JP2020015471A - Projection control device, projection control method, projection control program, and storage medium - Google Patents

Abstract

To provide a projection control device capable of projecting an image on a projection device of its own movable body by restraining the image from overlapping an image from another movable body, a projection control method, a projection control program, and a storage medium.SOLUTION: A first projection control device 120 is a projection control device which is mounted on a first movable body 1 comprising a first projection device 110 for projecting a first image and which controls image projection by a first projection device 110. The projection control device includes a transmission part 121 that transmits a control signal SG11 for projecting alternately the first image and a second image to a second movable body 2 comprising a second projection device 210 for projecting the second image associated with movement, and a control part 123 that projects the first image on the first projection device 110 in timing based on the control signal SG11 transmitted by the transmission part 121.SELECTED DRAWING: Figure 4

Description

  The present invention relates to a projection control device for controlling image projection of a moving object by a projection device, a projection control method, a projection control program, and a storage medium storing the projection control program.

  2. Description of the Related Art Conventionally, there is known a projection device that is provided on a moving body and projects an image related to movement (for example, see Patent Document 1). The projection device described in Patent Literature 1 projects an image indicating that a moving object is approaching, for example, at an intersection or the like. From the image projected in this way, it is possible to effectively notify other moving bodies and the like of the approach of the own moving body.

Japanese Patent No. 6257477

  Here, when the other moving body has the same projection device as the own moving body, it is conceivable that images from both moving bodies may be projected overlapping on an intersection or the like. Such overlapping of images makes it difficult to see each image, and may make it difficult to transmit information such as the approach of a moving object.

  Therefore, an object of the present invention is to provide a projection control apparatus, a projection control method, a projection control program, and a storage medium that can cause an image to be projected on a projection apparatus of the own moving body while suppressing overlapping with an image from another moving body. Is provided as an example.

  In order to solve the above-described problems and achieve the object, a first projection control device of the present invention is mounted on a first moving body including a first projection device that projects a first image related to movement, and A projection control device for controlling image projection by a first projection device, wherein a second moving object including a second projection device for projecting a second image related to movement is provided with a first image and a second image. A transmission unit that transmits a control signal for alternately projecting an image, and a control unit that projects the first image on the first projection device at a timing based on the control signal transmitted by the transmission unit. It is characterized by the following.

  Further, in order to solve the above-described problem and achieve the object, a second projection control device of the present invention is mounted on a first moving object including a first projection device that projects a first image related to movement. A projection control device for controlling image projection by the first projection device, comprising: a second moving body including a second projection device for projecting a second image related to movement; A receiving unit that receives a control signal for alternately projecting an image, and a control unit that projects the first image on the first projection device at a timing based on the control signal received by the receiving unit. It is characterized by the following.

  In order to solve the above-described problems and achieve the object, a projection control method according to the present invention is executed in a first moving object including a first projection device that projects a first image related to movement, and 1. A projection control method for controlling image projection by one projection device, wherein a first image and a second image are provided for a second moving body including a second projection device that projects a second image related to movement. And a control step of projecting the first image on the first projection device at a timing based on the control signal transmitted by the transmission step. It is characterized by.

  In order to solve the above-described problems and achieve the object, a projection control program of the present invention is characterized by causing a computer to execute the above-described projection control method of the present invention.

  In order to solve the above-described problems and achieve the object, a storage medium of the present invention stores the above-described projection control program of the present invention.

FIG. 2 is a schematic diagram illustrating a moving body including the projection control device according to the first embodiment. FIG. 2 is a schematic diagram showing a state where a first image shown in FIG. 1 is projected. FIG. 3 is a schematic diagram illustrating a state in which a second moving body equipped with a projection device similar to the first moving body illustrated in FIGS. 1 and 2 approaches an intersection together with the first moving body. FIG. 2 is a block diagram illustrating a configuration of a first projection control device included in a first moving object illustrated in FIG. 1 together with a similar configuration of a second projection control device included in a second moving object. 3 is a flowchart illustrating a process flow of a projection control method executed by the first projection control device illustrated in FIG. 2. FIG. 13 is a schematic diagram illustrating a control method of image projection performed in the second embodiment. FIG. 7 is a block diagram illustrating a configuration of a first projection control device included in a first moving object illustrated in FIG. 6 together with a similar configuration of a second projection control device included in a second moving object. 8 is a flowchart illustrating a process flow of a projection control method executed by the first projection control device illustrated in FIG. 7.

  Hereinafter, embodiments of the present invention will be described. A first projection control device according to an embodiment of the present invention is mounted on a first moving body including a first projection device that projects a first image related to movement, and controls image projection by the first projection device. It is a projection control device. The first projection control device includes a transmission unit and a control unit. The transmission unit transmits a control signal for alternately projecting the first image and the second image to a second moving body including a second projection device that projects a second image related to movement. The control unit causes the first projection device to project the first image at a timing based on the control signal transmitted by the transmission unit.

  According to the first projection control device, the first image from the first moving object and the second moving object are obtained by the control signal transmitted by the transmission unit and the projection control at a timing based on the control signal by the control unit. Are alternately projected. As a result, the first image can be projected on the first projection device of the first moving body that is the own moving body, while suppressing the overlap with the second image from the second moving body that is the other moving body.

  Here, the first projection control device includes a detection unit that detects an occurrence of an overlap between the first image and the second image or a possibility that the overlap may occur in the future. Then, the transmission unit transmits a control signal to the second mobile when the occurrence event is detected by the detection unit.

  By using the detection of the occurrence event by the detection unit as a trigger, transmission of the control signal can be suppressed, and the processing load on the transmission unit can be reduced.

  Further, the first projection control device includes a receiving unit that receives a control signal transmitted to the first moving body. The transmitting unit does not transmit the control signal when the receiving unit receives the control signal, even when the detecting unit detects the occurrence event.

  Thereby, transmission of the control signal can be further suppressed, and the processing load on the transmission unit can be further reduced.

  In the first projection control device, when the occurrence event is detected by the detection unit and the control signal is received by the reception unit, the control unit projects the first image at a timing based on the control signal.

  By using the control signal from another moving body in this way, the projection of the first image can be efficiently controlled.

