JP2020015473A - Projection control device, projection control method, projection control program, and storage medium - Google Patents

Abstract

To provide a projection control device that enables a projection device of its own movable body to effectively project an image even on another movable body hardly capable of being detected because the movable body is located in a blind position, and to provide 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 associated with movement and which controls image projection by the first projection device 110. The projection control device includes an image acquisition part 121 that acquires an image in a direction of travel of the first movable body 1, and a control part 122 that projects the first image on the first projection device 110 in the direction of travel of the first movable body 1, when a second image G12 projected from a second movable body 2 is included among the images acquired by the image acquisition 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 the own moving body is approaching, for example, when another moving body is detected near an intersection or the like. The detection of the other moving object is performed by a camera or a sensor installed near the road or a camera or a sensor mounted on the own moving object. Then, by projecting an image according to the detection result, it is possible to notify other moving bodies of the approach of the own moving body and the like.

JP-A-2006-135629

  However, in the above-described projection device, when there is another moving body at a position that is a blind spot when viewed from the own moving body, and there is no camera or sensor installed near the moving body, it is effective for the other moving body. There is a possibility that accurate image projection cannot be performed.

  Therefore, an object of the present invention is to provide a projection control device, a projection control method, and a projection control method that can effectively project an image on a projection device of a self-moving body even for another moving body which is located in a blind spot and difficult to detect Providing a projection control program and a storage medium is an example.

  In order to solve the above-described problems and achieve the object, a projection control device according to the present invention is mounted on a first moving body including a projection device that projects a first image related to movement, and performs image projection by the projection device. An image acquisition unit for acquiring an image in the traveling direction of the first moving object, and a second image projected from the second moving object in the image acquired by the image acquiring unit. A control unit configured to project the first image on the projection device in a traveling direction of the first moving object when the image is included.

  In addition, in order to solve the above-described problem and achieve the object, a projection control method of the present invention is executed in a first moving body including a projection device that projects a first image related to movement, and is controlled by the projection device. A projection control method for controlling image projection, comprising: an image acquiring step of acquiring an image in a traveling direction of the first moving body; and an image projected from a second moving body in an image acquired in the image acquiring step. And controlling the projection device to project the first image in the traveling direction of the first moving body when the second image is included.

  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 projection control device according to an embodiment of the present invention is a projection control device that is mounted on a first moving body including a projection device that projects a first image related to movement and controls image projection by the projection device. Then, the projection control device includes an image acquisition unit and a control unit. The image acquisition unit acquires an image in the traveling direction of the first moving body. The control unit, when the second image projected from the second moving body is included in the image acquired by the image acquiring unit, causes the projection device to display the first image in the traveling direction of the first moving body. Project.

  According to this projection control device, image projection is performed using a second image that is projected from the second moving body as the other moving body and captured in the traveling direction of the first moving body as the own moving body as a trigger. Even when the second mobile unit is located in the blind spot and it is difficult for the sensor or the camera to detect the second mobile unit itself, the second image projected from the second mobile unit is positioned outside the blind spot to perform the first movement. It can be captured by the body image acquisition unit. This makes it possible to effectively project an image on the own moving body (first moving body) projection device even for another moving body (second moving body) which is located in a blind spot and difficult to detect.

  Here, in the present embodiment, the second image is an image representing the course of the second moving body.

  By capturing such a second image by the image acquisition unit, the control unit can more effectively project the image according to the course of the second moving body.

  Further, in the present embodiment, even when the image acquired by the image acquisition unit includes the second image, the control unit determines that the position of the second moving object represented by the second image is the second movement object. If it is not within the first range including the confluence of the path of the body and the path of the first mobile unit, the first image is not projected.

  The case where the position of the second moving object does not exist within the above-mentioned first range means that, for example, the first moving object passes through the merging point before the second moving body reaches the merging point. This means that notification of the approach of the first mobile unit to the second mobile unit is unnecessary or the like. According to the present embodiment, the first image is not projected in such a case, so that the processing load on the projection device can be reduced.

  In the present embodiment, the first range is a range that changes according to the positional relationship between the first moving body and the junction.

  By setting the first range to such a range, the first image can be more effectively projected according to the time margin until the first moving body passes the junction.

  Further, in the present embodiment, even when the second image is included in the image acquired by the image acquisition unit, the control unit determines that the first moving object has the path of the second moving object and the first moving object. If the point of confluence with the path of the body is not approached within the second range, the first image is not projected.

