WO2015194131A1

WO2015194131A1 - Vehicular projection device

Info

Publication number: WO2015194131A1
Application number: PCT/JP2015/002920
Authority: WO
Inventors: 林　邦彦; 成宏羽田; 裕二上間; 稲見　昌彦
Original assignee: 株式会社デンソー
Priority date: 2014-06-20
Filing date: 2015-06-11
Publication date: 2015-12-23
Also published as: JP2016005923A

Abstract

A vehicular projection device is mounted on a vehicle and provided with: an optical system (31) that projects light onto a road surface; and a projection control unit (324, 325, 325a) that controls the projection of the light from the optical system. The optical system is configured to project a plurality of colors of light onto the road surface. The projection control unit selects, from the plurality of colors, the color of the light to be projected from the optical system, and causes the selected color of light to be projected from the optical system.

Description

Vehicle projection device

Cross-reference of related applications

This application is based on Japanese Application No. 2014-127025 filed on June 20, 2014, the contents of which are incorporated herein by reference.

The present disclosure relates to a vehicle projection device that notifies a target person outside the vehicle by projecting light onto a road surface.

In recent years, quiet vehicles such as electric cars and hybrid cars have become popular. However, a vehicle with a quiet running sound has a problem that it is difficult for a person outside the vehicle to notice the approach of the vehicle. For this problem, it is possible to call attention by sound such as sounding a horn. However, there is a problem that sound alerts cause noise in residential areas.

Therefore, as means for solving this problem, for example, in Patent Document 1, a pedestrian in front of the host vehicle is detected using a sensor, and a laser beam is projected onto a road surface in the direction in which the pedestrian moves, thereby walking. A technique for informing a person that the vehicle is moving is disclosed.

However, in the technique disclosed in Patent Document 1, when the color of the laser beam projected onto the road surface is irradiated with light having a hue similar to the color of the road marking or the color pavement painted on the road surface, it is difficult to be noticed by pedestrians. Has technical challenges. Color pavement has been increasingly used in recent years to indicate school zones, deceleration zones, parking and parking prohibited areas, and to distinguish between walking paths and the like.

JP 2013-124092 A

An object of the present disclosure is to provide a vehicle projection device that makes it easier for a target person to notice the notification when the target person outside the vehicle is notified by projecting light onto a road surface.

A vehicle projection device according to an aspect of the present disclosure includes an optical system that is mounted on a vehicle and projects light onto a road surface, and a projection control unit that controls projection of the light from the optical system. The optical system is configured to be able to project light of a plurality of colors onto the road surface. The projection control unit selects a color of the light to be projected from the optical system from the plurality of colors, and projects light of the selected color from the optical system.

According to the vehicle projection device, the light of the plurality of colors can be projected onto the road surface. Therefore, even when light of a certain color is projected, the light is similar to the hue of the road surface. Can be projected. By projecting light that is not similar to the hue of the road surface onto the road surface, the light is easily noticed by the subject.

The above and other objects, configurations, and advantages of the present disclosure will become more apparent from the following detailed description with reference to the following drawings. In the drawing
FIG. 1 is a block diagram illustrating an example of a schematic configuration of a driving support system according to the first embodiment. FIG. 2 is a diagram for explaining the optical system according to the first embodiment. FIG. 3 is a diagram for explaining the optical system according to the first embodiment. FIG. 4 is a block diagram illustrating an example of a schematic configuration of the control device according to the first embodiment. FIG. 5 is a flowchart illustrating an example of a flow of projection-related processing in the control device according to the first embodiment. FIG. 6 is a schematic diagram for explaining an example of light projection performed in order for each color. FIG. 7 is a block diagram illustrating an example of a schematic configuration of the driving support system according to the second embodiment. FIG. 8 is a block diagram illustrating an example of a schematic configuration of a control device according to the second embodiment. FIG. 9 is a flowchart illustrating an example of a flow of projection-related processing in the control device according to the second embodiment. FIG. 10 is a block diagram illustrating an example of a schematic configuration of a control device according to the first modification. FIG. 11 is a diagram for explaining an optical system in a third modification. FIG. 12 is a diagram for explaining an optical system in a fourth modification. FIG. 13 is a flowchart illustrating an example of a flow of projection-related processing in the control device according to the sixth modification.

Hereinafter, embodiments of the present disclosure will be described with reference to the drawings.

(First embodiment)
FIG. 1 is a block diagram illustrating a schematic configuration of a driving support system 100 according to the first embodiment. A driving support system 100 shown in FIG. 1 is mounted on a vehicle, and includes a camera 1, a surrounding monitoring ECU 2, and a projection device 3. Hereinafter, a vehicle equipped with the driving support system 100 is referred to as a host vehicle.