  In addition, the second projection control device according to the embodiment of the present invention is mounted on a first moving body including a first projection device that projects a first image related to movement, and performs image projection by the first projection device. Is a projection control device that controls And the 2nd projection control device is provided with the receiving part and the control part. The receiving unit receives a control signal for alternately projecting the first image and the second image from the second moving body including the second projection device that projects the second image related to the movement. The control unit causes the first projection device to project the first image at a timing based on the control signal received by the receiving unit.

  According to the second projection control device, the first image from the first moving object and the second moving object are obtained by the control signal received by the receiving unit and the projection control at a timing based on the control signal by the control unit. Are alternately projected. As a result, the first image can be projected on the first projection device of the first moving body that is the own moving body, while suppressing the overlap with the second image from the second moving body that is the other moving body.

  Further, the projection control method according to the embodiment of the present invention is executed in a first moving body including a first projection device that projects a first image related to movement, and controls a projection of the image by the first projection device. It is a control method. The projection control method includes a transmission step and a control step. The transmitting step is a step of transmitting a control signal for alternately projecting the first image and the second image to a second moving body including a second projection device that projects a second image related to movement. is there. The control step is a step of causing the first projection device to project the first image at a timing based on the control signal transmitted in the transmission step.

  According to this projection control method, the first image from the first moving object and the second image from the second moving object are obtained by the control signal transmitted in the transmitting step and the projection control at a timing based on the control signal in the controlling step. Are alternately projected. As a result, the first image can be projected on the first projection device of the first moving body that is the own moving body, while suppressing the overlap with the second image from the second moving body that is the other moving body.

  A projection control program according to an embodiment of the present invention causes a computer to execute the above-described projection control method.

  According to this projection control program, by causing the computer to execute the above-described projection control method, overlapping with the second image from the second moving body as another moving body is suppressed, and the first moving body as the own moving body is suppressed. The first image can be projected by the first projector of the first embodiment.

  Further, a storage medium according to the embodiment of the present invention stores the above-described projection control program.

  According to the storage medium of the present embodiment, the projection control method described above can be executed by a computer using the stored projection control program. Thus, the first image can be projected on the first projection device of the first moving body that is the own moving body, while suppressing the overlap with the second image from the second moving body that is the other moving body.

  Hereinafter, an embodiment for solving the problem of projecting an image on the projection device of the own moving body while suppressing overlapping with an image from another moving body will be specifically described with reference to the drawings. First, a first embodiment will be described.

  FIG. 1 is a schematic diagram illustrating a moving body including the projection control device according to the first embodiment.

  The first moving body 1 shown in FIG. 1 is a passenger car, and includes a first projection device 110 and a first projection control device 120. In the following, the prefix “first” is used in the meaning of the own mobile unit and the device or image related to the own mobile unit, and “second” is used in the meaning of the other mobile unit and the device or image related to the other mobile unit. ".

  The first projection device 110 is a projector that projects a first image G11 related to movement. The first image G11 in the present embodiment is an arrow image indicating the moving direction (path) of the first moving body 1. This first image G11 is projected as described below.

  FIG. 2 is a schematic diagram showing how the first image shown in FIG. 1 is projected.

  FIG. 2 shows a case where the first moving body 1 is moving toward the intersection CR11 as one case where an image is projected. In such a case, the first image G11 indicates that the first mobile unit 1 is traveling on another road R12 intersecting with the road R11 on which the first mobile unit 1 is passing at the intersection CR11 or is stopped before the intersection CR11. It is projected to notify the approach of the first moving body 1 to the lane 1a and the pedestrian 1b.

  Here, the intersection CR11 is illustrated as an example of the image projection point where the first image G11 is projected. However, the image projection point is not limited to the intersection. For example, a point where a plurality of roads intersect and merge is a projection target of the first image G11, such as a junction or an intersection in a crossroad, a three-way intersection, a five-way intersection, or the like. Can be

  Here, the first image G11 is projected such that the tip of the arrow is always located at the intersection CR11 regardless of the movement of the first moving body 1. Therefore, the length of the arrow becomes shorter as the first moving body 1 approaches the intersection CR11. Further, the first image G11 is a gradation image. The color of each part in the first image G11 is, as shown in FIG. 1, the distance from the first moving body 1 to the projection position of each part, or the distance until the first moving body 1 reaches the projection position of each part. The color corresponds to the arrival time. Specifically, a gradation image becomes closer to the first moving body 1, that is, the shorter the arrival time is, the closer to red, and the farther from the first moving body 1, that is, the longer the arrival time is, the closer to green the gradation image. I have.

  By such projection of the first image G11, the other mobile unit 1a and the pedestrian 1b can recognize the approach of the first mobile unit 1 to the intersection CR11. Further, in the first image G11, it is possible to intuitively recognize how close the first mobile unit 1 is, based on the color of the tip of the arrow reaching the intersection CR11. That is, when the tip of the arrow is green, which suggests safety, it can be recognized that there is a certain margin before the first mobile unit 1 reaches the intersection CR11. On the other hand, if the tip of the arrow is red, which suggests danger, it can be recognized that the first mobile 1 will soon reach the intersection CR11.

  Here, as an example of the projected image, the first image G11 which is an arrow image having gradation is illustrated, but the projected image is not limited to this. The image to be projected is an image or the like in which, instead of gradation, the degree of approach of the first moving body 1 is directly represented by numerically indicating the distance from the first moving body 1 or the arrival time of the first moving body 1. It may be. The shape may be an image having a triangular shape or a bar shape instead of the arrow.

  At this time, a case is considered where the second moving body equipped with the same projection device as the first moving body 1 approaches the intersection CR11 together with the first moving body 1.

  FIG. 3 is a schematic diagram showing a state in which a second moving body equipped with the same projection device as the first moving body shown in FIGS. 1 and 2 approaches an intersection together with the first moving body.

