WO2022254570A1 - 投射制御装置および投射制御方法 - Google Patents

投射制御装置および投射制御方法 Download PDF

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Publication number
WO2022254570A1
WO2022254570A1 PCT/JP2021/020787 JP2021020787W WO2022254570A1 WO 2022254570 A1 WO2022254570 A1 WO 2022254570A1 JP 2021020787 W JP2021020787 W JP 2021020787W WO 2022254570 A1 WO2022254570 A1 WO 2022254570A1
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WIPO (PCT)
Prior art keywords
feature
attention
caution
projection control
requiring
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2021/020787
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English (en)
French (fr)
Japanese (ja)
Inventor
圭作 福田
光生 下谷
直志 宮原
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Mitsubishi Electric Corp
Original Assignee
Mitsubishi Electric Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Mitsubishi Electric Corp filed Critical Mitsubishi Electric Corp
Priority to PCT/JP2021/020787 priority Critical patent/WO2022254570A1/ja
Priority to US18/286,767 priority patent/US20240127725A1/en
Priority to JP2023525209A priority patent/JP7466774B2/ja
Publication of WO2022254570A1 publication Critical patent/WO2022254570A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
    • B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
    • B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09G—ARRANGEMENTS OR CIRCUITS FOR CONTROL OF INDICATING DEVICES USING STATIC MEANS TO PRESENT VARIABLE INFORMATION
    • G09G3/00—Control arrangements or circuits, of interest only in connection with visual indicators other than cathode-ray tubes
    • G09G3/001—Control arrangements or circuits, of interest only in connection with visual indicators other than cathode-ray tubes using specific devices not provided for in groups G09G3/02 - G09G3/36, e.g. using an intermediate record carrier such as a film slide; Projection systems; Display of non-alphanumerical information, solely or in combination with alphanumerical information, e.g. digital display on projected diapositive as background
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q2400/00—Special features or arrangements of exterior signal lamps for vehicles
    • B60Q2400/50—Projected symbol or information, e.g. onto the road or car body
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09G—ARRANGEMENTS OR CIRCUITS FOR CONTROL OF INDICATING DEVICES USING STATIC MEANS TO PRESENT VARIABLE INFORMATION
    • G09G2354/00—Aspects of interface with display user
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09G—ARRANGEMENTS OR CIRCUITS FOR CONTROL OF INDICATING DEVICES USING STATIC MEANS TO PRESENT VARIABLE INFORMATION
    • G09G2380/00—Specific applications
    • G09G2380/10—Automotive applications

Definitions

  • the present disclosure relates to technology for projecting an image from a vehicle onto a road surface or the like.
  • headlight systems that control the direction of light emitted from headlights in consideration of the shape of the road in front of the vehicle, and images such as graphics and symbols on the road surface in front of the vehicle.
  • Various techniques for controlling the light emitted from the vehicle have been proposed, such as a driving support device that projects a .
  • features requiring attention it is possible to alert the driver to the presence of features that should be paid attention to when driving the vehicle (hereinafter referred to as "features requiring attention").
  • features requiring attention do not allow the driver to intuitively grasp the three-dimensional shape of the attention-requiring feature.
  • caution feature such as at night or in bad weather, there is a demand for a technology that allows the driver to easily grasp the three-dimensional shape of the caution feature.
  • the present disclosure has been made in order to solve the above-described problems, and alerts the driver of the presence of the caution-requiring feature while allowing the driver of the vehicle to intuitively grasp the three-dimensional shape of the caution-requiring feature. It is an object of the present invention to provide a projection control device capable of
  • the projection control device includes a caution feature detection unit that detects a caution feature that is a feature that has a three-dimensional shape that affects the running of the vehicle, and a caution feature detection unit that detects the three-dimensional shape of the caution feature.
  • An illusion image generation unit that generates an illusion image that evokes memories, a warning determination unit that determines whether or not to call attention to a caution-requiring feature, and a position corresponding to the position of the caution-requiring feature that is judged to require attention.
  • a projection control unit for projecting an optical illusion image using a projection device.
  • FIG. 1 is a diagram showing the configuration of a projection control system according to Embodiment 1;
  • FIG. FIG. 2 is a diagram showing an example of a road on which a vehicle is traveling;
  • FIG. It is a figure which shows the example of the scenery ahead of the own vehicle.
  • FIG. 4 is a diagram for explaining an example of the operation of the projection control system;
  • FIG. 10 is a diagram showing an example of an optical illusion image projected in front of the own vehicle; It is a figure which shows the example of a convex-shaped optical illusion image. It is a figure which shows the example of a convex-shaped optical illusion image.