The camera 1 is installed in the host vehicle, and sequentially captures an area that extends in a predetermined angular range around the host vehicle. In the present embodiment, as an example, the following description will be given by taking as an example a case where the camera 1 sequentially captures an area extending in a predetermined angular range ahead of the host vehicle. The camera 1 is installed with its optical axis facing the road surface so that a road surface and pedestrians on the road surface can take images. For example, a CCD camera may be used as the camera 1.

Note that the camera 1 may be configured to image a region that extends in a predetermined angular range in a direction other than the front of the host vehicle, such as sequentially imaging a region that extends in a predetermined angular range behind the host vehicle.

The periphery monitoring ECU 2 is mainly configured as a microcomputer, and each includes a known CPU, a memory such as a ROM and a RAM, an I / O, and a bus connecting them. Note that some or all of the functions executed by the periphery monitoring ECU 2 may be configured in hardware by one or a plurality of ICs.

The periphery monitoring ECU 2 detects the notification target person by recognizing the notification target person in the captured image from the captured image captured by the camera 1 by a known image recognition technique. When the periphery monitoring ECU 2 detects the notification target person, it notifies the projection device 3 that the notification target person has been detected. As an example of the notification target person, there are a pedestrian, a person on a bicycle, and the like. This periphery monitoring ECU 2 corresponds to the target detection device.

The recognition target person in the captured image may be recognized by a known image recognition that recognizes an object in the image using a dictionary for image recognition, for example. In this case, using a dictionary (for example, a cascade-of-boosted class discriminator with a haar-like feature characterized by a rectangular luminance difference) that has been machine-learned about the image of the notification target person, the notification target person is recognized in the captured image. Should be done.

In addition, when the notification target person is detected, the periphery monitoring ECU 2 sequentially detects the relative position of the notification target person with respect to the own vehicle from the position of the notification target person in the sequentially obtained captured images. The relative position of the object in the captured image with respect to the own vehicle can be specified by a known method from the installation position of the camera 1 with respect to the own vehicle and the direction of the optical axis, and the position of the object in the captured image. In this embodiment, this method is used to detect the relative position of the notification target person with respect to the own vehicle (hereinafter, the notification target person position with respect to the own vehicle). The periphery monitoring ECU 2 notifies the projection device 3 of the detected notification subject position.

In addition, it is good also as a structure which uses a stereo camera as the camera 1 and detects about the distance of the notification subject with respect to the own vehicle based on the parallax amount of a pair of cameras.

In addition, when the periphery monitoring ECU 2 detects the notification target person, it sequentially detects the traveling direction of the notification target person. About the advancing direction of a notification subject person, what is necessary is just to set it as the structure which detects the direction which a notification subject person faces as advancing direction, when the direction of a notification subject person can be pinpointed by image recognition. Moreover, it is good also as a structure which detects the direction where the approximate line calculated | required by the least square method from the position of the alerting | reporting subject detected sequentially is extended as a traveling direction. The surrounding monitoring ECU 2 notifies the projection device 3 of the detected traveling direction of the notification subject. The notification target person is not limited to a pedestrian, but can be applied to a bicycle, a motorcycle, a driving car of a car, and the like.

The projection device 3 includes an optical system 31 and a control device 32, and projects light of a plurality of colors onto the road surface in order for each color. The projection device 3 corresponds to a vehicle projection device. In the present application, color refers to hue.

The optical system 31 has a light source of a plurality of colors and a lens that converges light from the light source, and can project light of a plurality of colors onto the road surface. In the example of this embodiment, as shown in FIG. 2, a red LED 311, a blue LED 312 and a green LED 313 are used as a light source, and a convex lens 314 is used as a lens. A region IIA in FIG. 2 indicates a road surface, and a region IIB indicates a light spot projected from the optical system 31.

Further, as shown in FIG. 3, the optical system 31 is shaken in the horizontal direction (that is, panning) or vertically (as shown in FIG. 3) by an actuator such as a servo motor (not shown) that operates according to an instruction from the control device 32. That is, tilt. Thereby, the direction of the optical axis of the optical system 31 moves in the horizontal direction and the vertical direction. Further, the focus of the optical system 31 is moved by the above-described actuator as shown in FIG. That is, the position of the convex lens 314 is moved.

Subsequently, the arrangement relationship between the red LED 311, the blue LED 312, the green LED 313 and the convex lens 314 which are light sources will be described. The positions of the red LED 311, the blue LED 312, and the green LED 313 are fixed and are concentrated in the vicinity of the front focal point of the convex lens 314.