  The second moving body 2 shown in FIG. 3 is equipped with the same projection device as the first moving body 1 shown in FIGS. 1 and 2, and the first moving body 2 is moved toward the intersection CR11. The second image G12 similar to the first image G1 is projected. It is assumed that such a second moving body 2 approaches the intersection CR11 together with the first moving body 1. At this time, as shown in FIG. 3, if the first image G11 from the first mobile unit 1 and the second image G12 from the second mobile unit 2 overlap at the intersection CR11, the pedestrian 1b and the like Would be difficult to see. Such overlapping of images may make it difficult for both the first mobile unit 1 and the second mobile unit 2 to transmit information such as approach to the intersection CR11 to the passerby 1b and the like.

  Therefore, the first projection control device 120 shown in FIG. 1 has a configuration described below in order to control image projection by the first projection device 110 and suppress such overlapping of images. It is also assumed that the second moving body 2 shown in FIG. 3 includes the same projection control device.

  FIG. 4 is a block diagram illustrating a configuration of the first projection control device included in the first moving object illustrated in FIG. 1 together with a similar configuration of the second projection control device included in the second moving object.

  The first projection control device 120 controls image projection by the first projection device 110 included in the first moving body 1, and includes a transmission unit 121 and a reception unit 122 that perform transmission and reception via a communication antenna 127. . Further, the first projection control device 120 includes a control unit 123, a positioning unit 124, a storage unit 125, and a detection unit 126. The second projection control device 220 controls image projection by the second projection device 210 included in the second moving body 2 and includes a transmission unit 221 and a reception unit 222 that perform transmission and reception via a communication antenna 227. ing. Further, the second projection control device 220 includes a control unit 223, a positioning unit 224, a storage unit 225, and a detection unit 226.

  Note that each component of the first projection control device 120 and each component of the second projection control device 220 are equivalent to each other. This will be described as an example.

  The transmitting unit 121 transmits, via the communication antenna 127, a control signal SG11 for alternately projecting the first image G11 and the second image G12 on the second mobile unit 2. In addition, the receiving unit 122 receives the control signal SG11 transmitted to the first mobile unit 1 via the communication antenna 127. As shown in FIG. 4, the control signal SG11 is a signal that specifies that the projection timings of the first image G11 and the second image G12 are alternately arranged in time.

  In the present embodiment, the control unit 123 is built in a navigation device mounted on the first mobile unit 1 and performs a normal navigation function. After that, the control section 110 performs generation of the control signal SG11 transmitted by the transmission section 121 and projection control for projecting the first image G11 on the first projection apparatus 110 at a timing based on the control signal SG11. The control unit 123 also performs projection control for projecting the first image G11 on the first projection device 110 at a timing based on the control signal SG11 received by the reception unit 122. In this projection control, the length of the first image G11 to be projected and the color of the gradation are also determined based on the position of the first moving body 1, the position of the image projection point such as the intersection CR11, and the like.

  The positioning unit 124 measures the position of the first mobile unit 1 using GNSS (Global Navigation Satellite System). The position measured by the positioning unit 124 is used for a navigation function and projection control in the control unit 123.

  The storage unit 125 stores map data used for the navigation function and the projection control in the control unit 123.

  The detection unit 126 detects an event that may cause the first image G11 and the second image G12 to overlap in the future. In the present embodiment, the detection unit 126 detects an event that may possibly occur in the future as described below. That is, the detection unit 126 firstly outputs the second image G12 being projected from the second moving body 2 to the image projection point of the first image G11 such as the intersection CR11 in the captured image captured by the front camera (not shown). An occurrence event of the possibility of overlap is detected based on whether or not the image is captured. When the second image G12 being projected is captured in the captured image, the detection unit 126 detects the second image G12 as an occurrence event of the possibility of overlapping.

  In addition, even when the second image G12 being projected is not captured in the captured image, the detection unit 126 detects the event as an occurrence event of the possibility of overlap when the following event occurs. I do. That is, when a moving object that is within a predetermined distance from the image projection point and is proceeding toward the image projection point is captured in the captured image, the detecting unit 126 detects the moving object in the image projection point. Is recognized as the second moving body 2 which may be projected on the second image G12. Then, the detection unit 126 detects the image of the second moving body 2 in the captured image as an event that may cause the overlap.

  Here, before the detection unit 126 projects the first image G11 on the image projection point on the first moving body 1, an event that may cause an overlap is detected. However, after the first image G11 is once projected on the image projection point in the first moving body 1, the detection unit 126 detects the difference between the first image G11 and the second image G12 projected on the image projection point. The occurrence event of the overlap may be detected. In this case, the detection unit 126 detects an occurrence event of the overlap itself based on whether or not the first image G11 and the second image G12 overlapped on the captured image. Then, when the overlapping first image G11 and second image G12 are captured, the detection unit 126 uses the overlapping image of the first image G11 and second image G12 in the captured image as an occurrence event of the overlapping itself. To detect.

  The first projection control device 120 described above executes a projection control method described below.

  FIG. 5 is a flowchart showing a process flow of a projection control method executed in the first projection control device shown in FIG.

  The processing of the projection control method shown in the flowchart of FIG. 5 starts when the navigation device in which the control unit 123 is constructed is turned on, and is executed in parallel with the normal navigation processing.

  When the processing is started, the control unit 123 determines whether the first mobile unit 1 is at the intersection CR11 or the like based on the position of the first mobile unit 1 measured by the positioning unit 124 and the map data stored in the storage unit 125. It is determined whether or not the image projection point is approaching (step S101). In this determination, it is determined from the change in the position of the first moving body 1 whether the first moving body 1 is moving toward the image projection point. Further, based on the distance between the position of the first moving body 1 and the image projection point, it is determined whether the first moving body 1 is approaching the image projection point by a predetermined degree or more. When the first moving body 1 is moving toward the image projection point and is approaching a predetermined degree or more, the control unit 123 determines that the first moving body 1 is approaching the image projection point. . If the user is not approaching the image projection point (No in Step S101), the process in Step S101 can be repeated.

  When approaching the image projection point (Yes in Step S101), the detection unit 126 performs the following detection (Step S102). That is, the detection unit 126 determines whether or not the captured image includes the second image G12 being projected to the image projection point or the second moving body 2 approaching the image projection point and capable of projecting the second image G12. Based on the above, the occurrence of the possibility that the overlap may occur in the future is detected. When these images appear in the captured image, the detection unit 126 detects those images as an occurrence event that may cause overlap in the future. The processing in step S102 corresponds to a detection step of detecting an occurrence event indicating that there is a possibility that the first image G11 and the second image G12 may occur in the future. Note that this detection step may be a step of detecting an occurrence event indicating that the overlap of the first image G11 and the second image G12 is actually occurring, not the possibility of occurrence in the future.