  • FIG. 1 is a diagram showing the configuration of a projection control system according to Embodiment 1;
  • FIG. FIG. 2 is a diagram showing an example of a road on which a vehicle is traveling;
  • FIG. It is a figure which shows the example of the scenery ahead of the own vehicle.
  • It is a figure which shows the example of a convex-shaped
  • FIG. 4 is a diagram for explaining an example of the operation of the projection control system; FIG. It is a figure which shows the example of a concave-shaped optical illusion image.
  • FIG. 4 is a diagram for explaining an example of the operation of the projection control system;
  • FIG. FIG. 4 is a diagram for explaining an example of the operation of the projection control system;
  • FIG. FIG. 4 is a diagram for explaining an example of the operation of the projection control system;
  • FIG. 4 is a diagram for explaining an example of the operation of the projection control system;
  • FIG. 4 is a flow chart showing the operation of the projection control apparatus according to Embodiment 1;
  • 2 is a diagram showing an example hardware configuration of a projection control apparatus;
  • FIG. 2 is a diagram showing an example hardware configuration of a projection control apparatus;
  • FIG. 10 is a diagram showing the configuration of a projection control system according to Embodiment 2;
  • FIG. 9 is a flow chart showing the operation of the projection control apparatus according to Embodiment 2;
  • FIG. 10 is a diagram showing the configuration of a projection control system according to Embodiment 3;
  • 10 is a flow chart showing the operation of the projection control apparatus according to Embodiment 3;
  • 10 is a flow chart showing a modified example of the projection control apparatus according to Embodiment 3;
  • FIG. 13 is a diagram showing the configuration of a projection control system according to Embodiment 4;
  • 10 is a flow chart showing the operation of a projection control device according to Embodiment 4;
  • FIG. 1 is a diagram showing the configuration of a projection control system according to Embodiment 1.
  • FIG. This projection control system is mounted on a vehicle, and projects an image onto the road surface or the like for alerting the driver of the existence of a feature requiring attention around the vehicle.
  • a caution-requiring feature is defined as a feature having a three-dimensional shape that affects the running of the vehicle (for example, becomes an obstacle to running).
  • a vehicle equipped with a projection control system is referred to as "own vehicle”.
  • the projection control system includes a projection control device 10, and a peripheral detection device 21 and a projection device 22 connected thereto.
  • the peripheral detection device 21 is an in-vehicle device that has a function of detecting features existing around the own vehicle. It can be configured by an image analysis device or the like that detects a feature from an image of the surroundings of the vehicle captured by a camera (including a camera). The surrounding detection device 21 can also detect the position (distance and direction from the host vehicle) and shape of the detected feature. In addition to the function of detecting features, the surroundings detection device 21 may also have a function of detecting information about the environment around the vehicle (for example, brightness, temperature, weather, etc.).
  • the projection device 22 is an in-vehicle device that projects an image onto the road surface around the vehicle.
  • the projection device 22 may be a device dedicated to image projection, or may be a device that projects an image using laser light emitted by a headlight.
  • the projection control device 10 is an in-vehicle device that controls the projection device 22 based on the feature detection result by the periphery detection device 21 .
  • the projection control device 10 does not necessarily have to be permanently installed in the own vehicle. may be Also, part of the functions of the projection control device 10 may be implemented on a server installed outside the host vehicle and capable of communicating with the projection control device 10 .
  • the projection control device 10 includes a caution-requiring feature detection unit 11 , an illusion image generation unit 12 , a warning determination unit 13 and a projection control unit 14 .
  • a feature requiring attention detection unit 11 detects a feature requiring attention (a feature having a three-dimensional shape that affects the running of the vehicle) around the own vehicle based on the detection result of the feature by the surrounding detection device 21. do.
  • Features that need attention include road structures that have a level difference (height or depth) of a certain size or more with respect to the road on which the vehicle is traveling, such as median strips, curbs, sidewalks, gutters, etc. is assumed.
  • road surfaces with specific conditions such as snow-covered roads, frozen roads, puddle roads, gravel roads, rutted roads, slit roads, sunken roads, cracked roads, etc.
  • objects that are not fixed to the road such as vehicles parked on the road and poles at road construction sites, can also be attention-requiring features.
  • the optical illusion image generating unit 12 generates an optical illusion image that evokes the three-dimensional shape of the caution-requiring feature detected by the caution-requiring feature detection unit 11 .