  The case where the first moving body is not approaching within the second range means, for example, that the second moving body passes through the merging point before the first moving body reaches the merging point. This means that it is not necessary to notify the approach of the first mobile unit to the two mobile units. According to the present embodiment, the first image is not projected in such a case, so that the processing load on the projection device can be reduced.

  Further, a projection control method according to an embodiment of the present invention is a projection control method that is executed in a first moving body including a projection device that projects a first image related to movement and controls image projection by the projection device. . The projection control method includes an image acquisition step and a control step. The image obtaining step is a step of obtaining an image in the traveling direction of the first moving body. The control step includes: when the image acquired in the image acquiring step includes the second image projected from the second moving body, the first image is transmitted to the projection device in the traveling direction of the first moving body. This is the step of projecting.

  According to this projection control method, image projection is performed using a second image that is projected from the second moving body as the other moving body and captured in the traveling direction of the first moving body as the own moving body as a trigger. Even when the second mobile unit is located in the blind spot and it is difficult for the sensor or the camera to detect the second mobile unit itself, the second image projected from the second mobile unit is positioned outside the blind spot to perform the first movement. It can be captured in the body. This makes it possible to effectively project an image on the own moving body (first moving body) projection device even for another moving body (second moving body) which is located in a blind spot and difficult to detect.

  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, the above-described projection control method is executed by the computer, so that the other mobile object (the second mobile object) which is located in the blind spot and which is difficult to detect can be used for the own mobile object (second mobile object). An image can be effectively projected on the (one moving body) projection device.

  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. This makes it possible to effectively project an image on the own moving body (first moving body) projection device even for another moving body (second moving body) which is located in a blind spot and difficult to detect.

  Hereinafter, an embodiment for solving the problem of effectively projecting an image on a projection device of the own moving body even for another moving body which is difficult to detect due to being located in a blind spot will be specifically described with reference to the drawings. Will be described. 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 on a road surface in front of the first moving body 1. The first image G11 in the present embodiment is an arrow image representing the course 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.

  In the present embodiment, when the road R11 on which the first mobile unit 1 is traveling merges with the priority road R12 under traffic regulations, the first image G11 is projected onto the junction with the priority road R12. The term “merge” as used herein refers to a case where the vehicle merges with the priority road R12 to form a T-shaped road or a three-way junction, or a case where the road merges with the priority road R12. In the example of FIG. 2, the priority road R12 is wider than the road R11 on which the first mobile unit 1 is traveling, and the road R11 of the first mobile unit 1 crosses the priority road R12 at an intersection CR11. I have.

  The first image G11 is projected when the first mobile unit 1 approaches a predetermined distance (for example, 50 m) to an intersection CR11 which is a junction with the priority road R12. Thereby, the approach of the first mobile unit 1 is notified to the other mobile unit 1a traveling on the priority road R12 and the pedestrian 1b near the intersection CR11.

  Here, the first image G11 is projected such that the tip of the arrow is always located at the intersection CR11, which is the junction with the priority road R12, 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 projected image is an image indicating, instead of gradation, the degree of approach of the first moving body 1 by directly numerically displaying the distance from the first moving body 1 and the arrival time of the first moving body 1. There 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.

  In the example of FIG. 3, the first mobile unit 1 is traveling on the priority road R12, and the second mobile unit 2 is traveling on the road R11 that joins the priority road R12 at the intersection CR11. The second mobile unit 2 is equipped with the same projection device as the first mobile unit 1 shown in FIGS. 1 and 2, and when approaching an intersection CR11 that is a junction with the priority road R12 to a predetermined distance, A second image G12 similar to that of the first moving body 1 is projected toward the intersection CR11.

  In the example of FIG. 3, the second moving body 2 is stopped just before the stop line S11 according to a sign S12 installed near the intersection CR11 and instructing to stop. Then, the vehicle advances from the stop position to the intersection CR11 and is about to turn right. At this time, in the example of FIG. 3, the point near the intersection CR11 on the road R11 is a blind spot hidden by the buildings H11 on both sides of the road R11 when viewed from the first moving body 1 traveling on the priority road R12. ing. For this reason, even if the first moving body 1 is provided with a sensor or a camera for detecting another moving body in the traveling direction, it is difficult to detect the second moving body 2 located in the above-described blind spot. . In response to such a situation, in the present embodiment, the second image G12 is projected from the second moving body 2 located at the blind spot to the intersection CR11 that is the junction with the priority road R12, so that the first moving body 1 The presence of the two moving bodies 2 can be notified.