Here, since the position of the convex lens 314 moves as described above, the position of the front focal point moves, but there is a relationship in which the red LED 311, the blue LED 312, and the green LED 313 are concentrated and arranged near the front focal point of the convex lens 314. The position where the convex lens 314 is moved is adjusted by the control device 32 so as to be always maintained.

In this way, the light source such as the red LED 311, the blue LED 312, and the green LED 313 always maintains the relationship of being concentrated around the front focal point of the convex lens 314, thereby blurring the spot of light projected from the optical system 31. It becomes possible to suppress that.

The control device 32 is mainly configured as a microcomputer, and each includes a known CPU, ROM, RAM, I / O, and a bus connecting them. The control device 32 executes various processes such as a projection-related process related to the projection of light from the optical system 31 onto the road surface. The control device 32 corresponds to a driving support device. Note that some or all of the functions executed by the control device 32 may be configured in hardware by one or a plurality of ICs.

As shown in FIG. 4, the control device 32 includes a target detection determination unit 321, a target position specifying unit 322, a target direction specifying unit 323, a projection position control unit 324, and a projection color control unit 325.

The target detection determination unit 321 determines that the notification target person has been detected when the notification indicating that the notification target person has been detected is received from the surrounding monitoring ECU 2. The target position specifying unit 322 specifies the notification target person position as the relative position of the notification target person with respect to the own vehicle when receiving the notification target person position notification from the surrounding monitoring ECU 2. When the target direction specifying unit 323 receives a notification of the traveling direction of the notification target person from the periphery monitoring ECU 2, the target direction specifying unit 323 specifies the traveling direction as the traveling direction of the notification target person.

The projection position control unit 324 adjusts the direction and focus of the optical axis of the optical system 31 by controlling the actuator described above. The projection color control unit 325 controls the timing of turning on and off the red LED 311, the blue LED 312, and the green LED 313. In the present embodiment, the projection position control unit 324 and the projection color control unit 325 correspond to a projection control unit.

Next, projection-related processing in the control device 32 will be described using the flowchart of FIG. The flowchart of FIG. 5 may be configured to be started when the power of the projection apparatus 3 is turned on by turning on the ignition power of the own vehicle, for example.

First, in S1, when it is determined by the target detection determination unit 321 that a notification target person has been detected (YES in S1), the process proceeds to S2. On the other hand, when it determines with not detecting a notification subject (it is NO at S1), it moves to S9.

In S2, the target position specifying unit 322 specifies the notification target person position. In S3, the target direction specifying unit 323 specifies the traveling direction of the notification target person.

In S4, the projection position control unit 324 controls the projection position of the light from the optical system 31 based on the notification subject position identified in S2 and the traveling direction of the notification subject identified in S3. Specifically, by controlling the above-described actuator, the direction of the optical axis is horizontal so that light is projected from the optical system 31 onto the road surface ahead of the notification target person, that is, the road surface ahead of the notification target person. Move in the direction and vertical direction.

In S4, the projection position control unit 324 controls the actuator described above to adjust the focus of the optical system 31 so that the light projected on the road surface becomes a spot having a predetermined size. The spot of a predetermined size here refers to the light source cost and the area required for installation, even when the number of light sources used in the projection device 3 is limited to a realistic number, It is a spot having a size with a brightness that allows the projected light to be visually recognized during the daytime. As an example, if the spot has a size of about 28 cm ² or less, the amount of light that can be seen during the day can be secured.

In S5, the projection color control unit 325 controls the timing of turning on and off the red LED 311, the blue LED 312, and the green LED 313, sequentially selects one of the colors of light to be emitted from red, green, and blue, and sequentially turns the colors. Start the light projection. As an example, as shown in FIG. 6, projection of light that is repeated in the order of red, green, blue, red, green, and blue is started.

In S6, when it is determined by the target detection determination unit 321 that the notification target person is not detected (YES in S6), the process proceeds to S7. On the other hand, if it is determined that the notification subject has been detected (NO in S6), the process proceeds to S8.

In S7, the projection color control unit 325 ends the light projection. Moreover, in S8 in the case of continuing to specify that the notification subject has been detected, the projection position control unit 324 projects the light from the optical system 31 onto the road surface ahead of the notification subject. Controls the light projection position. In S8, the projection position control unit 324 estimates the change between the notification target person position and the traveling direction from the notification target person position specified in S2 and the traveling direction of the notification target person specified in S3. The light projection position from the optical system 31 may be controlled so that the light is projected from the optical system 31 on the road surface ahead of the notification subject based on the person position and the traveling direction.

In S8, the projection position control unit 324 performs notification based on the notification target person position newly specified by the target position specifying unit 322 and the traveling direction of the notification target person newly specified by the target direction specifying unit 323. It is good also as a structure which controls the projection position of the light from the optical system 31 so that light may be projected from the optical system 31 on the road surface ahead of a subject. After the process of S8, it returns to S6 and repeats a process.