  • the illusion image generated by the illusion image generation unit 12 is an image in which a feature appears to exist due to the illusion when viewed by the driver of the own vehicle.
  • the optical illusion image can be generated, for example, by a drawing method conforming to the one-point perspective drawing method with reference to the driver's eye position (eyepoint).
  • the optical illusion image should evoke the rough three-dimensional shape of the caution feature (e.g., a convex shape, a concave shape, etc.), and should not reproduce the actual three-dimensional shape of the caution feature. It doesn't have to be.
  • the illusion image generation unit 12 may generate an illusion image that looks like a convex shape. good.
  • the illusion image generation unit 12 may generate an illusion image that looks like a concave shape.
  • the optical illusion image generator 12 may generate an optical illusion image of an arbitrary shape that evokes snow cover, ice surface, puddles, gravel, ruts, slits, depressions, cracks, and the like. may If the caution-requiring feature detection unit 11 can detect the actual three-dimensional shape of the caution-requiring feature, the illusion image generation unit 12 may generate an illusion image simulating the actual three-dimensional shape.
  • the caution determination unit 13 determines whether or not to call attention to the caution feature detected by the caution feature detection unit 11 .
  • the alert determination unit 13 determines whether or not it is necessary to alert the driver of the vehicle to the existence of the attention-requiring feature.
  • a caution-requiring feature determined by the caution determination unit 13 to require attention may be referred to as a "warning target feature".
  • the urgency of a caution-requiring feature can be used as a criterion for judging whether or not to call attention. Since a caution feature located close to the vehicle is highly urgent, the attention determination unit 13 calls attention to a caution feature whose distance from the vehicle is equal to or less than a predetermined threshold value (for example, 100 m). It may be judged as a target feature. In addition, the caution determination unit 13 calculates the arrival time to the attention-requiring feature from the traveling speed of the own vehicle, and alerts the attention-requiring feature for which the arrival time is equal to or less than a predetermined threshold value (for example, 7 seconds). It may be judged as a target feature.
  • a predetermined threshold value for example, 100 m
  • the above threshold does not have to be a fixed value, and the threshold may be increased as the traveling speed of the own vehicle is higher, or as the braking distance of the own vehicle is longer.
  • the braking distance of the own vehicle depends on the traveling speed of the own vehicle and the friction coefficient of the road surface.
  • the threshold may be changed according to the type (attribute) of the caution-required feature. For example, the threshold value may be increased so that attention is called early for a caution-requiring feature that is difficult to visually determine, such as a frozen road surface.
  • the alerting determination unit 13 determines whether or not to alert the attention-requiring feature based on the level of automatic driving performed by the own vehicle (automatic driving level defined by SAE (Society of Automotive Engineers)). You can judge. For example, when level 4 or 5 automatic driving is being carried out, the driver does not need to monitor the behavior of the own vehicle or the surrounding conditions, so the attention calling determination unit 13 determines that it is not necessary to call attention to the attention-requiring features. You can judge. When Level 3 automated driving is being implemented, whether or not to call attention to a caution-requiring feature may be determined according to the specifications of the automated driving device, or the driver may You may enable it to set which it judges.
  • SAE Society of Automotive Engineers
  • the difficulty of recognizing a caution-requiring feature can be used as a criterion for judging whether or not to call attention. For example, it is difficult for the driver to recognize a feature requiring attention that is partly or wholly hidden behind snow, mud, roadside trees, or the like, and therefore, it is highly necessary to call attention to the feature. Therefore, the caution determination unit 13 may determine a caution-requiring feature of which a certain percentage (for example, 50%) or more cannot be visually recognized from the own vehicle as a caution target feature.
  • a certain percentage for example, 50%
  • the alert determination unit 13 may determine that it is necessary to alert the attention-requiring feature when the brightness around the vehicle is equal to or less than a predetermined threshold value. Further, when the headlights or sidelights (small lamps) of the vehicle are lit, it is likely that the surroundings of the vehicle are dark. It may be determined that it is necessary to call attention to a caution-required feature when the side lights are on.
  • the driver's degree of recognition of the attention-requiring feature can also be used as a criterion for judging whether or not to call attention.
  • a driver sensing device (not shown) of the own vehicle determines the driver's degree of recognition of the attention-requiring feature from the movement of the driver's line of sight, and the alert determination unit 13, based on the determination result, It may be determined whether or not to call attention to the attention-requiring features.
  • the caution determination unit 13 may determine a caution-requiring feature whose degree of recognition by the driver is equal to or less than a predetermined threshold as a caution target feature.