  At this time, it is difficult for the second moving body 2 located in the blind spot to detect the first moving body 1 traveling on the priority road R12. Therefore, even if the presence of the second mobile unit 2 is notified to the priority road R12 side in the second image G12, it is determined whether or not the first mobile unit 1 exists on the priority road R12 as it is. It is unknown whether or not the body 1 has grasped the existence of the second moving body 2.

  Therefore, in the present embodiment, the first image G11 is also projected from the first moving body 1 to the second moving body 2 which is located in the blind spot and is difficult to detect, and the first moving body 1 is placed on the priority road R12. It is configured to notify the second mobile unit 2 that it is present and has grasped the existence of the second mobile unit 2.

  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 an image acquisition unit 121, a control unit 122, a positioning unit 123, and a storage unit 124. I have. The second projection control device 220 controls image projection by the second projection device 210 included in the second moving body 2, and includes an image acquisition unit 221, a control unit 222, a positioning unit 223, and a storage unit 224. Have.

  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 image acquisition unit 121 is a front camera that acquires an image in the traveling direction of the first moving body 1.

  In the present embodiment, the control unit 122 is built in a navigation device mounted on the first mobile unit 1 and performs a normal navigation function. Then, when the image acquired by the image acquisition unit 121 includes the second image G12 projected from the second moving body 2, the first projection is performed in the traveling direction of the first moving body 1. Projection control for projecting the first image G11 on the device 110 is performed. 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 123 measures the position of the first mobile unit 1 using GNSS (Global Navigation Satellite System: global positioning satellite system). The position measured by the positioning unit 123 is used for a navigation function and projection control in the control unit 122.

  The storage unit 124 stores map data used for the navigation function and the projection control in the control unit 122.

  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.

  Note that the projection control method shown in the flowchart of FIG. 5 is a control method executed when the first mobile unit 1 as the own mobile unit is traveling on the priority road R12 according to traffic regulations. The control method executed when the vehicle travels along the non-priority road R11 is not illustrated and described, but as described above, the first image G11 is displayed when the vehicle approaches the junction with the priority road R12 to a predetermined distance. Simple control for projection is performed.

  The processing of the projection control method shown in the flowchart of FIG. 5 starts when the navigation device in which the control unit 122 is constructed is turned on, and is executed in parallel with the normal navigation processing.

  When the processing is started, an image acquisition step in which the image acquisition unit 121 acquires an image in the traveling direction of the first moving body 1 is executed (Step S101). In step S101, the control unit 122 further determines whether or not the image includes the second image G12 projected from the second moving body 2, which is another moving body.

  When the second image G12 is not included (No determination in step S101), the image acquisition and determination in step S101 are repeated.

  On the other hand, when the second image G12 is included (Yes in step S101), whether the merging point onto which the second image G12 is projected exists in the traveling direction of the first mobile unit 1, which is the own mobile unit. The determination is made by the control unit 122 (step S102). For this determination, the position of the first mobile unit 1 measured by the positioning unit 123 and the map data in the storage unit 124 are used.

  If the junction does not exist in the traveling direction of the first mobile 1 (No in Step S102), the process returns to Step S101, and the subsequent processes are repeated.

  On the other hand, when the merging point exists in the traveling direction of the first moving body 1 (Yes in Step S102), the control unit 122 estimates the position of the second moving body 2 based on the second image G12 (Step S103). . The position of the second moving body 2 is estimated by calculating the distance from the second moving body 2 to the junction based on the color of the tip portion of the second image G12 that is a gradation image as described above. .

  Next, the estimated position of the second moving body 2 is within the first range including the junction of the non-priority road R11 as the course of the second moving body 2 and the priority road R12 as the course of the first moving body 1. Is determined by the control unit 122 (step S104). The first range is a range in which the traveling distance to the junction on the non-priority road R11 is equal to or less than the first distance (for example, 20 m).