  When an event that may cause the overlap to occur in the future is detected (Yes in step S102), the control unit 123 determines whether the control signal SG11 directed to the first mobile unit 1 is received by the reception unit 122. A determination is made (step S103).

  Here, the control unit 123 determines whether or not the control signal SG11 received by the receiving unit 122 is directed to the first mobile unit 1, which is the own mobile unit, as follows. In the present embodiment, the position of the communication partner moving body is described in the header of the control signal SG11. When the position described in the header of the control signal SG11 received by the receiving unit 122 matches the position of the first mobile unit 1 to a predetermined extent, the control unit 123 transmits the control signal SG11 to the first mobile unit 1 It is determined that it is aimed at.

  Note that the determination method in the control unit 123 is not limited to this, and the following method may be used.

  For example, in the header of the control signal SG11, the traveling direction of the moving body and the position information of the image projection point where the moving body is approaching may be described. When the traveling direction described in the header matches the traveling direction of the first mobile unit 1 to a predetermined extent, and the position represented by the position information described in the header matches the location of the approaching image projection point to a predetermined extent. Then, it is determined that the control signal SG11 is directed to the first moving body 1.

  Alternatively, the body number for identifying the moving object may be described in the header of the control signal SG11. In this case, when the vehicle number described in the header of the control signal SG11 received by the receiving unit 122 matches the vehicle number of the first mobile unit 1, the control unit 123 transmits the control signal SG11 to the first mobile unit. It is determined that the object is directed to the body 1.

  When the control signal SG11 directed to the first mobile unit 1 is received by the receiving unit 122 (Yes determination in step S103), the control unit 123 sends the first projection device 110 a timing based on the received control signal SG11. The first image G11 is projected (Step S104).

  At this time, the control unit 223 of the second mobile unit 2 that has transmitted the control signal SG11 to the first mobile unit 1 causes the second projection device 210 to project the second image G12 at a timing based on the transmitted control signal SG11. Thus, the first image G11 and the second image G12 are alternately projected on the image projection point.

  On the other hand, when the control signal SG11 directed to the first mobile 1 is not received by the receiving unit 122 (No determination in step S103), the control unit 123 directs the signal to the second mobile 2 detected in step S102. The control signal SG11 is generated (Step S105). In step S105, the transmission unit 121 transmits the control signal SG11 generated by the control unit 123. The processing in step S105 corresponds to a transmission step of transmitting the control signal SG11 to the second mobile unit 2.

  In the present embodiment, the control unit 123 specifies the position of the second mobile unit 2 related to the occurrence event detected in step S102 in the header of the control signal SG11 in order to specify the second mobile unit 2. To describe the position of the communication partner.

  The position of the second moving body 2 is obtained as follows. That is, when the detection unit 126 detects the second image G12 projected from the second moving body 2 as an occurrence event, the control unit 123 uses the detected second image G12 to generate a second image corresponding to the image projection point. The relative position of the moving body 2 is obtained. Then, the position of the second moving body 2 is obtained from the relative position and the position of the image projection point.

  Further, when the image of the second moving body 2 approaching the image projection point is detected as an occurrence event by the detection unit 126, the control unit 123 performs control based on the detected image of the second moving body 2. The position of the second moving body 2 is obtained. The control unit 123 obtains the relative position of the second moving body 2 with respect to the first moving body 1 from the image of the second moving body 2 in the captured image. Then, the position of the second moving body 2 is obtained from the relative position and the position of the first moving body 1.

  In step S105, the control unit 123 writes the position of the second mobile unit 2 thus obtained in the header of the control signal SG11, and causes the transmitting unit 121 to transmit the control signal SG11 whose position has been described. The control unit 223 of the second mobile unit 2 that has received the control signal SG11 compares the position described in the header with the position of the second mobile unit 2 measured by the positioning unit 224, and compares this control signal. It is determined whether the SG 11 has been sent to the second mobile unit 2.

  The method of specifying the second moving body 2 via the control signal SG11 is not limited to this, and may be as follows.

  For example, the control unit 123 may describe, in the header of the control signal SG11, the traveling direction of the second mobile unit 2 and the position of the image projection point where the second mobile unit 2 is approaching. In this case, the control unit 123 obtains the traveling direction of the second moving body 2 from the second image G12 in the photographed image or the image of the second moving body 2 in the photographed image. Then, the control unit 123 writes in the header of the control signal SG11 the traveling direction of the second mobile unit 2 and the position of the image projection point thus obtained, and sends the control signal SG11 in which the direction and the position are described to the transmission unit 121. Is sent. Upon receiving the control signal SG11, the control unit 223 of the second mobile unit 2 determines the traveling direction and the position of the image projection point described in the header, and the traveling direction of the second mobile unit 2 and the position of the approaching image projection point. And. By this comparison, the control unit 223 of the second mobile unit 2 determines whether or not the control signal SG11 has been sent to the second mobile unit 2.

  Alternatively, the body number for identifying the moving object may be described in the header of the control signal SG11. In this case, the control unit 123 reads the vehicle number on the license plate from the image of the second moving body 2 in the captured image. Then, the control unit 123 writes the read vehicle number in the header of the control signal SG11, and causes the transmission unit 121 to transmit the control signal SG11 with the vehicle number already described. The control unit 223 of the second mobile unit 2 that has received the control signal SG11 compares the vehicle number described in the header with the vehicle number of the second mobile unit 2 so that the control signal SG11 is changed to the second mobile unit. A determination is made as to whether or not the packet was sent to 2.

  When the control signal SG11 is transmitted in Step S105, the control unit 123 causes the first projection device 110 to project the first image G11 at a timing based on the transmitted control signal SG11 (Step S106). The processing in step S106 corresponds to a control step of causing the first projection device 110 to project the first image G11 at a timing based on the transmitted control signal SG11.