  • the projection control unit 14 controls the projection device 22 to display an image on the road surface for alerting the existence of the attention-requiring feature (attention target feature) determined by the attention alert determination unit 13 to require attention. etc. Specifically, the projection control unit 14 uses the projection device 22 to project the illusion image generated by the illusion image generation unit 12 onto a position corresponding to the position of the alert target feature.
  • the ⁇ position corresponding to the position of the target feature to be alerted'' is not limited to the same position as the target feature to be alerted, but a position where the position of the target feature to be alerted can be grasped by illuminating the optical illusion image. I wish I had.
  • the "position corresponding to the position of the attention target feature" includes the vicinity of the attention target feature, such as the perimeter of the attention target feature and the position adjacent to the attention target feature.
  • Embodiment 1 a specific example of the operation of the projection control system according to Embodiment 1 will be described.
  • an own vehicle equipped with a projection control system is traveling on a road as shown in FIG.
  • FIG. 2 there is a median strip on the right side of the lane in which the vehicle is running. From the driver's seat of the own vehicle, the scenery as shown in FIG. 3 can be seen ahead.
  • the periphery detection device 21 detects the median strip as a feature around the vehicle. Since the median strip has a three-dimensional shape that affects the running of the vehicle, the caution feature detection unit 11 of the projection control device 10 detects the median strip detected by the periphery detection device 21 as a caution feature. do.
  • the illusion image generation unit 12 generates an illusion image that reminds us of the three-dimensional shape of the median strip, which is a feature requiring attention. Since the median strip protrudes from the road surface, the illusion image generator 12 generates, for example, a convex-shaped illusion image as shown in FIG. 4 as the illusion image for the median strip.
  • H, W and D in the figure indicate the "apparent" height (or depth), width and depth of the illusory image, respectively, and do not represent the planar dimensions of the illusory image.
  • the attention calling determination unit 13 determines whether or not to call attention to the median strip, which is a feature requiring attention. For example, when the alert determination unit 13 determines that it is necessary to alert a feature that requires attention at a distance of 100 m or less from the own vehicle, the alert determination unit 13 selects the part of the median strip up to 100 m from the own vehicle. is determined to be a warning target feature.
  • the projection control unit 14 controls the projection device 22 to project the illusion image generated by the illusion image generation unit 12 at a position corresponding to the position of the median strip, which is the feature to be alerted. For example, as shown in FIG. 5, when the projection control unit 14 projects the optical illusion image of FIG. Objects appear to exist. As a result, the driver is alerted to the median strip, and the driver can intuitively grasp the three-dimensional shape of the median strip.
  • the driver of the own vehicle can intuitively grasp the three-dimensional shape of the caution-requiring feature and call attention to the presence of the caution-requiring feature. is possible.
  • FIGS. 4 and 6 show a trapezoidal prism image as an example of a convex illusion image, but the invention is not limited to this.
  • an image of a triangular prism as shown in FIG. , etc. may also be used.
  • the type of optical illusion image to be used may be changed according to the type of the alert target feature. In other words, a different illusion image may be used for each type of alert target feature.
  • FIG. 6 shows an example in which a plurality of illusory images are projected side by side along the median strip, but one illusory image that extends long along the median strip may be projected.
  • the optical illusion image may have a continuous shape or a discontinuous shape (a shape divided into a plurality of pieces).
  • the optical illusion image of the median may be projected between the rightmost lane and the median, or may be projected at a position spaced from the median, for example, at a position adjacent to the rightmost lane.
  • a feature requiring attention may have a concave shape such as a gutter or a sunken road surface.
  • the road on which the vehicle is traveling has a median strip on the right side and a side ditch on the left side.
  • a convex optical illusion image is generated as an optical illusion image calling attention to the presence of a divider
  • a concave optical illusion image as shown in FIG. 10 is generated as an optical illusion image calling attention to the presence of a gutter.
  • the alert determination unit 13 projects the convex-shaped illusion image to the position corresponding to the position of the median strip, and projects the concave-shaped illusion image to the position corresponding to the position of the side ditch. do.
  • the apparent height (or depth) H of the illusion image may be changed according to the height of the alert target feature. That is, the value of the apparent height H of the illusion image for alerting the feature may be increased as the height of the feature to be alerted increases.
  • the road surface in a specific state can also be a caution feature.
  • an optical illusion image may be projected on the entire road surface of the lane on which the vehicle is traveling, as shown in FIG. 11 .
  • the optical illusion image of the road surface may be projected along the outside of the lane in which the host vehicle is traveling.