  Further, in step S104, the control unit 122 determines whether or not the position of the first mobile unit 1 measured by the positioning unit 123 approaches the above-mentioned confluence point within the second range. The second range is a range in which the traveling distance to the junction on the priority road R11 is equal to or less than the second distance as described below. In the present embodiment, the second distance is longer than the above-described first distance, and triggers the projection of the first image G11 when the first moving body 1, which is the own moving body, travels on the non-priority road R11. The distance is equal to the distance to the junction (for example, 50 m).

  The determination as to whether the second moving body 2 is located within the first range and whether the first moving body 1 is located within the second range is made up to the junction point as in the present embodiment. The determination is not limited to the distance-based determination. This determination may be based on, for example, the time required for each moving body to reach the junction. In this case, the first range and the second range are respectively set to a range where the time required to reach the merging point is within the first hour and a range where the required time is longer than the second time.

  If the second moving body 2 is not located within the first range or the first moving body 1 is not located within the second range (No in step S104), the process returns to step S101, and the subsequent steps are performed. The process is repeated.

  On the other hand, when the second mobile unit 2 is located within the first range and the first mobile unit 1 is located within the second range (Yes determination in step S104), the control unit 122 determines that the non-priority road R11 Then, the first image G11 is projected by the first projection device 110 to the confluence point (step S105).

  Thereafter, the control unit 122 determines whether or not the first mobile 1 has passed the junction (step S106).

  If the first mobile 1 has not passed through the junction (No in step S106), the process returns to step S105, and the projection of the first image G11 is continued.

  On the other hand, when the first mobile unit 1 has passed the junction (Yes in Step S106), the control unit 122 causes the first projection device 110 to end image projection (Step S107). Thereafter, the process returns to step S101, and the subsequent processes are repeated.

  The processing of the control unit 122 from the determination processing in step S101 to step S107 corresponds to a control step of projecting the first image G11 when the image acquired in the image acquisition step includes the second image G12.

  The processing of the projection control method represented by the flowchart of FIG. 5 described above 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 projection which is projected from the second moving body 2 which is another moving body and which is the own moving body. Image projection is performed using the second image G21 captured in the traveling direction of the moving body 1 as a trigger. Even when the second moving body 2 is located in the blind spot and it is difficult to detect the second moving body 2 by a sensor or a camera, the second image G21 projected from the second moving body 2 is positioned outside the blind spot. Thus, the image can be captured by the image acquisition unit 121 of the first moving body 1. Thereby, the first image G11 can be effectively projected on the first projection device 110 of the first moving body 1 even on the second moving body 2 which is located in the blind spot and difficult to detect.

  Here, in the present embodiment, the second image G21 is an image representing the course of the second moving body 2.

  By capturing such a second image G21 by the image acquisition unit 121, the control unit 122 can more effectively project the first image G11 according to the course of the second moving body 2.

  Further, in the present embodiment, even when the second image G12 is included in the image acquired by the image acquiring unit 121, the control unit 122 performs the first image G11 in the following cases. Is not projected. That is, when the position of the second moving body 2 represented by the second image G12 does not exist within the first range including the merging point of the course of the second moving body 2 and the course of the first moving body 1, the control is performed. The unit 122 does not project the first image G11.

  The case where the position of the second moving body 2 does not exist within the first range is, for example, because the first moving body 1 passes through the merging point before the second moving body 2 reaches the merging point. This means that it is not necessary to notify the approach of the first moving body 1 to the second moving body 2 by one image G11. According to the present embodiment, since the first image G11 is not projected in such a case, the processing load on the first projection device 110 can be reduced.

  In the present embodiment, the first range is a fixed range in which the traveling distance to the junction on the non-priority road R11 is equal to or less than the first distance (for example, 20 m). However, unlike the present embodiment, the first range may be a range that changes according to the positional relationship between the first moving body 1 and the junction. Specifically, the first range may be set to be narrower as the first moving body 1 approaches the junction.

  By setting the first range to such a range, the first image G11 can be more effectively projected according to the time margin until the first moving body 1 passes the junction.

  Further, in the present embodiment, even when the second image G12 is included in the image acquired by the image acquiring unit 121, the control unit 122 performs the first image G11 in the following cases. Is not projected. That is, when the first moving body 1 does not approach the junction of the course of the second moving body 2 and the course of the first moving body 1 within the second range, the control unit 122 sets the first The image G11 is not projected.