  At this time, the control unit 223 of the second moving body 2 that has received the control signal SG11 causes the second projection device 210 to project the second image G12 at a timing based on the received control signal SG11. Thus, the first image G11 and the second image G12 are alternately projected on the image projection point.

  Here, when the second image G12 being projected on the image projection point or the image of the second moving body 2 approaching the image projection point is not detected by the detection unit 126 in Step S102 (No determination in Step S102). Then, the following processing is performed (step S107). That is, in step S107, the above-described control signal SG11 is not generated or transmitted, and the control unit 123 causes the first projection device 110 to continuously project the first image G11 as usual.

  When the image projection is performed by the processing in step S104, step S106, or step S107, the control unit 123 determines whether the first moving object 1 has passed the intersection CR11 or the like as the image projection point (step S108). ).

  If the first moving body 1 has not passed the image projection point (No in Step S108), the process returns to Step S102, and the subsequent processes are repeated. On the other hand, when the first mobile unit 1 has passed the image projection point (Yes in Step S108), the control unit 123 causes the first projection device 110 to end the projection (Step S109).

  After the end of the projection, the process returns to step S101, and the subsequent processes are repeated. The processing of the projection control method represented by the flowchart of FIG. 5 is continuously executed until the power of the navigation device is turned off.

  A projection control program for causing a computer to execute the projection control method represented by the flowchart in FIG. 5 is stored in a storage medium built in a car navigation device or a storage medium built in a vehicle-mounted computer device separate from the car navigation device. It is remembered. The storage medium for storing the projection control program is not limited to a storage medium built in these devices, but may be a known portable storage medium or a storage device installed in a server connected to these devices via a network. It may be a medium.

  According to the first projection control device 120, the projection control method, the projection control program, and the storage medium of the first embodiment described above, the first image G11 from the first mobile unit 1 and the second image Are alternately projected based on the control signal SG11. As a result, it is possible to project the first image G11 on the first projection device 110 of the first moving body 1 serving as the own moving body while suppressing the overlap with the second image G12 from the second moving body 2 serving as the other moving body. it can.

  Here, in the present embodiment, a detection unit 126 that detects an event that may possibly cause the first image G11 and the second image G12 to overlap in the future is provided. Then, the transmission unit 121 transmits the control signal SG11 to the second mobile unit 2 when the occurrence event is detected by the detection unit 126.

  By using the detection of the occurrence event by the detection unit 126 as a trigger, transmission of the control signal SG11 can be suppressed, and the processing load on the transmission unit 121 can be reduced.

  In this embodiment, a receiving unit 122 that receives the control signal SG11 transmitted to the first mobile unit 1 is provided. Then, even when the occurrence event is detected by the detection unit 126, the transmission unit 121 does not transmit the control signal SG11 when the control unit SG11 is received by the reception unit 122.

  Thereby, transmission of control signal SG11 can be further suppressed, and the processing load on transmitting section 121 can be further reduced.

  Further, in the present embodiment, when an occurrence event is detected by the detection unit 126 and the control signal SG11 is received by the reception unit 122, the control unit 123 outputs the first image G11 at a timing based on the control signal SG11. Project.

  As described above, the projection of the first image G11 can be efficiently controlled by using the control signal SG11 from the second moving body 2 which is another moving body.

  Next, a second embodiment will be described.

  The second embodiment differs from the first embodiment in the control method of image projection performed to suppress the overlap.

  FIG. 6 is a schematic diagram showing a control method of image projection performed in the second embodiment.

  As shown in FIG. 6, also in the second embodiment, the first moving body 3, which is the self-moving body, can project the same first image G21 as in the first embodiment to an image projection point such as an intersection CR21. The second moving body 4 as another moving body can also project the second image G22 to the image projection point.

  Here, at a point where a plurality of roads intersect or merge, such as at an intersection CR21, the priority of traffic is defined between mobiles passing through the road to that point according to traffic regulations. In the example of FIG. 6, a stop line S21 is drawn in front of the intersection CR21 on a road R21 through which the first mobile 3 passes, and a sign S22 for instructing a stop is provided near the stop line S21. That is, the road R22 through which the second mobile unit 4 passes is a priority road in accordance with the traffic regulations with respect to the road R21 through which the first mobile unit 3 passes. That is, in the example of FIG. 6, the first priority of the traffic that the first mobile 3 has with respect to the second mobile 4 is the second priority of the traffic that the second mobile 4 has with respect to the first mobile 3. Lower than.

  In the control method of the image projection performed in the second embodiment, the image projection to the image projection point is performed according to the priority of the traffic of each of the first moving body 3 and the second moving body 4. In the example of FIG. 6, since the first priority of the traffic which the first mobile 3 has with respect to the second mobile 4 is low, the projection of the second image G22 from the second mobile 4 is preferentially performed. Becomes As described above, since the image projection is performed according to the priority of the traffic, the overlapping of the first image G21 and the second image G22 is suppressed for the passer 3b who is the observer of the projected image.

  In the present embodiment, in order to perform such image projection, each moving body is provided with a projection control device having a configuration described below.

  FIG. 7 is a block diagram illustrating a configuration of the first projection control device included in the first moving object illustrated in FIG. 6 together with a similar configuration of the second projection control device included in the second moving object.

  The first projection control device 320 according to the present embodiment controls image projection by the first projection device 310 included in the first moving body 3, and a prohibition transmission unit that transmits and receives the prohibition signal SG 21 via the communication antenna 329. 321 and a prohibition receiving unit 322. The first projection control device 320 also includes a permission transmission unit 323 and a permission reception unit 324 that transmit and receive the permission signal SG22 via the communication antenna 329. Further, the first projection control device 320 includes a control unit 325, a positioning unit 326, a storage unit 327, and a detection unit 328.

  The second projection control device 420 controls image projection by the second projection device 410 included in the second moving body 4, and includes a prohibition transmission unit 421 that transmits and receives the prohibition signal SG21 via the communication antenna 429 and a prohibition reception unit 421. A portion 422 is provided. The second projection control device 420 also includes a permission transmission unit 423 and a permission reception unit 424 that transmit and receive the permission signal SG22 via the communication antenna 429. Further, the second projection control device 420 includes a control unit 425, a positioning unit 426, a storage unit 427, and a detection unit 428.