  • the road surface illusion image may be projected only in a certain range near the road surface change point.
  • the illusory image of the road surface may be projected only when the vehicle passes near the road surface change point.
  • projection of the illusion image may be moderated, such as by lowering the brightness of the illusion image of the road surface.
  • the alert determination unit 13 stops projecting the illusion image of the road surface, or alerts the user to the falling object. It is preferable to project an illusionary image that performs
  • the projection control device 10 first confirms whether or not its own operation mode is set to an operation mode (illusion image projection mode) in which attention is called by projecting an illusion image (step S101). If the illusionary image projection mode is not set (NO in step S101), the projection control device 10 waits until the illusionary image projection mode is set.
  • the feature requiring caution detection unit 11 acquires the detection result of the feature from the surroundings detection device 21 (step S102), and detects the ground around the vehicle. It is checked whether or not an object has been detected (step S103). If a feature is detected around the own vehicle (YES in step S103), the attention-requiring feature detection unit 11 determines whether the feature is a caution-requiring feature based on the shape of the feature. (Step S104).
  • step S104 the alert determination unit 13 determines whether it is necessary to alert the caution-requiring feature (step S105). That is, in step S105, it is determined whether or not the attention-requiring feature is a caution-requiring target feature.
  • step S105 If it is determined that the attention-requiring feature is the attention-requiring feature (YES in step S105), the illusion image generator 12 generates an illusion image reminiscent of the three-dimensional shape of the attention-requiring feature (step S106). Then, the projection control unit 14 controls the projection device 22 to project the illusion image generated by the illusion image generation unit 12 at a position corresponding to the position of the caution target feature. is alerted (step S107). If NO is determined in any of steps S103, S104 and S105, steps S106 and S107 are not performed.
  • step S101 the projection control apparatus 10 repeatedly executes the above operations.
  • step S101 switching between on and off of the illusionary image projection mode
  • the switching of the operation mode in step S101 may be performed by the user, or may be performed automatically by the projection control device 10.
  • Methods for the user to switch the operation mode of the projection control apparatus 10 include a method using hardware keys such as physical switches and a method using software keys such as GUI (Graphical User Interface).
  • the illusionary image projection mode may be turned on.
  • the illusionary image projection mode may be turned on when the brightness around the own vehicle or around the alert target feature falls below a certain value.
  • the brightness of the surroundings of the own vehicle or the caution target feature may be measured by the illuminance sensor of the own vehicle, or may be estimated from the brightness of the image captured by the camera as the attention-requiring feature detection unit 11. .
  • the projection control device 10 may automatically switch the operation mode based on the behavior of the host vehicle. For example, when the attention-requiring feature detection unit 11 detects that the road surface condition of the road on which the vehicle is traveling is bad, and the sensor of the vehicle detects the behavior of the vehicle, such as swaying or slipping, The optical illusion image projection mode may be turned on.
  • the projection control unit 14 may change the display mode of the illusion image when a predetermined condition is satisfied. For example, when the driver's degree of recognition of the alert target feature is smaller than a predetermined threshold, or when the proportion of the portion of the alert target feature that cannot be visually recognized from the own vehicle is greater than a predetermined threshold. , the projection control unit 14 may highlight the illusion image that calls attention to the attention target feature. In addition, the degree of emphasis may be increased as the driver's degree of recognition of the attention target feature decreases, or as the percentage of the portion of the attention target feature that cannot be visually recognized from the own vehicle increases.
  • the mode of highlighting may be any mode such as brightness enhancement display, blinking display, enlarged display, animation display, or the like.
  • the illusionary image generation unit 12 may deform the illusionary image to be generated according to various conditions.
  • the illusion image generator 12 may change the illusion figure according to the height of the driver's eye point (the height of the seat of the vehicle). Specifically, when the driver's eye point is high, the apparent height H and depth D of the illusion image should be increased. The apparent height H and depth D of the illusory image are reduced when the traveling speed of the own vehicle is low, and the apparent height H and depth D of the illusory image are increased when the traveling speed of the own vehicle is high. You may
  • FIG. 16 and 17 are diagrams showing examples of the hardware configuration of the projection control apparatus 10, respectively.
  • Each function of the components of the projection control apparatus 10 shown in FIG. 1 is implemented by, for example, a processing circuit 50 shown in FIG. That is, the projection control device 10 detects a caution feature that is a feature having a three-dimensional shape that affects the running of the vehicle, generates an illusion image that evokes the three-dimensional shape of the caution feature, A processing circuit 50 for judging whether or not to call attention to a caution-requiring feature and projecting an optical illusion image at a position corresponding to the position of the caution-requiring feature for which it is judged necessary to call attention by using the projection device 22. Prepare.