  The case where the first moving body 1 does not approach the second range means that, for example, the second moving body 2 passes through the merging point before the first moving body 1 reaches the merging point. This means that it is not necessary to notify the approach of the first mobile unit 1 to the second mobile unit 2 by the image G11. According to the present embodiment, since the first image G11 is not projected in such a case, the processing load on the first projection device 110 can be reduced.

  Next, a second embodiment will be described.

  The second embodiment is different from the first embodiment in the control method of image projection performed on another moving body located in a blind spot.

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

  In the example of FIG. 6 as well, the first mobile unit 3 that is the own mobile unit is traveling on the priority road R22, and the second mobile unit 4 is traveling on the non-priority road R21 that merges with the priority road R22 at the intersection CR21. ing. Further, the second mobile unit 4 is stopped in front of the stop line S21 that is hidden by the buildings H21 on both sides and becomes a blind spot according to the sign S22 installed near the intersection CR21. Then, the vehicle advances from the stop position to the intersection CR21 and is about to make a right turn.

  Here, in the present embodiment, the second mobile unit 2 is equipped with a transmission unit described below, and when approaching a predetermined distance to an intersection CR21 which is a junction with the priority road R22, at least the position of the second mobile unit 2 Is transmitted by broadcast. In addition, the radio information I21 may indicate the traveling direction of the second moving body 2, the vehicle number for identifying the second moving body 2, and the like, in addition to the position of the second moving body 2.

  In the first mobile unit 3 traveling on the priority road R22, the second mobile unit 2 is grasped by receiving the wireless information I21, and the first image G21 is displayed at the intersection CR21 which is a junction with the non-priority road R21. Projected. The first image G21 informs the second mobile unit 4 that the first mobile unit 3 is present on the priority road R22 and the existence of the second mobile unit 4 has been grasped.

  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 controls image projection by the first projection device 310 provided in the first moving body 3, and transmits and receives wireless information I21 via the communication antenna 326 and the transmission unit 321 and the reception unit 322. It has. Further, the first projection control device 320 includes a control unit 323, a positioning unit 324, and a storage unit 325. The second projection control device 420 controls image projection by the second projection device 410 included in the second mobile unit 4. The second projection control device 420 transmits and receives the wireless information I21 via the communication antenna 426 and the reception unit 421. A portion 422 is provided. Further, the second projection control device 420 includes a control unit 423, a positioning unit 424, and a storage unit 425.

  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.

  The transmission unit 321 and the reception unit 322 transmit and receive the wireless information I21 via the communication antenna 326 as described above. The transmitted wireless information I21 is information indicating at least the position of the first mobile unit 3. Further, the received wireless information I21 is information representing at least the position of the mobile unit (in this example, the second mobile unit 4) of the transmission source.

  When the wireless information I21 is transmitted from the second mobile unit 4 and received by the receiving unit 322, the control unit 323 controls the first mobile unit 1 based on the position of the second mobile unit 4 represented by the wireless information I21. The first image G21 is projected on the first projection device 310 in the traveling direction.

  The positioning unit 324 measures the position of the first mobile unit 3 using GNSS. The position measured by the positioning unit 324 is used for a navigation function and projection control in the control unit 122.

  The storage unit 325 stores map data used for the navigation function and the projection control in the control unit 323.

  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.

  Note that the projection control method shown in the flowchart of FIG. 8 is a control method executed when the first mobile unit 3 as the own mobile unit is traveling on the priority road R22 according to traffic regulations. The control method executed when the vehicle travels on the non-priority road R21 is not shown and described, but as described above, the wireless information I21 is transmitted when the vehicle approaches the junction with the priority road R22 to a predetermined distance. Simple control.

  The process of the projection control method shown in the flowchart of FIG. 8 starts when the navigation device in which the control unit 122 is constructed is turned on, and is executed in parallel with the normal navigation process.

  When the process starts, a receiving step of receiving the wireless information I21 from the second mobile unit 4 is executed (Step S201). In step S201, the control unit 323 determines whether the wireless information I21 has been received by the receiving unit 322.

  When the wireless information I21 is not received (No determination in step S201), the reception and determination in step S201 are repeated.

  On the other hand, when the wireless information I21 is received (Yes determination in step S201), the merging point with the non-priority road R21 on which the first image G21 is to be projected according to the wireless information I21 is set in the traveling direction of the first mobile unit 3. Is determined by the control unit 323 (step S202). For this determination, the position of the second mobile unit 4 represented by the wireless information I21, the position of the first mobile unit 3 measured by the positioning unit 324, and the map data in the storage unit 325 are used.