The control device 32 projects the light from the optical system 31 onto the road surface ahead of the notification target person, thereby notifying the notification target person that the vehicle is moving in the traveling direction of the notification target person. .

In S9, when it is the end timing of the projection related process (YES in S9), the projection related process is ended. If it is not the end timing of the projection related process (NO in S9), the process returns to S1 and is repeated. As an example of the end timing of the projection related processing, when the projection apparatus 3 is turned off by turning off the ignition power of the own vehicle or when the start / stop switch of the projection apparatus 3 is operated, the projection apparatus 3 There are times when it stops.

According to the configuration of the first embodiment, a plurality of lights having different hues such as red, green, and blue are sequentially projected onto the road surface, and thus any one of the plurality of lights does not resemble the color of the road surface. The possibility of being light increases. Therefore, by projecting light that does not resemble the color of the road surface onto the road surface, the light is easily noticed by the subject. As a result, when the target person outside the vehicle is notified by projecting light onto the road surface, this notification can be easily noticed by the target person.

In addition, when light is projected onto the road surface to notify the subject, there is a problem that light having a spectrum similar to the sun, such as white light, cannot be distinguished from reflected light such as window glass. According to this configuration, a plurality of lights having different hues are sequentially projected onto the road surface, so that a problem that cannot be distinguished from reflected light such as window glass is unlikely to occur.

In addition, in order to make the spot projected on the road surface visible to the subject even on a clear daytime without using a large amount of light source, the range of the projected spot (hereinafter referred to as spot) is narrowed down. Although it is necessary, narrowing down the spot range may make it difficult for the target person to notice. On the other hand, according to the configuration of the first embodiment, since a plurality of lights of different hues are sequentially projected onto the road surface, even when the spot range is narrowed down, the hue change will attract the attention of the subject. The target person is likely to be noticed.

In the first embodiment, the configuration using a plurality of light sources that respectively project red, green, and blue light is described as an example, but the configuration is not necessarily limited thereto. As long as the configuration having a plurality of light sources that project light of different hues is not destroyed, a configuration in which some or all of the light sources project light of different colors may be used.

(Second Embodiment)
The present disclosure is not limited to the first embodiment described above, and the following second embodiment is also included in the technical scope of the present disclosure. Hereinafter, the second embodiment will be described. For convenience of explanation, in the explanations after the second embodiment, members having the same functions as those shown in the drawings used in the explanation of the previous embodiments are given the same reference numerals and explanations thereof. Is omitted.

The driving support system 100a according to the second embodiment is the first except that the light of a color easy to see with respect to the color of the road surface is selected and projected instead of sequentially projecting the light of a plurality of colors for each color. This is the same as the driving support system 100 of the embodiment.

FIG. 7 is a block diagram showing a schematic configuration of the driving support system 100a of the second embodiment. A driving support system 100a shown in FIG. 7 is mounted on a vehicle and includes a camera 1a, a surrounding monitoring ECU 2a, and a projection device 3a. Hereinafter, a vehicle equipped with the driving support system 100a is referred to as a host vehicle.

The camera 1a is a color camera that is installed in the host vehicle and sequentially captures an area that extends around the host vehicle within a predetermined angle range. In the present embodiment, as an example, the following description will be given by taking as an example a case where the camera 1a sequentially captures an area extending in a predetermined angular range ahead of the host vehicle. The camera 1a is installed with the optical axis facing the road surface so that a road surface and pedestrians on the road surface can take images. For example, a CCD camera may be used as the camera 1a. The camera 1a corresponds to an imaging device.

In this embodiment, all pixels of the captured image are represented by RGB values in which R value (red degree), G value (green degree), and B value (blue degree) are digital values of 0 to 255, respectively. An explanation will be given by taking the case of the case as an example.

Note that the camera 1a may be configured to image a region that extends in a predetermined angular range in a direction other than the front of the host vehicle, such as sequentially imaging a region that extends in a predetermined angular range behind the host vehicle.

The periphery monitoring ECU 2a is the same as the periphery monitoring ECU 2 except that some processes are different. The periphery monitoring ECU 2a detects the notification target person, detects the notification target person position, and detects the traveling direction of the notification target person in the same manner as the periphery monitoring ECU 2.

Also, the periphery monitoring ECU 2a detects the color of the road surface ahead of the host vehicle from the captured image captured by the camera 1a by a known image recognition technique. As the color of the road surface ahead of the host vehicle, a predetermined range in front of the notification target person obtained from the notification target person position specified by the target position specifying unit 322 and the traveling direction of the notification target person specified by the target direction specifying unit 323 The configuration may be such that the color of the road surface is detected. As an example, the color may be detected by defining a range of RGB values for each color. This periphery monitoring ECU 2a corresponds to a road surface color detection device and a target detection device.

