 A JP2017095726 A JP 2017095726A JP 2018192836 A JP2018192836 A JP 2018192836A
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light
road
unit
vehicle
image
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JP2017095726A
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Japanese (ja)
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真也 小暮
Shinya Kogure
真也 小暮
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スタンレー電気株式会社
Stanley Electric Co Ltd
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Priority to JP2017095726A priority Critical patent/JP2018192836A/en
Priority claimed from EP18171663.0A external-priority patent/EP3401161A3/en
Publication of JP2018192836A publication Critical patent/JP2018192836A/en
Pending legal-status Critical Current

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Abstract

To provide a road surface drawing system having an enhanced effect of calling for attention to a driver by changing an image display position according to the speed of a vehicle.SOLUTION: A road surface drawing system is mounted on a vehicle and draws an image in which a travel path for a vehicle is enhanced on a road surface in front of the vehicle. The road surface drawing system comprises: a travel path drawing unit for radiating a light to draw an image on a road surface; a vehicle speed detection unit for detecting a speed of the vehicle; and a control unit for controlling the travel path drawing unit. The travel path drawing unit comprises: a light source unit; an image creation unit for modulating the light emitted from the light source unit so as to form an image; and a projection unit for projecting the light having an image onto the road surface. The control unit changes a distance of the image with respect to the vehicle based on a detection result from the vehicle speed detection unit.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a road surface drawing system.

  Patent Document 1 discloses a driving support device that projects a support pattern for alerting a driver to vehicle speed and appropriate steering on the road surface ahead of the host vehicle in accordance with road information and driving conditions.

Japanese Patent Laid-Open No. 2015-153057

  The position of the viewpoint where the driver pays attention changes according to the vehicle speed. That is, the driver pays attention to the distance from the vehicle when the vehicle travels at a high speed, and pays attention to the vicinity of the vehicle when the vehicle travels at a low speed. The inventors of the present invention have focused on this point and conceived of changing the display position of an image for alerting according to the speed of the vehicle.

  An object of the present invention is to provide a road surface drawing system in which the effect of alerting the driver is enhanced by changing the display position of the image according to the speed of the vehicle.

  In order to achieve the above object, a road surface drawing system according to one aspect is a road surface drawing system that is mounted on a vehicle and draws an image that emphasizes the traveling road of the vehicle on a road surface in front of the vehicle, and irradiates light. A travel path drawing unit that draws the image on the road surface; a vehicle speed detection unit that detects a speed of the vehicle; and a control unit that controls the travel path drawing unit. And an image generation unit that modulates light emitted from the light source unit to form the image, and a projection unit that projects light having the image onto the road surface, and the control unit includes the vehicle speed Based on the detection result of the detection unit, the distance of the image with respect to the vehicle is changed.

  According to this configuration, the road surface drawing system can bring the position of the image displayed on the road surface closer to or away from the vehicle based on the detection result of the vehicle detection unit. Therefore, an image is displayed on a road surface far away from the vehicle when the vehicle speed is high, and an image is displayed on a road surface near the vehicle when the vehicle speed is low, so that the image can be easily seen by the driver. The effect of alerting by an image can be enhanced.

  In the above-described road surface drawing system, the light source unit includes a plurality of light sources, and the plurality of light sources respectively form a plurality of light distribution regions arranged along the distance from the vicinity of the vehicle on the road surface, The control unit may be configured to switch a light emission state of at least one of the light sources based on a detection result of the vehicle speed detection unit.

  According to this configuration, the light source unit has a plurality of light sources corresponding to a plurality of light distribution regions arranged from the vicinity of the vehicle toward the far side. For this reason, the light distribution area on the road surface can be changed along the front-rear direction of the vehicle by switching the light emission states of the plurality of light sources. Thereby, the position of the image displayed on the road surface can be brought closer to or away from the vehicle. By switching the light emission state of such a light source in accordance with the detection result of the vehicle speed detection unit, it is possible to display an image in a place that is easy for the driver to visually recognize and enhance the alerting effect by the image.

  In the above-described road surface drawing system, the control unit includes a light emission amount control unit that individually changes the light emission amounts of the plurality of light sources, and the light emission amount control unit is a distant side of the vehicle among the plurality of light sources. The light emission amount of the light source that forms the light distribution region may be higher than the light emission amount of the light source that forms the light distribution region in the vicinity of the vehicle.

  According to this configuration, the light emission amounts of the plurality of light sources are controlled by the light emission amount control unit. Therefore, the illuminance on the road surface can be adjusted for each of a plurality of light distribution areas formed on the road surface. The amount of light emitted from the light source that illuminates the light distribution area located on the far side of the vehicle among the plurality of light distribution areas formed on the road surface can be increased, and the illuminance in the image can be made uniform.

  In the road surface drawing system described above, the projection unit condenses the light having the image generated by the image generation unit and causes the light to enter the projection unit, and the light is collected by the light collection optical system. The reflection surface may be configured to reflect the reflected light and project the light onto the road surface, and the curvature of the reflection surface gradually increases from the rear side in the projection direction toward the front side in the projection direction.

  According to this configuration, regardless of whether the reflecting surface is a convex curved surface or a concave curved surface, the light is reflected in the region that reflects the light toward the vicinity of the vehicle, compared to the region that reflects the light toward the far side of the vehicle. In addition, the distance between the region that reflects light on the reflection surface and the region that forms an image on the road surface that is the image formation surface can be shortened, and defocusing of the image formed can be suppressed. Therefore, it is possible to provide a road surface drawing system capable of clearly displaying an image on the road surface.

  In the above-described road surface drawing system, the projection unit selects and switches any one of the plurality of reflection surfaces that project light onto regions having different distances from the vehicle and the plurality of reflection surfaces. It is good also as a structure which has a switching part.

  According to this configuration, since the plurality of reflecting surfaces that are reflected toward the regions having different distances are switched by the switching unit, the images can be clearly displayed at different distances on the road surface by the reflecting surfaces. Thereby, the position of the image displayed on the road surface can be brought closer to or away from the vehicle. By switching the light emission state of such a light source in accordance with the detection result of the vehicle speed detection unit, it is possible to display an image in a place that is easy for the driver to visually recognize and enhance the alerting effect by the image.

  In the road surface drawing system described above, the traveling road drawing unit may display the image that emphasizes the traveling road on the road surface and may form a light distribution pattern as a vehicle headlamp.