  If the merging point does not exist in the traveling direction of the first moving body 3 (No in Step S202), the process returns to Step S201, and the subsequent processes are repeated.

  On the other hand, when the merging point exists in the traveling direction of the first moving body 3 (Yes determination in Step S202), the control unit 323 performs the following determination (Step S203).

  In step S203, the control unit 323 determines that the position of the second mobile object 4 indicated by the wireless information I21 is between the non-priority road R21 as the path of the second mobile object 4 and the priority road R22 as the path of the first mobile object 3. It is determined whether or not the vehicle is within the first range including the junction. The first range is a range in which the traveling distance to the junction on the non-priority road R21 is equal to or less than the first distance (for example, 20 m).

  Further, in step S203, the control unit 323 determines whether or not the position of the first moving body 3 measured by the positioning unit 324 is approaching the above-mentioned confluence point within the second range. The second range is a range in which the traveling distance to the junction on the priority road R21 is equal to or less than the second distance as described below. In the present embodiment, the second distance is longer than the first distance, and merges as a trigger for transmission of the wireless information I21 when the first moving body 3 as the own moving body travels on the non-priority road R21. The distance is equal to the distance to the point (for example, 50 m).

  The determination as to whether the second moving body 4 is located within the first range and whether the first moving body 1 is located within the second range are the same as in the first embodiment described above. Alternatively, it may be based on the time required for each moving body to reach the junction.

  If the second moving body 4 is not located within the first range or the first moving body 3 is not located within the second range (No in step S203), the process returns to step S201, and The process is repeated.

  On the other hand, when the second mobile unit 4 is located within the first range and the first mobile unit 3 is located within the second range (Yes determination in step S203), the control unit 323 sends the non-priority road R21 The first image G21 is projected by the first projection device 310 to the confluence point with (step S204).

  Thereafter, the control unit 323 determines whether or not the first moving body 3 has passed the merging point (Step S205).

  If the first moving body 3 has not passed through the junction (No in Step S205), the process returns to Step S204, and the projection of the first image G21 is continued.

  On the other hand, when the first moving body 3 has passed the merging point (Yes in Step S205), the control unit 323 causes the first projection device 310 to end the image projection (Step S206). Thereafter, the process returns to step S201, and the subsequent processes are repeated.

  When the wireless information I21 is received, the processing of the control unit 323 from step S202 to step S206 is performed in the traveling direction of the first mobile body 3 based on the position of the second mobile body 4 represented by the wireless information I21. This corresponds to a control step of projecting the first image G21 on the first projection device 310.

  The processing of the projection control method represented by the flowchart of FIG. 8 described above 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, projection control method, projection control program, and storage medium of the second embodiment described above, image projection is performed as follows. That is, image projection is performed using the wireless information I21 transmitted from the second mobile unit 4 as the other mobile unit and received by the receiving unit 322 of the first mobile unit 3 as the own mobile unit as a trigger. Even when the second mobile unit 4 is located in the blind spot and it is difficult for the sensor or the camera to detect the second mobile unit 4 itself, the wireless information I21 transmitted from the second mobile unit 4 is the first mobile unit regardless of the blind spot. It is possible to receive with body 3. Thereby, the first image G21 can be effectively projected on the first projection device 310 of the first moving body 3 even on the second moving body 4 which is located in the blind spot and difficult to detect.

  Here, in the present embodiment, the wireless information I21 also represents the course of the second mobile unit 4. Then, even when the wireless information I21 is received by the receiving unit 322, the control unit 323 determines whether the route of the first mobile unit 3 and the route of the second mobile unit 4 represented by the wireless information I21 do not merge. Means that the first image G21 is not projected.

  The case where the course of the first moving body 3 and the course of the second moving body 4 do not merge means that the movements of the moving bodies do not affect each other and the first image G21 moves to the second moving body 4 based on the first image G21. This means a case where notification of the approach of the moving body 3 is unnecessary or the like. According to the present embodiment, since the first image G21 is not projected in such a case, the processing load on the first projection device 310 can be reduced.