The projection device 3a includes an optical system 31 and a control device 32a, selects light of a color that is easy to see with respect to the color of the road surface ahead of the host vehicle, and projects the light onto the road surface. The projection device 3a also corresponds to a vehicle projection device.

As described in the first embodiment, the optical system 31 includes a red LED 311, a blue LED 312, and a green LED 313 as light sources. The control device 32a is the same as the control device 32 of the first embodiment except that some processes are different.

As shown in FIG. 8, the control device 32a of the second embodiment includes a target detection determination unit 321, a target position specifying unit 322, a target direction specifying unit 323, a projection position control unit 324, a projection color control unit 325a, and road surface color acquisition. A unit 326, a correspondence storage unit 327, and a corresponding color identification unit 328. In the present embodiment, the projection position control unit 324 and the projection color control unit 325a correspond to a projection control unit.

The road surface color acquisition unit 326 acquires the color of the road surface ahead of the host vehicle detected by the periphery monitoring ECU 2a. The correspondence relationship storage unit 327 stores correspondence relationships between the color of the road surface and colors that are easy to see with respect to the color of the road surface for a plurality of colors. As this correspondence, what is necessary is just to set it as the structure which uses what is called color catching about colors other than black and white. For example, blue or green may be used for red, and blue or purple may be used for yellow. Further, for example, white may be used for black and red or blue may be used for white.

The corresponding color identification unit 328 refers to the correspondence relationship stored in the correspondence relationship storage unit 327 and identifies an easy-to-see color with respect to the road surface color acquired by the road surface color acquisition unit 326. The projection color control unit 325a controls the lighting and extinguishing timings of the red LED 311, the blue LED 312 and the green LED 313 so as to project the color specified by the corresponding color specifying unit 328.

For example, when projecting red light, the red LED 311 is turned on, and the blue LED 312 and the green LED 313 are turned off. Further, when projecting purple light, the red LED 311 and the blue LED 312 are turned on, and the green LED 313 is turned off. Further, when white light is projected, the red LED 311, the blue LED 312 and the green LED 313 are turned on. Thus, when using a light source of a plurality of colors, a configuration may be adopted in which light of mixed colors of a plurality of colors is projected by simultaneously projecting a plurality of colors.

In the second embodiment, a case where red, blue, and green light sources are used has been described as an example. However, the present invention is not limited to this, and a light source of another color may be used. Moreover, it is good also as a structure which uses LD (semiconductor diode) etc. instead of using LED as a light source.

Next, projection-related processing in the control device 32a will be described using the flowchart of FIG. The flowchart of FIG. 9 may be configured to be started when, for example, the ignition device 3a is turned on by turning on the ignition power of the own vehicle.

First, in S21, when it is determined by the target detection determination unit 321 that a notification target person has been detected (YES in S21), the process proceeds to S22. On the other hand, when it determines with not detecting a notification subject (it is NO at S21), it moves to S31.

The processing from S22 to S24 is the same as the processing from S2 to S4 described above. In S25, the road surface color acquisition unit 326 acquires the color of the road surface ahead of the host vehicle. In S <b> 26, the corresponding color identification unit 328 refers to the correspondence relationship stored in the correspondence relationship storage unit 327 and identifies an easy-to-see color with respect to the road surface color acquired in S <b> 25.

In S27, the projection color control unit 325a controls the lighting and extinguishing timings of the red LED 311, the blue LED 312 and the green LED 313, and starts projecting the light of the color specified in S26.

In S28, when it is determined by the target detection determination unit 321 that a notification target person has not been detected (YES in S28), the process proceeds to S29. On the other hand, if it is determined that the notification subject has been detected (NO in S28), the process proceeds to S30.

In S29, the projection color control unit 325 ends the light projection. Further, in S30 in the case where it is continuously specified that the notification target person has been detected, the projection position control unit 324 projects light from the optical system 31 onto the road surface in front of the notification target person in the same manner as S8 described above. Thus, the projection position of the light from the optical system 31 is controlled, and the process returns to S25 to repeat the process.

By returning to S25 and repeating the process, if the color of the road surface ahead of the vehicle becomes a color different from the previously acquired color, the corresponding color specifying unit 328 selects a color that is easy to see with respect to the newly acquired color of the road surface. The projection color control unit 325a starts projecting the light of the color specified and newly specified.

In S31, similarly to S9 described above, when it is the end timing of the projection related process (YES in S31), the projection related process is ended. If it is not the end timing of the projection related process (NO in S31), the process returns to S21 and the process is repeated.