  According to this configuration, since the travel path drawing unit is also used as a vehicle headlamp, the overall size can be reduced compared to the case where the travel path drawing unit and the vehicle headlamp are provided. .

  In the road surface drawing system described above, the image generation unit includes a light distribution pattern generation state that generates a light distribution pattern as the vehicle headlamp, and a travel path enhancement state that generates the image that emphasizes the travel path. The light source unit causes white light to enter the image generation unit in the light distribution pattern generation state, and visible light having a color different from white light to the image generation unit in the travel path enhancement state. It is good also as a structure which injects.

  According to this configuration, the road surface drawing system forms a light distribution pattern as a vehicle headlamp with white light, and also prompts the driver's attention with visible light of a color different from that of white light on the traveling road. Can be displayed.

  The road surface drawing system may include a travel path recognition unit that detects a road condition ahead of the vehicle, and the control unit may reflect the recognition result of the travel path recognition unit in the image.

  According to this configuration, it is possible to clearly notify the driver whether or not the vehicle can travel by determining the state of the road based on the road condition acquired by the road recognition unit. The road condition acquired from the travel path recognition unit includes road lanes, curbstones, and the state of a fence.

  In the road surface drawing system described above, a road information acquisition unit that obtains road conditions ahead of the vehicle from the outside is provided, and the control unit reflects the information obtained by the road information acquisition unit in the image. Also good.

  According to this configuration, it is possible to clearly notify the driver of road conditions obtained from the outside. The road condition obtained from the outside includes information acquired from GPS (Global Positioning System), VICS (registered trademark) (Vehicle Information and Communication System).

  According to the road surface drawing system of the present invention, it is possible to provide a road surface drawing system that enhances the effect of alerting the driver by changing the display position of the image according to the speed of the vehicle.

1 is a schematic diagram of a road surface drawing system according to an embodiment. It is a schematic diagram which shows the projection module of one Embodiment. It is a schematic diagram of the light source unit of one Embodiment. It is a figure which shows an example of the image by the road surface drawing system which concerns on one Embodiment. It is a figure which shows an example of the image by the road surface drawing system which concerns on one Embodiment. It is a figure which shows an example of the image by the road surface drawing system which concerns on one Embodiment. It is a figure which shows an example of the image by the road surface drawing system which concerns on one Embodiment. It is a figure which shows an example of the image by the road surface drawing system which concerns on one Embodiment. It is a figure which shows an example of the image by the road surface drawing system which concerns on one Embodiment. It is a perspective view of the reflective apparatus of the modification 1. It is a figure which shows the state which irradiated the road surface using the reflection part for short distances in the reflection apparatus of the modification 1. FIG. It is a figure which shows the state which irradiated the road surface using the reflection part for intermediate distances in the reflection apparatus of the modification 1. It is a figure which shows the state which irradiated the road surface using the reflection part for long distances in the reflection apparatus of the modification 1. FIG. It is a schematic diagram which shows the projection module of the road surface drawing system of the modification 2. It is the schematic which shows a part of road surface drawing system of the modification 3. It is a schematic diagram which shows an example of the light distribution pattern and image which are formed by the road surface drawing system of the modification 3.

Hereinafter, a road surface drawing system according to an embodiment will be described with reference to the drawings.
In the drawings used in the following description, in order to make the features easy to understand, portions that become features may be shown in an enlarged manner for convenience, and the dimensional ratios and the like of each component are not always the same as actual.

  FIG. 1 is a schematic diagram of a road surface drawing system 1 according to an embodiment. The road surface drawing system 1 according to the present embodiment is an apparatus that is mounted on a vehicle and draws an image that emphasizes a traveling road of the vehicle on a road surface in front of the vehicle.

The road surface drawing system 1 includes a projection module (running road drawing unit) 10, a vehicle speed detection unit 16, an imaging device (running road recognition unit) 15, a running road information acquisition unit 17, and a control unit 13. The projection module 10 draws an image by irradiating the road surface with light. The control unit 13 controls the travel path drawing unit. The vehicle speed detector 16 detects the speed of the vehicle and transmits it to the control unit 13. The imaging device 15 detects the forward situation and transmits it to the control unit 13.
The road surface drawing system 1 first captures an image in front of the vehicle with the imaging device 15 provided in front of the vehicle (for example, on the windshield side of the rearview mirror), and detects the speed of the vehicle with the vehicle speed detection unit 16. Further, the road surface drawing system 1 obtains road conditions from the outside in the traveling road information obtaining unit 17. Next, the control unit 13 analyzes the image information acquired by the imaging device 15 and the information acquired by the travel path information acquisition unit 17 and determines an image 58 to be displayed. Further, the projection module 10 is controlled based on the vehicle speed information acquired by the vehicle speed detection unit 16 to draw an image 58 on the road surface 57 in front of the vehicle.

FIG. 2 is a schematic diagram showing the projection module 10 of the present embodiment.
The projection module 10 of the present embodiment includes a light source unit 20, a diffuser plate 24, an incident optical system 25, an image generation unit 31, and a projection optical system (projection unit) 41.

  The light source unit 20 is an array light source in which a plurality of light sources 21 are arranged to form an array light emitting surface. That is, the light source unit 20 includes a plurality of light sources 21. The light source 21 emits visible light. As the light source 21, a light emitting diode light source (LED, light emitting diode) or a laser light source can be adopted. The plurality of light sources 21 are individually controlled to be turned on / off and the light emission amount by the light emission amount control unit 52. That is, the light emission amount of each light source 21 can be adjusted from 100%, which maximizes the light emission amount, to 0%, which is a state in which the light emission is completely turned off. The light source 21 is assumed to be in an off state when the light emission amount is 0%.

  FIG. 3 is a schematic diagram of the light source unit 20 of the present embodiment. The light source unit 20 of the present embodiment includes three light sources 21 and a light source package part 22. In the present embodiment, the three light sources 21 are arranged in the vertical direction (vertical direction) of the vehicle. The three light sources 21 are housed in the light source package section 22. A slight gap is provided between the adjacent light sources 21.