  Note that each component of the first projection control device 320 and each component of the second projection control device 420 are equivalent to each other. This will be described as an example.

  When the first priority of the first moving body 3 is higher than the second priority of the second moving body 4, the prohibition transmitting unit 321 transmits a prohibition signal SG21 for prohibiting image projection to the second moving body 4. . The prohibition receiving unit 322 receives the prohibition signal SG21 transmitted to the first mobile unit 3.

  When the first priority of the first moving object 3 is higher than the second priority of the second moving object 4, the permission transmission unit 323 performs image projection after projecting the first image G21 for a predetermined projection time. The permission signal SG22 for permission is transmitted to the second mobile unit 4. The permission receiving unit 324 receives the permission signal SG22 transmitted to the first mobile unit 3.

  The control unit 325 is also built in the navigation device mounted on the first mobile unit 1 in this embodiment, and performs a normal navigation function. Then, when the detection unit 328 detects an occurrence event indicating that there is a possibility that the first image G21 and the second image G22 may occur in the future, the following projection control is performed. That is, the control unit 325 causes the first projection device 310 to project the first image G21 according to the first priority of the traffic that the first moving body 3 has with respect to the second moving body 4.

  The control unit 325 also generates a prohibition signal SG21 and a permission signal SG22. That is, the control unit 325 generates the prohibition signal SG21 directed to the second mobile unit 4 when the occurrence event is detected by the detection unit 328 and the first priority is higher than the second priority. To the prohibition transmission unit 321. Further, even in such a case, after the first image G21 is projected for a predetermined projection time, the control unit 325 generates the permission signal SG22 directed to the second moving body 4 and transmits the permission signal SG22. Unit 323.

  In addition, the control unit 325 prohibits the first projection device 310 from projecting the first image G21 when the first priority is lower than the second priority and the prohibition receiving unit 322 receives the prohibition signal SG21. . Further, even when the first priority is lower than the second priority, the control unit 325 causes the first projection device 310 to transmit the first image to the first projection device 310 when the permission signal SG22 is received by the permission receiving unit 324. Is projected.

  Here, the priority determination by the control unit 325 is performed based on map data described later stored in the storage unit 327 or an image captured by a front camera (not shown). That is, the control unit 325 obtains the position of the second moving body 4 based on the image of the second moving body 4 shown in the captured image. On the other hand, the map data is associated with priorities in the traffic regulations for each road. The control unit 325 refers to the map data at the position of the first moving body 3 and the position of the second moving body 4, so that the road on which the first moving body 3 is traveling and the road on which the second moving body 4 is traveling. And the priority of each. The control unit 325 compares the first priority of the first moving body 3 thus obtained with the second priority of the second moving body 4.

  The determination of the priority is not limited to the method of referring to the map data as described above, but may be as follows. That is, a road R21 in which the first moving body 3 is passing and which is shown in the captured image and a road R22 in which the second moving body 4 is shown in the captured image capturing the second moving body 4 are passing. The priority may be determined by comparing each image with traffic regulations.

  The following is an example of such a determination. For example, as shown in the example of FIG. 6, when a stop line S21 and a sign S22 for instructing a stop are included in a captured image on a road R21 on which the first mobile unit 3 is traveling, the first mobile unit is restricted by traffic regulations. 3 is determined to be lower than the second priority of the second mobile unit 4. In addition, even if the captured image shows that the center line of the road R22 through which the second mobile unit 4 is passing is at the intersection CR21, the first priority is the second priority according to traffic regulations. Is determined to be lower. In addition to these, it is also possible to determine the priority based on the width or the like of each road shown in the captured image.

  The positioning unit 326 measures the position of the first mobile 1 using GNSS. The position measured by the positioning unit 326 is used for a navigation function and projection control in the control unit 325.

  The storage unit 327 stores map data used for the navigation function in the control unit 325 and the projection control including the above-described priority determination.

  The detecting unit 328 detects an occurrence event in which the first image G11 and the second image G12 may possibly overlap in the future. The detection method of the occurrence event by the detection unit 328 according to the present embodiment is the same as the detection method by the detection unit 126 according to the first embodiment described above, and thus redundant description is omitted.

  The first projection control device 320 described above executes the projection control method described below.

  FIG. 8 is a flowchart showing a process flow of a projection control method executed in the first projection control device shown in FIG.

  The processing of the projection control method shown in the flowchart of FIG. 8 is started when the navigation device in which the control unit 325 is constructed is turned on, and is executed in parallel with the normal navigation processing.

  When the processing starts, the control unit 325 determines whether the first mobile unit 3 is at the intersection CR21 or the like based on the position of the first mobile unit 3 measured by the positioning unit 326 and the map data stored in the storage unit 327. It is determined whether or not the image projection point is approaching (step S201). In this determination, it is determined from the change in the position of the first moving body 3 whether the first moving body 3 is moving toward the image projection point. Further, based on the distance between the position of the first moving body 3 and the image projection point, it is determined whether the first moving body 3 is approaching the image projection point by a predetermined degree or more. When the first moving body 3 advances toward the image projection point and is approaching a predetermined degree or more, the control unit 325 determines that the first moving body 3 is approaching the image projection point. . If the user is not approaching the image projection point (No in Step S201), the process in Step S201 can be repeated.

  When approaching the image projection point (Yes determination in step S201), the detection unit 328 performs the following detection (step S202). That is, the detection unit 328 determines whether or not the captured image includes the second image G12 being projected to the image projection point or the second moving body 2 approaching the image projection point and capable of projecting the second image G12. Based on the above, the occurrence of the possibility that the overlap may occur in the future is detected. When these images appear in the captured image, the detection unit 328 detects these images as an occurrence event that may possibly cause an overlap in the future. The process of step S202 corresponds to a process of detecting an occurrence event indicating that there is a possibility that the first image G21 and the second image G22 may occur in the future. Note that this step may be a step of detecting an occurrence event indicating that the overlap of the first image G21 and the second image G22 is actually occurring, not the possibility of occurrence in the future.