According to the configuration of the second embodiment, light of a color that is easy to see with respect to the color of the road surface is selected and projected, so that the light is easily noticed by the subject. As a result, when the target person outside the vehicle is notified by projecting light onto the road surface, this notification can be easily noticed by the target person.

(First modification)
In 2nd Embodiment, although the structure which selects and projects the light of the color easy to see with respect to the color of a road surface was shown, it does not necessarily restrict to this. For example, it is good also as a structure (henceforth a 1st modification) which projects the light of the color different from the color of a road surface anyway. Below, this 1st modification is demonstrated.

The driving support system 100a of the first modified example is the same as the driving support system 100a of the second embodiment, except that the processing in the control device 32a is partially different.

As illustrated in FIG. 10, the control device 32a of the first modification includes a target detection determination unit 321, a target position specification unit 322, a target direction specification unit 323, a projection position control unit 324, a projection color control unit 325a, and road surface color acquisition. Part 326 and a corresponding color specifying part 328a. The corresponding color specifying unit 328a specifies a color different from the color of the road surface acquired by the road surface color acquiring unit 326. It is assumed that the color types can be classified by setting a range of RGB values for each type in advance.

The projection-related processing in the first modified example is that the corresponding color specifying unit 328a performs processing for specifying a color different from the color of the road surface acquired by the road surface color acquiring unit 326, instead of the processing of S26 described above. This is the same as the projection-related process in the second embodiment.

According to the configuration of the first modification, light of a color different from the color of the road surface is projected, so that the light is easily noticed by the subject. As a result, when the target person outside the vehicle is notified by projecting light onto the road surface, this notification can be easily noticed by the target person.

(Second modification)
In the above-described second embodiment, the configuration in which light of easy-to-see color is selected and projected with respect to the color of the road surface is shown, but the present invention is not necessarily limited thereto. For example, the configuration may be such that the color of the projected light is compared with the color of the road surface, and the color of the projected light is changed when there is not much difference between them (hereinafter referred to as a second modification).

Here, an example of the projection related process of the second modification will be described. In the second modification, the periphery monitoring ECU 2a detects the color of the road surface ahead of the host vehicle from the captured image captured by the camera 1a, and projects light on the road surface by the projection device 3a. If so, the color of the light projected on the road surface is detected. The road surface color acquisition unit 326 acquires the color of the road surface in front of the host vehicle detected by the periphery monitoring ECU 2a and, when the color of the light projected on the road surface is detected by the periphery monitoring ECU 2a, is projected onto the road surface. Get the color of the light.

In the second modification, the following processing is added between S27 and S28 in the flowchart of FIG. 9 in the second embodiment.

First, after the projection of the light of the color specified by the corresponding color specifying unit 328 is started, the road surface color acquisition unit 326 is projected on the road surface by the color of the road surface in front of the own vehicle (hereinafter referred to as the road surface color) and the projection device 3a. The color of light (hereinafter referred to as projection color) is acquired.

Subsequently, the projection color control unit 325a compares the road surface color with the projection color. If the color difference between the road surface color and the projected color is larger than the threshold value, the color of the light projected on the road surface is left as it is, and the process proceeds to S28. On the other hand, if the color difference between the road surface color and the projected color is larger than the threshold value, the color of the light projected on the road surface is changed to a color different from the color previously projected, and the process proceeds to S28.

The color difference here is the same as the known color difference. When the color acquired by the road surface color acquisition unit 326 is expressed by RGB values, the distance between the road surface color and the projected color at coordinates obtained by converting the RGB values into USC (uniform color space) is obtained as a color difference. Good. Further, the threshold value is a value that can be arbitrarily set, and may be a value that is equal to or greater than a color difference that allows a general person to distinguish a color difference.

According to the configuration of the second modified example, the effect of the color actually projected on the road surface can be confirmed by comparing the road surface color with the projected color actually projected on the road surface. By projecting, it is possible to project light with a higher visibility color onto the road surface and perform notification that is more reliably recognized by a pedestrian.

(Third Modification)
In the above-described embodiment, the light source such as the red LED 311, the blue LED 312, and the green LED 313 is configured to always maintain the relationship of being concentrated and arranged near the front focal point of the convex lens 314. In the case where a large lens is used, a configuration in which a light source that emits light of that color is arranged at the front focal point for each color of light (hereinafter, a third modification) may be employed. The chromatic aberration here refers to axial chromatic aberration, for example.