  In the present embodiment, the case where the light source unit 20 includes three light sources 21 will be described, but the number is not limited as long as the light source unit 20 includes a plurality of light sources 21. Moreover, in this embodiment, although the several light source 21 of the light source unit 20 is arranged in the up-down direction, it should just be arranged in the direction orthogonal to the width direction of a vehicle. By arranging the light sources 21 in this way, the light distribution regions formed on the road surface by the light emitted from the light sources 21 can be formed side by side in the vehicle front-rear direction. As a modification of the light source unit, an array light source in which a plurality of light sources are arranged vertically and horizontally may be employed. In this case, light emitted from light sources arranged in one direction among the arranged light sources is arranged in the vehicle front-rear direction on the projected road surface.

  Of the three light sources 21 arranged in the vertical direction, the uppermost one is the first light source 21A, the lowermost one is the third light source 21C, and the first light source 21A and the third light source 21A A light source positioned between the second light source 21C and the second light source 21B. As will be described later with reference to FIGS. 4A to 4C, the first light source 21 </ b> A forms a light distribution region (first light distribution region 50 </ b> A) at a position farthest from the vehicle 55 on the road surface 57. The third light source 21 </ b> C forms a light distribution region (third light distribution region 50 </ b> C) at a position closest to the vehicle 55 on the road surface 57. The second light source 21B forms a light distribution region (second light distribution region 50B) between the first light source 21A and the third light source 21C on the road surface 57. That is, the plurality of light sources 21 arranged along the arrangement direction perpendicular to the width direction of the vehicle form a plurality of light distribution regions arranged from the vicinity of the vehicle toward the far side on the road surface.

The diffuser plate 24 is disposed between the light source unit 20 and the incident optical system 25. The diffusion plate 24 diffuses and transmits the incident light. The light is emitted from the light source unit 20, passes through the diffusion plate 24, and enters the incident optical system 25 with the light diameter enlarged.
When a light source that emits light other than white light is used as the light source 21, a phosphor plate that receives light emitted from the light source 21 and emits diffusive white light may be used as the diffusion plate 24. Good. As an example, when the light source 21 emits blue light (which may be ultraviolet light), the blue light incident on the phosphor plate (diffuser plate 24) containing phosphor particles inside is diffused through the phosphor plate. While being transmitted, a part of the light is wavelength-converted by the phosphor particles. The blue light caused by the light source 21 and the yellow light emitted by excitation of the phosphor particles are mixed with each other, and as a result, diffusive white light is emitted from the phosphor plate. In addition, the diffusing material which diffuses blue light may be added to the inside of the phosphor plate.

  As described above, in the light source unit 20, a slight gap is provided between the adjacent light sources 21 (see FIG. 3). When the light emitted from the light source 21 is projected onto the road surface, the gap between the light sources 21 may cause a dark part in the image 58 on the road surface 57. According to the present embodiment, by arranging the diffusion plate 24 between the light source unit 20 and the incident optical system 25, the light irradiated from the light source unit 20 can be blurred to enter the incident optical system 25. It is possible to suppress the formation of dark portions in the image 58 on the road surface 57.

  As shown in FIG. 2, the incident optical system 25 collects the light from the light source 21 and irradiates the reflection control surface of the image generation unit 31. The incident optical system 25 includes one or a plurality of lenses.

  The image generation unit 31 modulates the light emitted from the light source 21 to generate an image. In the present embodiment, the image generation unit 31 includes a reflective digital light deflection device (DMD, Digital Mirror Device). The image generation unit 31 including a reflection type digital light deflection apparatus has a reflection control surface configured by arranging a plurality of tiltable mirror elements.

The tilt angle of each of the plurality of mirror elements of the image generation unit 31 is controlled to the reflection side or the light shielding side by a signal from the control unit 13. The image generation unit 31 generates a reflection pattern (image) 39 having an arbitrary shape by the reflected light of the plurality of mirror elements tilted to the reflection side. In the example illustrated in FIG. 2, the image generation unit 31 generates an arrow-shaped reflection pattern 39.
The projection module 10 is provided with a light shielding member 32 for shielding light from each mirror element tilted toward the light shielding side.

  The projection optical system 41 irradiates the front of the vehicle with the reflection pattern 39 generated by the image generation unit 31 as an image 58 and projects it onto the road surface 57. The projection optical system 41 includes a condensing optical system 42, a folding mirror 43, and a reflection device 44.

The condensing optical system 42 includes one or a plurality of lenses. The condensing optical system 42 irradiates the reflection unit 45 of the reflection device 44 with the reflection pattern 39 generated by the image generation unit 31 via the folding mirror 43. The condensing optical system 42 condenses the reflection pattern 39 emitted from the image generating unit 31 to form an intermediate image 59.
The folding mirror 43 is a mirror that reflects the light from the condensing optical system 42 toward the reflecting portion 45.

  The reflection device 44 has a reflection portion 45. The reflector 45 reflects the light collected by the condensing optical system 42 toward the road surface 57. The reflector 45 is a concave reflector for enlarged projection. The reflection part 45 has a reflection surface 45a. That is, the projection optical system 41 has a reflecting surface 45a. The reflection unit 45 reflects the light collected by the condensing optical system 42 on the reflection surface 45 a and projects it onto a predetermined area of the road surface 57. The reflecting surface 45a has a concave shape made of an aspherical free-form surface.

The reflecting surface 45 a is disposed at the subsequent stage of the intermediate image 59 formed by the condensing optical system 42. Accordingly, the light forms an image on the front side of the reflection surface 45a, enters the concave reflection surface 45a while spreading in the diffusion direction, and is condensed again by being reflected by the reflection surface 45a.
In the present specification, “front stage” and “rear stage” mean the front-rear relationship along the light transmission path (that is, the upstream side and the downstream side in the optical path), and the arrangement of each part in the projection module 10 Does not mean.

  A region 45b on the front side in the projection direction of the reflecting surface 45a reflects light toward the road surface 57 near the vehicle. A region 45c on the rear side in the projection direction of the reflecting surface 45a reflects light toward the road surface 57 on the far side of the vehicle. The reflection surface 45a continuously changes the curvature according to the distance from the projection target (from the vicinity of the vehicle on the road surface 57 to the farther side of the vehicle) as it goes from the region 45c on the rear side in the projection direction to the region 45b on the front side in the projection direction. Is formed. That is, the curvature of the reflecting surface 45a gradually increases from the rear side in the projection direction toward the front side in the projection direction. As a result, light is reflected by the region 45b on the front side in the projection direction that reflects light toward the vicinity of the vehicle, compared with the region 45c on the rear side in the projection direction that reflects light toward the far side of the vehicle. The distance between the region that reflects light and the region that forms an image on the road surface 57 that is the imaging surface of the road surface 57 can be shortened to suppress blurring of the image 58 that has been formed.