  Further, in the present embodiment, even when the wireless information I21 is received by the receiving unit 322, the control unit 323 does not project the first image G21 in the following cases. That is, if the position of the second mobile unit 4 represented by the wireless information I21 does not exist within the first range including the junction of the path of the second mobile unit 4 and the path of the first mobile unit 3, the control unit H.323 does not project the first image G21.

  The case where the position of the second mobile unit 4 does not exist within the first range is, for example, because the first mobile unit 3 passes through the junction before the second mobile unit 4 reaches the junction. This means a case where it is not necessary to notify the approach of the first moving body 3 to the second moving body 4 by one image G21. According to the present embodiment, since the first image G21 is not projected in such a case, the processing load on the first projection device 310 can be reduced.

  In the present embodiment, the first range is a fixed range in which the traveling distance to the junction on the non-priority road R21 is equal to or less than the first distance (for example, 20 m). However, unlike the present embodiment, the first range may be a range that changes according to the positional relationship between the first moving body 3 and the junction. Specifically, the first range may be set to be narrower as the first moving body 3 approaches the merging point.

  By setting the first range to such a range, the first image G21 can be more effectively projected according to the time margin until the first moving body 3 passes the junction.

  Further, in the present embodiment, even when the wireless information I21 is received by the receiving unit 322, the control unit 323 does not project the first image G21 in the following cases. That is, when the first moving body 3 is not approaching the second range including the junction of the course of the second moving body 4 and the course of the first moving body 3, the control unit 323 sets the first moving body 3 to the first moving body 3. The image G21 is not projected.

  The case where the first moving body 3 does not approach the second range means that, for example, the second moving body 4 passes through the merging point before the first moving body 3 reaches the merging point. This means a case where notification of the approach of the first mobile unit 3 to the second mobile unit 4 by the image G21 is unnecessary, and the like. According to the present embodiment, since the first image G21 is not projected in such a case, the processing load on the first projection device 310 can be reduced.

  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, and may be a large vehicle such as a motorcycle, a truck, a bus, or the like, 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 devices including the control units 122, 222, 323 and 423 constructed in the navigation device mounted on the moving body. 220 and 420 are illustrated. However, the projection control device is not limited to this, and may be a device in which a control unit is constructed in a computer provided separately from the navigation device.

1,3 First mobile unit 2,4 Second mobile unit 1a Other mobile unit 1b Passenger 110,310 First projection device 120,320 First projection control device 121,221 Image acquisition unit 122,222,323,423 Control Unit 123, 223, 324, 424 Positioning unit 124, 224, 325, 425 Storage unit 210, 410 Second projection device 220, 420 Second projection control device 321, 421 Transmission unit 322, 422 Receiving unit 326, 426 Communication antenna G11 , G21 First image G12 Second image CR11, CR21 Intersection H11, H21 Building I21 Wireless information R11, R21 Road R12, R22 Priority road S11, S21 Stop line S12, S22 Sign

Claims (8)

A projection control device mounted on a first moving body including a projection device for projecting a first image related to movement, and controlling image projection by the projection device,
An image acquisition unit that acquires an image in the traveling direction of the first moving body;
When the image acquired by the image acquisition unit includes the second image projected from the second moving object, the first image is transmitted to the projection device in the traveling direction of the first moving object. A control unit for projecting,
A projection control device comprising:   The said 2nd image is an image showing the course of the said 2nd moving body, The projection control apparatus of Claim 1 characterized by the above-mentioned.   Even if the image includes the second image, the control unit may determine whether the position of the second moving object represented by the second image is equal to the path of the second moving object and the first moving object. 3. The projection control device according to claim 1, wherein the first image is not projected when the first image is not within a first range including a merging point with a path of the moving body. 4.   4. The projection control device according to claim 3, wherein the first range is a range that changes according to a positional relationship between the first moving body and the junction. 5.   The control unit may be configured such that, even when the image includes the second image, the first mobile unit is a junction of a path of the second mobile unit and a path of the first mobile unit. The projection control device according to any one of claims 1 to 4, wherein the first image is not projected when the vehicle does not approach the second range. A projection control method executed in a first moving body including a projection device that projects a first image related to movement and controlling image projection by the projection device,
An image acquisition step of acquiring an image in the traveling direction of the first moving body;
When the image acquired in the image acquiring step includes the second image projected from the second moving body, the first image is transmitted to the projection device in the traveling direction of the first moving body. A control step of projecting,
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.