  If an event that may cause the overlap to occur in the future is detected (Yes in step S202), the control unit 325 sets the first priority of the first mobile unit 3 as the own mobile unit to the second mobile unit as the other mobile unit. It is determined whether it is higher than the second priority of the body 4 (step S203). The priority determination here is performed using the captured image and the map data as described above.

  When the first priority is lower than the second priority, that is, when the second mobile unit 4 as another mobile unit has a right of passage (Yes determination in step S203), the control unit 325 performs the following determination. Perform (Step S204). That is, in step S204, the control unit 325 determines whether or not the prohibition signal SG21 transmitted from the second mobile unit 4 to the first mobile unit 3 is received by the prohibition reception unit 322.

  Whether or not the prohibition signal SG21 received by the prohibition receiving unit 322 is directed to the first mobile unit 3 that is the own mobile unit is determined based on the content of the header, as in the case of the control signal SG11 in the first embodiment. Is determined. That is, in the present embodiment, the position of the communication partner's moving body is described in the header of the prohibition signal SG21. When the position described in the header of the prohibition signal SG21 received by the prohibition receiving unit 322 coincides with the position of the first mobile unit 3 to a predetermined extent, the control unit 325 transmits the prohibition signal SG21 to the first mobile unit 3. 3 is determined.

  The determination method of the control unit 325 is not limited to the inhibition signal SG21 as in the case of the control signal SG11 in the first embodiment, and may be as follows.

  That is, in the header of the prohibition signal SG21, the traveling direction of the moving body of the communication partner and the position information of the image projection point and the vehicle body number of the moving body of the communication partner may be described. Then, the control unit 325 may determine whether or not the prohibition signal S21 is directed to the first mobile unit 3 based on the content of the header.

  When the prohibition signal SG21 has been received (Yes in Step S204), the control unit 325 further performs the following determination (Step S205). That is, in step S205, the control unit 325 determines whether or not the permission signal SG22 transmitted from the second mobile unit 4 to the first mobile unit 3 is received by the permission reception unit 324.

  In the present embodiment, whether or not the permission signal SG22 is directed to the first moving body 3 is determined based on the position of the moving body described in the header, similarly to the above-described prohibition signal SG21. . Note that this determination method is not limited to this, and may be based on the traveling direction of the moving body and the position information of the image projection point described in the header or the vehicle body number of the moving body.

  If the permission signal SG22 has not been received (No in Step S204), the control unit 325 does not cause the first projection device 310 to project the first image G21 (Step S206).

  On the other hand, when the prohibition signal SG21 is not received (No in Step S204) or when the permission signal SG22 is received (Yes in Step S204), the control unit 325 causes the first projection device 310 to The first image G21 is projected (Step S207).

  If it is determined in step S203 that the first priority is higher than the second priority, that is, it is determined that the first mobile unit 3, which is the own mobile unit, has a right of passage (No determination in step S203), control is performed. The unit 325 performs the following processing (Step S208). That is, in step S208, the control unit 325 generates a prohibition signal SG21 directed to the second mobile unit 4, and causes the prohibition transmission unit 321 to transmit the prohibition signal SG21.

  In the present embodiment, as described above, the position of the communication partner's mobile unit is described in the header of the prohibition signal SG21, so that the communication partner's mobile unit is specified. As in the case of the control signal SG11 in the first embodiment, the control unit 325 controls the second mobile unit based on the second image G12 and the image of the second mobile unit 2 in the captured image used for the determination in step S202. Find the position of 2. Then, the control unit 325 writes the obtained position in the header of the prohibition signal SG21, and the control unit 425 of the second mobile unit 4 sends the prohibition signal SG21 to the second mobile unit 4 based on the content of the header. It is determined whether or not it is directed.

  The generation of the prohibition signal SG21 is not limited to the specification of the second moving body 4 as described above. The header of the prohibition signal SG21 includes the traveling direction of the second mobile body 4 and the position of the image projection point. The information and the vehicle number of the second moving body 4 may be described. These pieces of information are also obtained based on the second image G12 and the image of the second moving body 2 in the captured image used for the determination in step S202.

  After step S208, control unit 325 causes first projection device 310 to project first image G21 (step S209), and determines whether a predetermined time has elapsed from the start of projection (step S210). If the predetermined time has not elapsed yet (No in Step S210), the image projection in Step S209 is continued.

  On the other hand, when the predetermined time has elapsed (Yes in step S210), the control unit 325 causes the first projection device 310 to stop image projection (step S211). Then, in step S211, the control unit 325 generates a permission signal SG22 directed to the second mobile unit 4, and causes the permission transmission unit 323 to transmit the permission signal SG22.

  In the present embodiment, the position of the second mobile unit 4 obtained by the same method as in the case of the prohibition signal SG21 is described in the header of the permission signal SG22. In addition, the identification of the second moving body 4 at the time of generation of the permission signal SG22 also includes the traveling direction of the second moving body 4 and the position information of the image projection point in the header of the prohibition signal SG21, similarly to the case of the prohibition signal SG21. Alternatively, the vehicle number of the second moving body 4 may be described.

  In addition, in Step S202, when no occurrence event that may cause overlap in the future is detected (No in Step S202), the control unit 325 causes the first projection device 310 to project the first image G21 (Step S212). ).

  After performing any of the processes of step S206, step S207, step S211, and step S212, the control unit 325 determines whether the first moving body 3 has passed the intersection CR21, which is the image projection point, or the like ( Step S213).

  If the first moving body 3 has not passed through the image projection point (No in Step S213), the process returns to Step S202, and the subsequent processes are repeated. On the other hand, when the first moving object 3 has passed the image projection point (Yes in step S213), if the image is being projected at that time, the control unit 325 causes the first projection device 310 to terminate the projection (step S213). S214).

  After the end of the projection, the process returns to step S201, and the subsequent processes are repeated. The processing of the projection control method represented by the flowchart of FIG. 8 is continuously executed until the power of the navigation device is turned off.

  A projection control program for causing a computer to execute the projection control method represented by the flowchart of FIG. 8 is stored in a storage medium built in a car navigation device or a storage medium built in a vehicle-mounted computer device separate from the car navigation device. It is remembered. The storage medium for storing the projection control program is not limited to a storage medium built in these devices, but may be a known portable storage medium or a storage device installed in a server connected to these devices via a network. It may be a medium.