  According to the present embodiment, the reflection unit 45 that reflects the light having the image 58 toward the road surface 57 continuously changes the curvature according to the distance from the projection target (from the vicinity of the vehicle on the road surface to the distance from the vehicle). Is formed. As a result, the image can be clearly displayed on the road surface 57, and a high-quality image 58 without blurring can be formed.

Next, an image 58 drawn by the road surface drawing system 1 will be described with reference to FIGS. 4A to 4C and FIGS. 5A to 5C.
As shown in FIGS. 4A to 4C and FIGS. 5A to 5C, the road surface drawing system 1 including the projection module 10 is mounted on a vehicle 55 and irradiates light from the vehicle 55 toward the road surface 57. Further, the road surface drawing system 1 performs drawing that emphasizes the traveling road of the vehicle 55 on the road surface 57 in front of the vehicle 55. In the present embodiment, the road surface drawing system 1 draws a pair of rod-like lanes extending in the running direction of the vehicle 55 as the image 58 that emphasizes the running road. The pair of rod-like lanes are arranged slightly wider than the vehicle width of the vehicle 55.

  4A to 4C are diagrams illustrating examples of an image 58 drawn on the road surface 57 when only the third light source 21C, the second light source 21B, and the first light source 21A are caused to emit light. On the road surface 57 in front of the vehicle 55, a first road surface region 57A, a second road surface region 57B, and a third road surface region 57C arranged in order from a region far from the vehicle 55 to a region close thereto are set. The first to third light sources 21A to 21C form first to third light distribution regions 50A to 50C in first to third road surface regions 57A to 57C on the road surface 57, respectively. The road surface drawing system 1 draws the image 58 at the display position of the image 58 in the first to third road surface regions 57A to 57C by controlling the light emission amounts of the first to third light sources 21A to 21C.

  FIG. 4A is a diagram showing an image 58 when the third light source 21C emits light and the first light source 21A and the second light source 21B are turned off. The light emitted from the first light source 21 </ b> A is reflected by the image generation unit 31 to form a reflected image, and further forms an image 58 in the first light distribution region 50 </ b> A on the road surface 57.

  When the vehicle 55 travels at a relatively low speed (for example, 30 km / hour), it is preferable to display the image 58 only on the third road surface region 57C as shown in FIG. 4A. This is because when the vehicle 55 travels at a low speed, the driver's attention is directed to the vicinity of the vehicle 55, so that it is less necessary to display an image in a distant area. In addition, when the vehicle 55 travels at a low speed, the distance between the vehicle 55 and another vehicle traveling in front of the vehicle 55 is short, and therefore the image 58 may hinder the operation of the driver of the other vehicle. It is. According to the present embodiment, when the image 58 is displayed only in the region of the road surface 57 in the vicinity of the vehicle 55 (that is, the third road surface region 57C), the other regions (first and second road surface regions 57A and 58B). The other light sources (first and second light sources 21A and 21B) responsible for the light source) can be turned off, and the road surface drawing system 1 with high energy efficiency can be realized.

  FIG. 4B is a diagram illustrating an image 58 when the second light source 21B is caused to emit light and the first light source 21A and the third light source 21C are turned off. The light emitted from the second light source 21 </ b> B is reflected by the image generator 31 to form a reflected image, and further forms an image 58 in the second light distribution region 50 </ b> B on the road surface 57.

  When the vehicle 55 travels at a medium speed (for example, 60 km / hour), as shown in FIG. 4B, the image 58 is displayed only in a region of the road surface 57 that is some distance from the vehicle 55 (that is, the second road surface region 57B). It is preferable. According to the present embodiment, when the image 58 is displayed only on the second road surface region 57B, the first and third light sources 21A and 21C can be turned off, and the energy efficient road surface drawing system 1 is provided. realizable.

  FIG. 4C is a diagram showing an image 58 when the first light source 21A is caused to emit light and the second light source 21B and the third light source 21C are turned off. The light emitted from the third light source 21 </ b> C is reflected by the image generator 31 to form a reflected image, and further forms an image 58 in the third light distribution region 50 </ b> C on the road surface 57.

  When the vehicle 55 travels at a high speed (for example, 100 km / hour), as shown in FIG. 4C, the image 58 may be displayed only in a region farthest from the vehicle 55 on the road surface 57 (that is, the first road surface region 57A). preferable. This is because when the vehicle 55 travels at a high speed, the driver's attention is directed to the far side of the vehicle 55, so that it is not necessary to display an image in a nearby region. According to the present embodiment, when the image 58 is displayed only on the first road surface region 57A, the second and third light sources 21B and 21C can be turned off, and the energy efficient road surface drawing system 1 is provided. realizable.

As shown in FIGS. 4A to 4C, it is preferable to change the display position of the image 58 and increase the display length of the image 58 along the traveling direction of the vehicle 55 as the speed of the vehicle 55 increases. The display length of the image 58 along the traveling direction of the vehicle 55 can be easily changed by adjusting the shape of the reflected image formed in the image generation unit 31. Thereby, as the speed of the vehicle 55 increases, the range of the image 58 visually recognized by the driver of the vehicle 55 can be sufficiently widened.
4A to 4C, the display length of the image 58 along the traveling direction of the vehicle 55 is schematically shown, and is different from the actual length.