Here, description will be made by taking as an example the case where a red LED 311, a blue LED 312, and a green LED 313 are used as a light source and a convex lens 314 a having a large chromatic aberration is used as a lens. When the red LED 311, the blue LED 312 and the green LED 313 are used as the light source, the position of the front focal point has a property of moving away from the lens in the order of blue, green and red. Therefore, as shown in FIG. 11, the blue LED 312, the green LED 313, and the red LED 311 are arranged in the order closer to the convex lens 314 a.

In the third modification, the position where the convex lens 314a is moved is controlled so that the relationship in which the red LED 311, the blue LED 312 and the green LED 313 are arranged at the front focal point of the convex lens 314a for each color is always maintained. Or the control device 32a.

Incidentally, the lens having a large chromatic aberration in the third modified example indicates a lens in which chromatic aberration is generated to such an extent that a light source of each color can be arranged at the front focal point for each color light used for the light source.

According to the configuration of the third modified example, the relationship that the light source that emits light of that color is arranged at the front focal point for each color of light is maintained, so that the spot projected on the road surface for each color of light is blurred. It becomes possible to suppress it.

(Fourth modification)
In the above-described embodiment, the configuration in which light sources of a plurality of colors are used in the optical system 31 in order to be able to project light of a plurality of colors has been described. For example, by using a light source that emits light including a plurality of colors and a color wheel in which color filters of a plurality of colors are divided and arranged on the same circumference, a configuration that enables light of a plurality of colors to be projected (hereinafter, referred to as a light source) The fourth modification may be used.

In the fourth modification example, as shown in FIG. 12, a halogen lamp 315 that emits white light is used as a light source, and red, green, and blue color filters are arranged in the same circumference as a color wheel. The case where the color wheel 316 is used will be described as an example. In FIG. 12, Red represents a red color filter, Blue represents a blue color filter, and Green represents a green color filter.

In the fourth modification, the color wheel 316 is rotationally driven to switch the color filter through which the white light emitted from the halogen lamp 315 passes, and the color of the projected light is switched. For example, as shown in FIG. 12, when white light emitted from the halogen lamp 315 passes through a blue color filter, blue light is projected. The rotation of the color wheel 316 may be configured to be performed by the projection color control unit 325 or the projection color control unit 325a in accordance with the color to be projected.

In the fourth modified example, the case of using red, blue, and green color filters has been described as an example. However, the present invention is not limited to this, and some or all of the color filters can transmit light of different hues. May be replaced with a color filter of a different color.

(5th modification)
The projection color control unit 325 and the projection color control unit 325a are configured to blink light at intervals that can be recognized by a person by repeatedly turning on and off the light source when projecting light from the optical system 31 onto a road surface ( Hereinafter, it may be a fifth modified example). For example, a configuration in which red light is blinked at intervals at which a person can recognize by repeating turning on and off of the red LED 311 during a period of projecting red light may be employed.

When the light blinks, it is easier for people to notice the light than when the light keeps on. Therefore, according to the fifth modified example, when notification is given to a subject outside the vehicle by projecting light onto the road surface, this notification is further easily noticed by the subject.

(Sixth Modification)
In the above-described embodiment, the light detection is started by the target detection determination unit 321 when it is determined that the notification target person is detected, and the light projection is ended when it is determined that the notification target person is no longer detected. Although shown, it is not necessarily limited to this. For example, a configuration in which light projection is started when a manual switch (not shown) that can be switched on and off by operation of a driver is turned on, and light projection is ended when the manual switch is turned off ( Hereinafter, it may be a sixth modified example).

Here, an example of the projection-related process of the sixth modification will be described using the flowchart of FIG. The flowchart in FIG. 13 shows an example in which the sixth modification is applied to the configuration of the second embodiment, but the sixth modification may be applied to the configurations of the first embodiment and the first to fourth modifications. Good. Note that the flowchart of FIG. 13 may be configured to start in the same manner as the flowchart of FIG.

First, in S41, when the control device 32a detects that the manual switch is turned on (YES in S41), the process proceeds to S22. On the other hand, if it is not detected that the manual switch is turned on (NO in S41), the process proceeds to S51.

Here, the manual switch is a switch that can be turned on and off by a driver's operation, and is a switch for switching the presence or absence of light projection from the optical system 31. The manual switch may be provided on the steering, for example. The control device 32a may be configured to detect on / off of the manual switch based on the signal of the manual switch.

The processing from S42 to S47 is the same as the processing from S22 to S27 in the flowchart of FIG. In S48, when the control device 32a detects that the manual switch is turned off (YES in S48), the process proceeds to S49. On the other hand, when it is not detected that the manual switch is turned off (NO in S48), the process proceeds to S50.

The processing from S49 to S51 is the same as the processing from S29 to S31 in the flowchart of FIG.