  • the processing circuit 50 may be dedicated hardware, or a processor (central processing unit (CPU: Central Processing Unit), processing device, arithmetic device, microprocessor, microcomputer, etc.) that executes a program stored in a memory. Also called a DSP (Digital Signal Processor)).
  • CPU Central Processing Unit
  • DSP Digital Signal Processor
  • the processing circuit 50 may be, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), or a combination of these.
  • ASIC Application Specific Integrated Circuit
  • FPGA Field-Programmable Gate Array
  • FIG. 17 shows an example of the hardware configuration of the projection control apparatus 10 when the processing circuit 50 is configured using a processor 51 that executes programs.
  • the functions of the components of the projection control apparatus 10 are implemented by software or the like (software, firmware, or a combination of software and firmware).
  • Software or the like is written as a program and stored in the memory 52 .
  • the processor 51 implements the function of each part by reading and executing the program stored in the memory 52 . That is, the projection control device 10, when executed by the processor 51, performs processing for detecting a feature requiring attention, which is a feature having a three-dimensional shape that affects the running of the vehicle, and three-dimensional detection of the feature requiring attention.
  • a memory 52 is provided for storing a program that results in the execution of the process of projecting an optical illusion image using the device 22 .
  • this program causes a computer to execute the procedures and methods of operation of the constituent elements of the projection control apparatus 10 .
  • the memory 52 is, for example, a non-volatile or Volatile semiconductor memory, HDD (Hard Disk Drive), magnetic disk, flexible disk, optical disk, compact disk, mini disk, DVD (Digital Versatile Disc) and their drive devices, etc., or any storage media that will be used in the future.
  • HDD Hard Disk Drive
  • magnetic disk flexible disk
  • optical disk compact disk
  • mini disk mini disk
  • DVD Digital Versatile Disc
  • the present invention is not limited to this, and a configuration may be employed in which some components of the projection control apparatus 10 are implemented by dedicated hardware and other components are implemented by software or the like.
  • the functions of some of the components are realized by the processing circuit 50 as dedicated hardware, and the processing circuit 50 as a processor 51 executes the programs stored in the memory 52 for some of the other components. Its function can be realized by reading and executing it.
  • the projection control apparatus 10 can implement the functions described above using hardware, software, etc., or a combination thereof.
  • FIG. 18 is a diagram showing the configuration of a projection control system according to Embodiment 2.
  • FIG. The configuration of the projection control system shown in FIG. 18 is obtained by providing a positioning device 23 and a map data storage device 24 in place of the periphery detection device 21 in the configuration shown in FIG. 1 of the first embodiment.
  • the positioning device 23 is based on positioning signals obtained from GNSS (global navigation satellite system) and information obtained from sensors of the vehicle (for example, speed sensor, acceleration sensor, direction sensor, etc.), the position and progress of the vehicle. Calculate direction.
  • GNSS global navigation satellite system
  • the positioning device 23 is highly accurate enough to identify the lane in which the vehicle is traveling, specifically, it is capable of identifying the position of the vehicle on the order of several tens of centimeters.
  • the map data storage device 24 is a storage medium that stores map data including information such as the position and shape of road lanes and the position and shape of features existing around the road (including three-dimensional shapes).
  • the map data stored in the map data storage device 24 is assumed to be high-precision map data in which the positions and shapes of lanes and features are described with accuracy on the order of several tens of centimeters.
  • the map data stored in the map data storage device 24 may be used for map matching processing for correcting the position of the own vehicle calculated by the positioning device 23 .
  • the attention-requiring feature detection unit 11 uses the position information of the own vehicle calculated by the positioning device 23 and the map data of the surroundings of the own vehicle stored in the map data storage device 24, which is included in the map data. Based on the information on the position and three-dimensional shape of the object, a caution-requiring feature around the own vehicle is detected.
  • FIG. 19 is a flow chart showing the operation of the projection control device according to the second embodiment.
  • step S102 of the flowchart of FIG. 15 shown in Embodiment 1 is replaced with steps S111 and S112 below.
  • step S ⁇ b>111 the caution-required feature detection unit 11 acquires the position information of the own vehicle from the positioning device 23 .
  • step S ⁇ b>112 the attention-requiring feature detection unit 11 searches for features around the host vehicle from the map data stored in the map data storage device 24 .