Since the road surface drawing system 1 irradiates light obliquely from the constant height of the vehicle 55 toward the road surface, the light flux density of light incident on the road surface decreases as the distance from the vehicle 55 increases. Accordingly, when the road surface 57 is irradiated with uniform light from the road surface drawing system 1, the illuminance of the image 58 on the road surface 57 is reduced when the image is displayed at a position away from the vehicle 55. In the present embodiment, the light emission amounts of the first to third light sources 21 </ b> A to 21 </ b> C are individually controlled by the light emission amount control unit 52. More specifically, when the third road surface region 57C is irradiated with light, the amount of light emitted from the third light source 21C is 60%, and when the second road surface region 57B is irradiated with light, When the light emission amount of the light source 21B is 80% and the first road surface region 57A is irradiated with light, the light emission amount of the first light source 21A is 100%. That is, the light emission amount of each light source (the first to third light sources 21A to 21C) can be adjusted according to the distance from the vehicle 55 of the light distribution region to be formed (first to third light distribution regions 50A to 50C). . Thereby, even when the position of the image 58 is changed by switching the light source 21, the brightness of the image 58 on the road surface can be kept constant. Moreover, according to this embodiment, the road surface drawing system 1 with high energy efficiency is adopted by adjusting the light emission amount of the light source 21 and adopting the configuration that keeps the brightness of the image 58 constant according to the change in the display position. Can be realized.
Note that the image generation unit 31 can drive on and off of reflection due to the tilt of the mirror element at high speed and adjust the duty ratio of on and off. In the present embodiment, the duty ratio of the image generation unit 31 may be adjusted to adjust the illuminance within a single light distribution region according to the distance from the vehicle 55. In this case, as the adjusted duty ratio becomes closer to the vehicle 55, the time for turning it off is lengthened.

FIG. 5A is a diagram illustrating an image 58 when the image 58 is displayed across the first to third road surface regions 57A to 57C. In FIG. 5A, the first to third light sources 21A to 21C emit light. The light emitted from the first to third light sources 21 </ b> A to 21 </ b> C forms an image 58 in the first to third light distribution areas 50 </ b> A to 50 </ b> C on the road surface 57. In the state shown in FIG. 5A, the light emission amount of the first light source 21A corresponding to the first light distribution region 50A is 90%, and the light emission amount of the second light source 21B corresponding to the second light distribution region 50B is The light emission amount of the third light source 21C corresponding to the third light distribution region 50C is 60%.
In addition, the light emission amount of each light source is adjusted on the basis of the light emission amount with which a sufficient light source light emission amount can be obtained in the portion farthest from the vehicle in the corresponding road surface region.

  FIG. 5B is a diagram illustrating the image 58 when the image 58 is displayed across the first and second road surface regions 57A and 57B. In FIG. 5B, the first and second light sources 21A and 21B emit light. The light emitted from the first and second light sources 21A and 21B forms an image 58 in the first and second light distribution areas 50A and 50B on the road surface 57. In the state shown in FIG. 5B, the light emission amount of the first light source 21A corresponding to the first light distribution region 50A is 100%, and the light emission amount of the second light source 21B corresponding to the second light distribution region 50B is The third light source 21C corresponding to the third light distribution region 50C is turned off.

  FIG. 5C is a diagram illustrating the image 58 when the image 58 is displayed across the second and third road surface regions 57B and 57C. In FIG. 5C, the second and third light sources 21B and 21C emit light. The light emitted from the second and third light sources 21B and 21C forms an image 58 in the second and third light distribution regions 50B and 50C on the road surface 57. In the state shown in FIG. 5C, the first light source 21A corresponding to the first light distribution region 50A is turned off, and the light emission amount of the second light source 21B corresponding to the second light distribution region 50B is 70%. The light emission amount of the third light source 21C corresponding to the third light distribution region 50C is 60%.

  According to this embodiment, as shown to FIG. 5A-FIG. 5C, according to the distance from the vehicle 55 of the light distribution area (1st-3rd light distribution area 50A-50C) to form, each light source (1st By adjusting the light emission amounts of the first to third light sources 21A to 21C), the uniformity of illuminance on the road surface in the image 58 extending across a plurality of road surface regions can be enhanced.

  In this embodiment, by adjusting the duty ratio of the image generation unit 31, the brightness near the boundary of the light distribution region on the side where the light emission amount is increased (that is, the far side) in the image 58 straddling a pair of adjacent light distribution regions. You may adjust the thickness. In this case, a natural image 58 may be rendered by reducing the difference in illuminance on the road surface 57 in the vicinity of the boundary between the pair of light distribution regions.

Returning to FIG. 1, the configuration of the road surface drawing system 1 will be described.
The imaging device 15 functions as a travel path recognition unit that recognizes a travel path ahead of the vehicle by imaging and processing the front of the vehicle. The vehicle speed detector 16 detects the speed of the vehicle. The vehicle speed detection part 16 can be set as the structure which acquires vehicle speed information directly from a vehicle. Information on the travel path and the vehicle speed acquired by the imaging device 15 and the vehicle speed detection unit 16 is transmitted to the control unit 51 of the control unit 13 as an electrical signal.

  The control unit 13 includes a memory 53 in which control information of various images is set in advance, a control unit 51 that generates a control signal based on electrical signals from the memory 53, the imaging device 15, and the vehicle speed detection unit 16, and a control A drive unit 54 that drives the image generation unit 31 based on the signal and a light emission amount control unit 52 that individually changes the light emission amounts of the plurality of light sources 21 are provided. The control unit 13 generates an image by executing a process of controlling the tilt mode of the mirror element of the image generation unit 31. Further, the control unit 13 determines a position at which the image 58 is displayed on the road surface 57 based on the information on the speed of the vehicle 55 acquired by the vehicle speed detection unit 16, and the light emission amounts of the plurality of light sources 21 by the light emission amount control unit 52. Adjust.

(Summary)
According to the road surface drawing system 1 of the present embodiment, the control unit 13 changes the distance of the image 58 relative to the vehicle 55 based on the detection result of the vehicle speed detection unit 16. Therefore, the road surface drawing system 1 displays the image 58 on the road surface 57 far from the vehicle 55 when the speed of the vehicle 55 is high, and displays the image 58 on the road surface 57 near the vehicle 55 when the speed of the vehicle 55 is low. Let That is, according to the road surface drawing system 1 of the present embodiment, it is possible to enhance the effect of alerting by an image by displaying an image in a place that is easily visible to the driver.

In particular, in the present embodiment, a plurality of light sources 21 form a plurality of light distribution regions (first to third light distribution regions 50A to 50C) arranged along the distance from the vicinity of the vehicle 55 on the road surface 57, respectively. The control unit 13 switches the light emission state of at least one light source 21 based on the detection result of the vehicle speed detection unit 16. Thereby, since the distance of the image 58 on the road surface 57 with respect to the vehicle 55 is changed, the image 58 can be displayed in a place that is easy for the driver to visually recognize without reducing the use efficiency of the light emitted from the light source 21.
In the present specification, “switching the light emission state of at least one light source” means that at least one light source 21 of the plurality of light sources 21 is switched from on to off or from off to on. Thus, by switching at least one light source 21 from on to off or from off to on, the center position of the image 58 can be moved along the traveling direction of the vehicle 55 on the road surface 57.