(Seventh Modification)
In the above-described embodiment, the configuration has been described in which the notification target person is detected from the captured image captured by the camera 1 or the camera 1a, or the notification target person position or the traveling direction of the notification target person is detected. Not exclusively. For example, a configuration in which a notification target person is detected using a sensor that detects an object by transmitting and receiving an exploration wave, such as a radar or a sonar, and a notification target person position or a traveling direction of the notification target person is detected ( Hereinafter, it may be a seventh modified example. The camera may be a CMOS camera. In the first embodiment, a camera with improved IR (infrared) light receiving sensitivity may be used.

In the case of the seventh modified example, the peripheral monitoring ECU 2 or the peripheral monitoring ECU 2a determines that the person to be notified, such as a pedestrian or a person riding a bicycle, from the size of the detected object and the moving speed of the sequentially detected object. And it is sufficient. Moreover, what is necessary is just to set it as the structure which the periphery monitoring ECU2 and the periphery monitoring ECU2a detect the advancing direction of a notification subject from the moving direction of the object detected sequentially.

The present disclosure is not limited to the above-described embodiments, and various modifications are possible. The present disclosure also includes embodiments obtained by appropriately combining technical means disclosed in different embodiments. Is included in the technical scope.

Claims

Mounted on the vehicle,
An optical system (31) for projecting light onto the road surface;
A vehicle projection device comprising: a projection control unit (324, 325, 325a) that controls projection of the light from the optical system;
The optical system is configured to be able to project light of a plurality of colors onto the road surface,
The projection control unit is a vehicle projection device that selects a color of the light projected from the optical system from the plurality of colors, and projects light of the selected color from the optical system.
A target detection determination unit (321) for determining whether a notification target person is detected by a target detection device that detects a notification target person existing around the vehicle;
A target position specifying unit (322) for specifying a position of the notification target person detected by the target detection device with respect to the vehicle;
The optical system is capable of changing the projection position of the light,
The projection control unit controls the projection position of the light from the optical system and determines the notification specified by the target position specifying unit when the target detection determination unit determines that the notification target person has been detected. The vehicle projection device according to claim 1, wherein the light is projected onto the road surface in the vicinity of the position of the subject.
The vehicle projection device according to claim 1, wherein the projection control unit sequentially switches and projects the light of the plurality of colors from the optical system.
The vehicle projection device according to claim 3, wherein the projection control unit blinks the light that is sequentially projected from the optical system for each color.
A road surface color acquisition unit (326) that acquires the color of the road surface around the vehicle detected by a road surface color detection device that detects the color of the road surface based on a captured image captured by an imaging device that captures the road surface; Prepared,
The said projection control part projects the light of the color different from the color of the said road surface acquired by the said road surface color acquisition part on the said road surface from the said optical system, when projecting the said light on the said road surface from the said optical system. Item 3. The vehicle projection device according to Item 1 or 2.
A correspondence relationship storage unit (327) for storing a correspondence relationship between a color of the road surface and a color easy to see with respect to the color of the road surface for a plurality of colors;
A correspondence color specifying unit (328) for specifying an easy-to-see color with respect to the color of the road surface acquired by the road surface color acquisition unit with reference to the correspondence relationship stored in the correspondence relationship storage unit;
6. The vehicle according to claim 5, wherein, when projecting the light from the optical system onto the road surface, the projection control unit projects light of the color specified by the corresponding color specifying unit from the optical system onto the road surface. Projection device.
The projection control unit projects the color of the light projected based on the captured image captured by the imaging device when the light of the color specified by the corresponding color specifying unit is projected from the optical system onto the road surface. And the color of the road surface not projecting the light, and if the color difference between the color of the projected light and the color of the road surface not projecting the light is equal to or less than a threshold, the color of the light to be projected The vehicle projection device according to claim 6, wherein the vehicle projection device is changed to a different color.
The optical system is
A plurality of light sources (311, 312, 313) each having a different color of emitted light,
A lens (314) for converging light emitted from the light source,
The vehicle projection device according to any one of claims 1 to 7, wherein a relationship in which the plurality of light sources are concentrated and arranged near a front focal point of the lens is maintained.
The optical system is
A plurality of light sources (311, 312, 313) each having a different color of emitted light,
A lens (314a) that converges light emitted from the light source and causes chromatic aberration;
The relationship according to any one of claims 1 to 7, wherein the light source that emits light of the color is arranged at the front focal point of the lens for each color of light emitted from the plurality of light sources. The vehicle projection device described.
The optical system is
A light source (315) that emits light including a plurality of colors;
A color wheel (316) for switching the color of the light from the light source to be passed by rotating,
The vehicle projection device according to any one of claims 1 to 7, wherein the projection control unit switches a color of light projected from the optical system by rotating the color wheel.