  According to the first projection control device 320, the projection control method, the projection control program, and the storage medium of the above-described second embodiment, when the above-mentioned occurrence event is detected, the first mobile unit 3 Projection control is performed according to the first priority of the traffic that the mobile unit 4 has. Thereby, it is possible to suppress the overlap with the second image G22 from the second moving body 4 as the other moving body and project the first image G21 on the first projection device 310 of the first moving body 3 as the own moving body. it can.

  Here, in the present embodiment, the detecting unit 328 detects an occurrence event by detecting, as the second moving object 4, a moving object that may pass through the image projection point of the first image G21.

  This makes it possible to effectively detect the above-described occurrence event while suppressing the processing load on the detection unit 328 by a simple detection process of detecting a moving object that may pass through the image projection point.

  Further, in the present embodiment, when the first priority of the first moving body 3 is higher than the second priority of the second moving body 4, a prohibition signal SG21 for prohibiting image projection is given to the second moving body 4. A prohibition transmission unit 321 for transmitting is provided.

  By prohibiting image projection by the second moving body 4 with the prohibition signal SG21, it is possible to further suppress the overlapping of images.

  In the present embodiment, a prohibition receiving unit 322 that receives the prohibition signal SG21 transmitted to the first mobile unit 3 is provided. Then, the control unit 325 sets the first image when the first priority of the first mobile unit 3 is lower than the second priority of the second mobile unit 4 and the prohibition receiving unit 322 receives the prohibition signal SG21. G21 projection is prohibited.

  By combining the first priority of the first moving body 3 and the reception of the prohibition signal SG21, the chance of projecting the first image G21 can be increased while suppressing the overlapping of the images.

  Further, in the present embodiment, when the first priority is higher than the second priority, the controller 325 projects the first image G21 for a predetermined projection time, and then outputs the permission signal SG22 to the second mobile unit. 4 is provided.

  After the image projection by the first moving body 3 for a predetermined projection time, the image projection by the second moving body 4 is permitted by the permission signal SG22, so that the overlapping of the images can be suppressed while the second moving body 4 is suppressed. Also, the opportunity to project the second image G22 can be effectively given.

  In the present embodiment, a permission receiving unit 324 that receives the permission signal SG22 is provided. Then, even when the first priority is lower than the second priority, the control unit 325 projects the first image G21 when the permission signal SG22 is received by the permission receiving unit 324.

  By combining the first priority of the first moving body 3 and the permission signal SG22 in this manner, it is possible to increase the chances of projecting the first image G22 while suppressing the overlapping of the images.

  It should be noted that the present invention is not limited to the embodiments described above, but includes other configurations and the like that can achieve the object of the present invention, and the following modifications and the like are also included in the present invention.

  For example, in the first and second embodiments described above, the first moving bodies 1 and 3 and the second moving bodies 2 and 4 as the passenger cars are illustrated. However, the moving object is not limited to a passenger car, but may be a motorcycle, a large vehicle such as a truck or a bus, and does not matter the specific type of the moving object.

  Further, in the first and second embodiments described above, the first projection control devices 120 and 320 and the second projection control device including the control units 123, 223, 325, and 425 constructed in the navigation device mounted on the moving body. 220 and 420 are illustrated. However, the projection control device is not limited to these, and may be a device in which a control unit is constructed in a computer provided separately from the navigation device.

1,3 First moving body 2,4 Second moving body 1a Other moving body 1b, 3b Passenger 110,310 First projection device 120,320 First projection control device 210,410 Second projection device 220,420 Second Projection control device 121, 221 Transmitting unit 122, 222 Receiving unit 123, 223, 325, 425 Control unit 124, 224, 326, 426 Positioning unit 125, 225, 327, 427 Storage unit 126, 226, 328, 428 Detecting unit 127 , 227, 329, 429 Communication antennas 321, 421 Prohibited transmission section 322, 422 Prohibited reception section 323, 423 Permission transmission section 324, 424 Permission reception section CR11, CR21 Intersection G11, G21 First image G12, G22 Second image R11, R12, R21, R22 Road S21 Stop line S22 Sign SG11 Control signal SG21 prohibition signal SG22 permission signal

Claims (8)

A projection control device mounted on a first moving body including a first projection device that projects a first image related to movement, and controlling image projection by the first projection device,
A transmission unit that transmits a control signal for alternately projecting the first image and the second image to a second moving object including a second projection device that projects a second image related to movement,
A control unit that projects the first image on the first projection device at a timing based on the control signal transmitted by the transmission unit;
A projection control device comprising: An overlap between the first image and the second image, or a possibility that the overlap will occur in the future, including a detection unit that detects an occurrence event,
The projection control device according to claim 1, wherein the transmission unit transmits the control signal to the second moving body when the occurrence event is detected by the detection unit. A receiving unit that receives the control signal transmitted to the first mobile unit,
The transmission unit does not transmit the control signal even when the occurrence event is detected by the detection unit, when the control signal is received by the reception unit. 3. The projection control device according to 2.   The control unit is configured to project the first image at a timing based on the control signal when the occurrence event is detected by the detection unit and the control signal is received by the reception unit. The projection control device according to claim 3. A projection control device mounted on a first moving body including a first projection device that projects a first image related to movement, and controlling image projection by the first projection device,
A receiving unit that receives a control signal for alternately projecting the first image and the second image from a second moving body including a second projection device that projects a second image related to movement;
A control unit that causes the first projection device to project the first image at a timing based on the control signal received by the reception unit;
A projection control device comprising: A projection control method executed in a first moving body including a first projection device that projects a first image related to movement, and controlling image projection by the first projection device,
A transmission step of transmitting a control signal for alternately projecting the first image and the second image to a second moving body including a second projection device that projects a second image related to movement,
A control step of projecting the first image on the first projection device at a timing based on the control signal transmitted in the transmission step;
A projection control method comprising:   A projection control program for causing a computer to execute the projection control method according to claim 6.   A storage medium storing the projection control program according to claim 7.