  According to the present embodiment, the road surface drawing system 1 includes a plurality of light sources 21 corresponding to a plurality of light distribution regions (first to third light distribution regions 50A to 50C) arranged in the vicinity from the vicinity of the vehicle 55. Is provided. Further, the light emission amounts of the plurality of light sources 21 are controlled by the light emission amount control unit 52. Therefore, the illuminance on the road surface 57 can be adjusted for each of a plurality of light distribution areas formed on the road surface 57, and the illuminance of the road surface 57 in the vicinity of the vehicle 55 and the distant road surface 57 can be made uniform. More specifically, the light emission amount control unit 52 forms the light distribution region on the near side of the vehicle 55 with the light emission amount of the light source 21 that forms the light distribution region on the far side of the vehicle 55 among the plurality of light sources 21. It is preferable to perform control so that the amount of light emitted from the light source 21 is higher. Thereby, the light emission amount of the light source 21 that illuminates the light distribution area located on the far side of the vehicle 55 among the plurality of light distribution areas formed on the road surface 57 can be increased, and the illuminance in the image 58 can be made closer to uniform. it can.

  According to this embodiment, the reflecting surface 45a of the projection optical system 41 has a configuration in which the curvature gradually increases from the rear side in the projection direction toward the front side in the projection direction. Accordingly, as described above, it is possible to provide a vehicular lamp that can suppress blurring of an image and can display an image clearly on a road surface.

In the present embodiment, the imaging device 15 functions as a traveling path recognition unit that detects a road condition ahead of the vehicle 55. In addition, the control unit 13 reflects the recognition result obtained by the imaging device 15 in the image 58. The road surface drawing system 1 causes the projection module 10 to perform drawing that emphasizes the traveling road on the road surface 57 based on the recognition result acquired by the imaging device 15. Thereby, the road surface drawing system 1 can assist a driver | operator's driving | operation and can improve safety | security. For example, the control unit 13 plays a role of assisting the driver's visual recognition by curving or blinking a pair of rod-like lanes as the image 58 in accordance with a change in the travel path acquired by the imaging device 15. It may be allowed. In addition, when an obstacle that obstructs the traveling of the vehicle 55 is recognized in the traveling path shape in the imaging device 15, the control unit 13 determines whether or not the vehicle 55 can travel based on the recognition result. The result may be reflected on the image 58.
The road conditions acquired from the imaging device 15 include road lanes, curbstones, fences, and the like.

  In the present embodiment, the traveling road information obtaining unit 17 obtains the road conditions ahead of the vehicle 55 from the outside. In addition, the control unit 13 reflects the information obtained by the travel route information obtaining unit 17 in the image 58. According to this configuration, it is possible to clearly notify the driver of road conditions obtained from the outside. The road condition obtained from the outside includes information acquired from GPS (Global Positioning System), VICS (registered trademark) (Vehicle Information and Communication System).

(Modification 1)
Next, based on FIG. 6, a description will be given of a modification of the reflection device 144 that can be used in place of the reflection device 44 described above. In addition, about the component of the same aspect as the above-mentioned embodiment, the same code | symbol is attached | subjected and the description is abbreviate | omitted.

  As illustrated in FIG. 6, the reflection device 144 according to the present modification includes a plurality of (three in the present embodiment) reflection units 145 and a switching unit 146. The reflector 145 reflects the light collected by the condensing optical system 42 toward the road surface 57. The switching unit 146 includes a shaft unit 146a and a drive unit 146b that rotationally drives the shaft unit 146a around the axis. A plurality of reflecting portions 145 are fixed to the shaft portion 146a at equal intervals along the circumferential direction with respect to the axial center of the shaft portion 146a. The switching unit 146 switches and arranges one of the plurality of reflecting units 145 to the light receiving position that receives the light emitted from the condensing optical system 42 as the driving unit 146b rotates the shaft 146a.

  The reflection device 144 includes a short-distance reflection unit 145X, a medium-distance reflection unit 145Y, and a long-distance reflection unit 145Z. The reflecting surfaces 145a of the reflecting portions 145X, 145Y, and 145Z are set to reflect toward regions on the road surface 57 having different distances. Each of the reflecting surfaces 145a of the short distance reflecting portion 145X, the middle distance reflecting portion 145Y, and the long distance reflecting portion 145Z is formed into a curved surface having a larger average curvature as the distance to which the reflected light is irradiated is shorter. . FIG. 7A shows a state where the image 58 is displayed on the road surface 57 using the short distance reflecting portion 145X, and FIG. 7B shows a state where the image 58 is displayed on the road surface 57 using the middle distance reflecting portion 145Y. FIG. 7C shows a state in which the image 58 is displayed on the road surface 57 using the reflective portion 145Z. As shown in FIGS. 7A to 7C, regions on the road surface 57 that can be irradiated by the reflecting portions 145X, 145Y, and 145Z are different from each other. Moreover, the area | region on the road surface 57 which can be irradiated by each reflection part 145X, 145Y, 145Z is divided into the 1st-3rd road surface area | region 57A-57C corresponding to the 1st-3rd light source 21A-21C, respectively. .

  According to the present modification, the reflecting surfaces 145a of the plurality of reflecting portions 145 that reflect toward regions having different distances are switched by the switching portion 146, so that images are clearly displayed at different distances on the road surface by the reflecting surfaces 145a. it can. Thereby, since the distance of the image 58 on the road surface 57 with respect to the vehicle 55 is changed, the image 58 can be displayed in a place that is easy for the driver to visually recognize without reducing the use efficiency of the light emitted from the light source 21.

  In addition, according to the present modification, the road surface drawing system 1 that clearly displays an image at each distance by appropriately adjusting the curvature of the reflecting surface 145a in the plurality of reflecting portions 145 that reflect toward regions having different distances. Can provide. Further, when the reflected light is irradiated at a long distance, it is possible to prevent the light from diffusing and the illuminance from decreasing.

  Moreover, this modification can have the same effect as the above-described embodiment. That is, by adjusting the output of the corresponding light source in a plurality of road surface areas (first to third road surface areas 57A to 57C) partitioned on the road surface 57, the illuminance of the road surface 57 in the vicinity of the vehicle 55 and the distant road surface 57 is made uniform. Can be approached. Similarly to the above-described embodiment, the illuminance in the light distribution region may be adjusted according to the distance from the vehicle 55 by adjusting the duty ratio of the image generation unit 31.