  • step S112 If a feature around the host vehicle is detected in step S112 (YES in step S112), the feature requiring caution detection unit 11 detects the feature as a required feature based on the information on the shape of the feature included in the map data. It is determined whether or not it is a caution feature (step S104).
  • FIG. 18 shows an example in which the projection control system does not include the periphery detection device 21, but the projection control system of the second embodiment may also be provided with the periphery detection device 21.
  • the projection control system does not include the periphery detection device 21, for example, it is not possible to check whether a feature requiring attention is obscured by snow or mud.
  • the periphery detection device 21 in the projection control system of the second embodiment, it is possible to realize functions equivalent to those of the first embodiment.
  • the periphery detection device 21 detects the lane markings, and the positioning device 23 calculates the It is also possible to correct the position of the own vehicle, thereby improving the calculation accuracy of the position of the own vehicle.
  • FIG. 20 is a diagram showing the configuration of a projection control system according to Embodiment 3.
  • FIG. The configuration of the projection control system shown in FIG. 20 is different from the configuration shown in FIG. 15 is added.
  • the caution feature information storage unit 15 stores caution feature information including position information of the caution feature.
  • the attention-requiring feature information may include information such as the type and shape of the caution-requiring feature in addition to the position information of the caution-requiring feature. Storing the information on the caution feature in the caution feature information storage unit 15 is called "registration".
  • the setting device 25 is a device for registering caution features in the caution feature information storage unit 15 . That is, the caution feature information storage unit 15 acquires and stores the caution feature information from the setting device 25 .
  • the setting device 25 is a device of the user of the projection control device 10, such as a mobile phone or a smart phone, or an infrastructure device (infrastructure device), such as a security camera.
  • the setting device 25 may be any device that can be authenticated by the projection control device 10 .
  • the method by which the setting device 25 acquires the caution feature information and registers it in the caution feature information storage unit 15 is not restricted.
  • the setting device 25 is a device of the user
  • the setting device 25 extracts and acquires the information of the caution feature from the map data storage device (not shown) according to the user's operation, and the acquired information is It may be registered in the feature information storage unit 15 .
  • the setting device 25 may have an HMI (Human Machine Interface) capable of selecting the area and type of the caution feature from which information is to be obtained.
  • HMI Human Machine Interface
  • the setting device 25 also downloads the caution feature information from an external server having a caution feature database and registers the acquired information in the caution feature information storage unit 15 according to the user's operation.
  • the setting device 25 may have an HMI capable of selecting the area and type of the caution feature to be downloaded.
  • the setting device 25 may have a function of detecting an update of the database, automatically downloading the latest caution-requiring feature information, and updating the information registered in the caution-requiring feature information storage unit 15. good. Further, the setting device 25 automatically downloads the information on the caution feature caused by the influence of the weather, etc., and registers it in the caution feature information storage unit 15 as temporary information on the caution feature. good too.
  • the user may operate the setting device 25 to register unique information on the caution feature in the caution feature information storage unit 15 .
  • the user sends an image of a feature captured by a smartphone, which is the setting device 25, to the projection control device 10, and the projection control device 10 analyzes the image and determines that the feature is a caution-required feature.
  • the feature may be registered in the caution feature information storage unit 15 as a caution feature.
  • the projection control device 10 acquires the information of the feature determined as the caution feature by the infrastructure device, and stores the information in the caution feature information storage unit 15. sign up.
  • the caution feature detecting unit 11 stores the position information of the own vehicle calculated by the positioning device 23 and the caution feature information stored in the caution feature information storage unit 15. Based on this, it detects features requiring attention around the vehicle.
  • FIG. 21 is a flow chart showing the operation of the projection control device according to the third embodiment.
  • steps S102 to S104 of the flowchart of FIG. 15 shown in Embodiment 1 are replaced with steps S121 to S123 below.
  • step S ⁇ b>121 the caution-required feature detection unit 11 acquires the position information of the own vehicle from the positioning device 23 .
  • step S ⁇ b>122 the caution feature detecting unit 11 detects registered objects located around the own vehicle based on the position information of the own vehicle and the caution feature information stored in the caution feature information storage unit 15 . Search for special features.
  • step S122 when a registered attention-requiring feature located around the vehicle is detected (YES in step S122), the process proceeds to step S105, and the attention alert determination unit 13 determines whether attention is required for the attention-requiring feature. judge no. Further, when the registered caution-requiring feature located around the vehicle is not detected in step S122 (NO in step S122), the process returns to step S101. Since the processing of other steps is basically the same as that of FIG. 15, the description here is omitted.