(Modification 2)
FIG. 8 is a schematic diagram showing a projection module (running path drawing unit) 210 of the second modification. In addition, about the component of the same aspect as the above-mentioned embodiment, the same code | symbol is attached | subjected and the description is abbreviate | omitted.
The projection module 210 of this modification includes a reflection device 244 having a reflection unit 245. The reflection unit 245 has a convex reflection surface 245a. The reflection surface 245a is disposed in front of the intermediate image 259 formed by the condensing optical system 42. Therefore, the light enters the convex reflecting surface 245a while being condensed, and the distance between the reflecting surface and the imaging surface is adjusted by the reflecting surface 245a and reflected forward.

The convex reflection surface 245a gradually increases in curvature from the rear side in the projection direction toward the front side in the projection direction.
A region 245b on the front side in the projection direction of the reflecting surface 245a reflects light toward the road surface 57 on the far side of the vehicle. A region 245c on the rear side in the projection direction of the reflecting surface 245a reflects light toward the road surface 57 near the vehicle. The reflective surface 245a continuously changes its curvature according to the distance from the projection target (from the vicinity of the vehicle on the road surface 57 to the farther away from the vehicle) as it goes from the region 245c on the rear side in the projection direction to the region 245b on the front side in the projection direction. Is formed. That is, the curvature of the reflecting surface 245a gradually increases from the rear side in the projection direction toward the front side in the projection direction. As a result, light is reflected by the region 245c on the rear side in the projection direction that reflects light toward the vicinity of the vehicle, compared with the region 245b on the front side in the projection direction that reflects light toward the far side of the vehicle. The distance between the region that reflects light and the region that forms an image on the road surface 57 that is the image formation surface can be shortened, and the out-of-focus of the formed image 58 can be suppressed.

(Modification 3)
FIG. 9 is a schematic diagram showing a part of the road surface drawing system 301 of the third modification. In addition, about the component of the same aspect as the above-mentioned embodiment, the same code | symbol is attached | subjected and the description is abbreviate | omitted. The road surface drawing system 301 includes a projection module (running road drawing unit) 310, a vehicle speed detection unit 16, an imaging device (running road recognition unit) 15, and a control unit 13.

  The projection module 310 of this modification includes the three light source units 320, the incident optical system 325, and the image generation unit 31 shown in FIG. 9, and the projection optical system 41 (omitted in FIG. 9) omitted in FIG.

  The three light source units 320 are classified into a red light source unit 320R, a green light source unit 320G, and a blue light source unit 320B. The red light source unit 320R includes three red light sources 321R. The green light source unit 320G has three green light sources 321G. The blue light source unit 320B has three blue light sources 321B. The three light sources of the red light source unit 320R, the green light source unit 320G, and the blue light source unit 320B are arranged in the vertical direction. Further, the three light sources of the red light source unit 320R, the green light source unit 320G, and the blue light source unit 320B each form a plurality of light distribution regions arranged along the distance from the vicinity of the vehicle on the road surface. That is, the three light sources of the red light source unit 320R, the green light source unit 320G, and the blue light source unit 320B function as the first to third light sources 21A to 21C in the above-described embodiment.

  The red light source unit 320R, the green light source unit 320G, and the blue light source unit 320B are connected to the light emission amount control unit 52. The light emission amount of each light source of the red light source unit 320R, the green light source unit 320G, and the blue light source unit 320B is controlled by the light emission amount control unit 52.

  The incident optical system 325 includes a photosynthesis device 326 and three lens bodies 327. The photosynthesizer 326 is a conventionally known rectangular parallelepiped cross dichroic prism. The photosynthesizer 326 includes three incident surfaces 326a, one output surface 326b, and a pair of reflecting surfaces 326c. A wavelength selective reflection film is formed on the pair of reflection surfaces 326c. The three incident surfaces 326a face the red light source unit 320R, the green light source unit 320G, and the blue light source unit 320B through the lens body 327, respectively. The light combining device 326 combines the red light, the green light, and the blue light incident from the respective incident surfaces 326a and emits the white light from the emission surface 326b. The light emitted from the photosynthesis device 326 enters the image generation unit 31.

FIG. 10 is a schematic diagram showing an example of the light distribution pattern P and the image 58 formed by the road surface drawing system 301 of the present modification.
Similarly to the above-described embodiment, the road surface drawing system 301 displays an image 58 that emphasizes the traveling road on the road surface 57 and forms a light distribution pattern P as a vehicle headlamp.

  As shown in FIG. 9, the image generation unit 31 and the plurality of light source units 320 are connected to the control unit 13. The image generation unit 31 is controlled by the control unit 51 via the drive unit 54 in the control unit 13. Further, as described above, each light source of the light source unit 320 is controlled by the control unit 51 through the light emission amount control unit 52 in the control unit 13.

  The image generation unit 31 is controlled by the control unit 51 to generate a light distribution pattern P that generates a light distribution pattern P as a vehicle headlamp, and a travel path enhancement state that generates an image 58 that emphasizes the travel path. Switches at high speed. That is, the image generation unit 31 generates the light distribution pattern P at a certain moment and the image 58 at another moment by switching the tilt states of the plurality of mirror elements at high speed.

  The three light source units 320 emit light and enter the image generation unit 31 at the moment when the image generation unit 31 enters the light distribution pattern generation state. In addition, one or two of the three light source units 320 emit light at the moment when the image generation unit 31 is in the travel path emphasized state, and the other light source units 320 are turned off. Light emitted from the plurality of light source units 320 passes through the light combining device 326 and enters the image generation unit 31. When the three light source units 320 emit light, the light emitted from each light source unit 320 is combined by the light combining device 326 to become white. Therefore, white light is incident on the image generating unit 31 at this time. On the other hand, when one or two of the plurality of light source units 320 emit light, visible light having a color different from the white light is incident on the image generation unit 31. That is, the light source unit 320 causes white light to enter the image generation unit 31 in the light distribution pattern generation state, and allows visible light having a color different from that of the white light to enter the image generation unit 31 in the travel path enhancement state. As a result, the road surface drawing system 301 forms a white light distribution pattern P on the road surface 57 and displays an image 58 of a color different from the white light on the road surface 57. Since the light distribution pattern generation state and the traveling road emphasis state are switched at high speed, the driver observes that the light distribution pattern P and the image 58 are simultaneously displayed on the road surface 57.