  • the caution determination unit 13 may unconditionally determine the caution feature registered in the caution feature information storage unit 15 as the caution target feature. In that case, the operation of the projection control apparatus is as shown in the flow chart of FIG. The flowchart of FIG. 22 replaces step S105 of the flowchart of FIG. 21 with step S124. In step S124, the caution determination unit 13 unconditionally determines the attention-requiring feature determined as YES in step S123 (that is, the registered caution-requiring feature) as the attention-requiring target feature. In this modification, the caution-requiring feature registered in the caution-requiring feature information storage unit 15 is always determined as the attention-requiring target feature. Therefore, in other words, the attention-requiring feature information storage unit 15 is used as means for registering attention-requiring feature features.
  • FIG. 20 shows a projection control system that does not include the map data storage device 24, the projection control system of Embodiment 3 may also include the map data storage device 24.
  • the position information of the caution feature is registered in the caution feature information storage unit 15, and information such as the type and shape of the registered caution feature is stored in the caution feature detection unit 11. It may be acquired from the map data storage device 24 accordingly.
  • FIG. 23 is a diagram showing a configuration of a projection control system according to Embodiment 4.
  • FIG. 23 The configuration of the projection control system shown in FIG. 23 is obtained by adding a setting device 25 to the configuration shown in FIG. .
  • the alert target type storage unit 16 stores information on the alert target type, which is the type of feature to be alerted. Storing the information on the alert target type in the alert target type storage unit 16 is called "registration".
  • the alerting determination unit 13 only alerts the attention-requiring feature corresponding to the alerting target type registered in the alerting target type storage unit 16 . Conversely, the caution determination unit 13 excludes the attention-requiring feature that does not correspond to the caution target type from the caution target.
  • the setting device 25 is a device for registering an alert target type in the alert target type storage unit 16 . That is, the alert target type storage unit 16 acquires and stores information on the alert target type from the setting device 25 .
  • the setting device 25 is a device of the user of the projection control device 10 such as a mobile phone or a smart phone, or an infrastructure device such as a security camera.
  • the setting device 25 may be any device that can be authenticated by the projection control device 10 .
  • the setting device 25 acquires the information on the alert target type and registers it in the alert target type storage unit 16 .
  • the setting device 25 is the user's device, the user operates the setting device 25 to select what type of attention-requiring feature to call attention to, and the setting device 25
  • the selected type may be registered in the alert target type storage unit 16 .
  • road shoulders, median strips, ditches, road surface condition change points, obstacles, and the like may be selected as alert target types.
  • the projection control device 10 acquires information on the type of feature determined by the infrastructure device to be a warning target feature, and stores the warning target type storage unit. Register for 16.
  • the basic configuration and operation of the projection control apparatus 10 according to the fourth embodiment are the same as those of the first embodiment.
  • the alert determination unit 13 only alerts the attention-requiring feature corresponding to the alert target type registered in the alert target type storage unit 16 .
  • FIG. 24 is a flow chart showing the operation of the projection control device according to the fourth embodiment.
  • the flowchart of FIG. 24 is obtained by adding step S131 between steps S103 and S104 of the flowchart of FIG. 15 shown in the first embodiment.
  • Step S131 is executed when a caution-requiring feature is detected by the caution-requiring feature detection unit 11 (when YES is determined in step S104).
  • the caution determination unit 13 confirms whether or not the type of the caution-requiring feature corresponds to the caution target type. If the type of the attention-requiring feature corresponds to the attention-requiring target type (YES in step S131), the process proceeds to step S105. NO in step S131), and the process returns to step S101. Since the processing of other steps is basically the same as that of FIG. 15, the description here is omitted.
  • FIG. 23 shows an example in which the alert target type storage unit 16 is provided in the projection control system of the first embodiment. is also applicable.
  • the projection control device 10 includes both the caution target feature information storage unit 15 and the caution target type storage unit 16. Be prepared.
  • the warning determination unit 13 selects both the caution feature registered in the caution feature information storage unit 15 and the caution feature corresponding to the type registered in the caution target type storage unit 16, It may be judged as a warning target feature.

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  • General Physics & Mathematics (AREA)
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  • Lighting Device Outwards From Vehicle And Optical Signal (AREA)
PCT/JP2021/020787 2021-06-01 2021-06-01 投射制御装置および投射制御方法 Ceased WO2022254570A1 (ja)

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US18/286,767 US20240127725A1 (en) 2021-06-01 2021-06-01 Projection control apparatus and projection control method
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