As an example, a case will be described in which an image 58 that highlights the travel path is displayed in red.
In this case, the red light source unit 320 </ b> R emits red light regardless of the state of the image generation unit 31. On the other hand, the green light source unit 320G and the blue light source unit 320B emit green light and blue light, respectively, at the moment when the image generation unit 31 enters the light distribution pattern generation state, and the image generation unit 31 enters the travel path enhancement state. Turns off at the moment. Thereby, the image 58 can be displayed in red on the road surface 57. In addition, the color scheme of the image 58 may be switched on the road surface 57 by switching the light incident on the image generating unit 31 in the travel path emphasized state to the green light source unit 320G and the blue light source unit 320B.

  According to the road surface drawing system 301 of the present modified example, the light distribution pattern P as a vehicle headlamp is formed by white light, and the driver's attention is drawn on the traveling road with visible light of a color different from that of white light. An urging image 58 can be displayed. In addition, according to the road surface drawing system 301 of the present modification, the drawing module 310 is also used as a vehicle headlamp, and therefore, a drawing device that displays an image that emphasizes the traveling path and a vehicle headlamp are provided. Compared to the case, the overall size can be reduced.

  Further, in the present modification, the road surface drawing system 301 includes the red light source unit 320R, the green light source unit 320G, and the blue light source unit 320B, so that the color scheme of the image 58 can be changed over time on the road surface 57. Thereby, it is possible to enhance the effect of enhancing the image on the road surface 57 and prompting the driver to call attention.

Although the embodiments of the present invention and the modifications thereof have been described above, the configurations and combinations of the embodiments in the embodiments are examples, and the addition, omission, and configuration of the configurations are within the scope not departing from the gist of the present invention. Replacement and other changes are possible. Further, the present invention is not limited by the embodiment.
For example, in the above-described embodiment, an example in which a reflective digital light deflection apparatus is used as the image generation unit 31 has been described. It may be a drawing device or the like.

DESCRIPTION OF SYMBOLS 1,301 ... Road surface drawing system 10, 210, 310 ... Projection module (travel road drawing part), 13 ... Control unit, 15 ... Imaging device (travel road recognition part), 16 ... Vehicle speed detection part, 17 ... Travel road information Acquisition unit, 20, 320, 320R, 320G, 320B ... light source unit, 21,321R, 321G, 321B ... light source, 31 ... image generation unit, 39 ... reflection pattern (image), 41 ... projection optical system (projection unit), 42 ... Condensing optical system, 45a, 145a, 245a ... Reflecting surface, 52 ... Light emission amount control unit, 55 ... Vehicle, 57 ... Road surface, 58 ... Image, 146 ... Switching unit, P ... Light distribution pattern

Claims (9)

  1. A road surface drawing system that draws an image that is mounted on a vehicle and emphasizes a traveling path of the vehicle on a road surface in front of the vehicle,
    A road drawing unit that irradiates light and draws the image on the road surface;
    A vehicle speed detector for detecting the speed of the vehicle;
    A control unit for controlling the travel path drawing unit,
    The travel path drawing unit includes a light source unit, an image generation unit that modulates light emitted from the light source unit to form the image, and a projection unit that projects light having the image onto the road surface. And
    The control unit changes a distance of the image with respect to the vehicle based on a detection result of the vehicle speed detection unit.
    Road surface drawing system.
  2. The light source unit has a plurality of the light sources,
    The plurality of light sources each form a plurality of light distribution regions arranged along the distance from the vicinity of the vehicle on the road surface,
    The control unit switches a light emission state of at least one of the light sources based on a detection result of the vehicle speed detection unit.
    The road surface drawing system according to claim 1.
  3. The control unit includes a light emission amount control unit that individually changes the light emission amounts of the plurality of light sources,
    The light emission amount control unit determines a light emission amount of the light source that forms a light distribution region on the far side of the vehicle among a plurality of light sources, based on a light emission amount of the light source that forms a light distribution region on the vicinity side of the vehicle. But make it high,
    The road surface drawing system according to claim 2.
  4. The projection unit condenses light having the image generated by the image generation unit and makes the light incident on the projection unit, and reflects light collected by the condensing optical system to reflect the light. A reflective surface that projects onto the road surface;
    The curvature of the reflecting surface gradually increases from the rear side in the projection direction toward the front side in the projection direction.
    The road surface drawing system according to any one of claims 1 to 3.
  5. The projection unit includes a plurality of the reflection surfaces that project light onto regions having different distances from the vehicle, and a switching unit that selects and switches any one of the plurality of reflection surfaces.
    The road surface drawing system according to claim 4.
  6. The travel path drawing unit displays the image highlighting the travel path on the road surface and forms a light distribution pattern as a vehicle headlamp.
    The road surface drawing system according to any one of claims 1 to 5.
  7. The image generation unit switches at high speed between a light distribution pattern generation state for generating a light distribution pattern as the vehicle headlamp and a road emphasis state for generating the image for emphasizing the road.
    The light source unit causes white light to be incident on the image generation unit in the light distribution pattern generation state, and allows visible light having a color different from white light to be incident on the image generation unit in the travel path enhancement state.
    The road surface drawing system according to claim 6.
  8. A travel path recognition unit for detecting a road condition ahead of the vehicle;
    The control unit reflects the recognition result of the travel path recognition unit in the image.
    The road surface drawing system according to any one of claims 1 to 7.
  9. A travel path information obtaining unit for obtaining the road condition ahead of the vehicle from the outside,
    The control unit reflects the information obtained by the travel route information obtaining unit in the image.
    The road surface drawing system according to any one of claims 1 to 8.
JP2017095726A 2017-05-12 2017-05-12 Road surface drawing system Pending JP2018192836A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2017095726A JP2018192836A (en) 2017-05-12 2017-05-12 Road surface drawing system

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2017095726A JP2018192836A (en) 2017-05-12 2017-05-12 Road surface drawing system
EP18171663.0A EP3401161A3 (en) 2017-05-12 2018-05-09 Road surface drawing system, lighting tool for vehicle and method of road surface drawing

Publications (1)

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JP2018192836A true JP2018192836A (en) 2018-12-06

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Country Status (1)

Country Link
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