JP7225009B2 - projection device, program, mobility - Google Patents

Description

The present invention relates to a projection device, program, and mobility.

BACKGROUND ART There is a technology for projecting visible light in order to notify the surroundings of the existence and direction of movement of a disabled person such as a wheelchair mainly at night (see, for example, Patent Document 1). Patent Literature 1 discloses a road traffic support device that displays the direction of travel by suppressing the projection of laser light in directions other than those expected. Also, a technique has been devised for irradiating visible light onto an obstacle in order to notify a passenger of the presence of the obstacle (see, for example, Patent Document 2). Patent Literature 2 discloses a technique for projecting visible light onto an obstacle from a mobility such as an electric wheelchair.

Since the mobility described in Patent Document 2 runs by using a motor or the like as power, it can handle obstacles in the same way as a normal passenger car (a car that runs on an internal combustion engine, an EV (electric vehicle), a HV (hybrid vehicle), etc.). There is an attempt to install a function to avoid contact (hereinafter referred to as an obstacle avoidance function). Under the law, mobility is treated as a pedestrian rather than a vehicle, so it walks in places where pedestrians walk, such as sidewalks and crosswalks, but if it is equipped with an obstacle avoidance function, it will be easier to avoid contact with pedestrians. Become.

JP 2014-106954 A JP 2018-24374 A

However, when the mobility is equipped with an obstacle avoidance function, there is a problem that the movement of the mobility may be hindered. Description will be made with reference to FIG.

FIG. 1 is a diagram illustrating an obstacle monitoring range 7 of a mobility 10 having an obstacle avoidance function. When the mobility 10 detects an obstacle 5 within the obstacle monitoring range 7, it warns the occupant 11 or surrounding pedestrians with a sound or a lamp. Furthermore, when detecting an obstacle 5 in the avoidance start range 6 where the distance from the obstacle 5 is less than a certain value, the vehicle starts decelerating and finally stops.

Pedestrians who pass mobility 10 are expected to walk avoiding mobility, but if the pedestrian enters avoidance start range 6 at that time, mobility at least decelerates.

FIG. 2 schematically shows a pedestrian 9 who has entered the avoidance start range 6 of the mobility 10 . The pedestrian 9 avoids the mobility 10, but it enters the avoidance start range 6 because it is unknown how close the mobility 10 will decelerate. Since the mobility 10 decelerates every time the pedestrian 9 enters the avoidance start range 6, there is a risk that the pedestrian 9 will be continuously detected and the vehicle will not be able to move forward, particularly in a busy place. That is, movement of the mobility 10 may be hindered.

A method of notifying the pedestrian 9 that there is a risk of entering the avoidance start range 6 by sound or a lamp is also considered, but the pedestrian 9 near the avoidance start range 6 may notice that the notice is directed to him/herself. Not always possible. In addition, when announcing by sound, it is necessary to issue an appropriate volume, which may annoy the occupant 11 of the mobility 10 and the pedestrian 9 .

SUMMARY OF THE INVENTION An object of the present invention is to provide a projection device capable of suppressing hindrance to movement of mobility.

In view of the above problems, the present invention provides a projection device that is mounted on a vehicle and projects visible light, and includes at least one or more projection units that project visible light onto a road surface, and an obstacle sensor that detects an obstacle. and a projection control unit that causes the projection unit to project projection light indicating an avoidance start range in which the mobility starts avoidance action against the obstacle that has entered.

It is possible to provide a projection device capable of suppressing hindrance to movement of mobility.

FIG. 3 is a diagram illustrating an obstacle monitoring range 7 of mobility having an obstacle avoidance function; FIG. 4 is an example of a diagram schematically showing a pedestrian who has entered the avoidance start range of mobility; FIG. 10 is an example of a diagram illustrating projection light indicating an avoidance start range, which is projected when the mobility detects an obstacle in the obstacle monitoring range; 1 is an example of a top view of mobility; FIG. FIG. 10 is a diagram showing a modified example of projection light indicating an avoidance start range; 1 is an example of a configuration diagram of a projection device and a movement control device mounted on a mobility; FIG. It is a figure explaining the structural example of a projection part. It is an example of the figure explaining the relationship between the direction of an obstacle, and a projection part. It is a figure which shows the shape of an obstacle monitoring range and an avoidance start range. FIG. 10 is a diagram showing an example of projection light that is projected when an obstacle is detected in the obstacle monitoring range; It is a figure which shows the example of projection of other projection light. It is a figure which shows an example of the projection light which shows presence of an obstacle. FIG. 10 is an example of a flowchart showing a process of projecting projection light indicating an avoidance start range by a projection device; FIG. 10 is an example of a flowchart showing a process in which a projection device distinguishes a pedestrian from a feature and projects projection light.

EMBODIMENT OF THE INVENTION Hereinafter, it demonstrates, referring drawings for the form for implementing this invention.

<Overview of Projection of Visible Light by Projector>
First, a representative example of projection by the mobility 10 will be described with reference to FIG. FIG. 3 is a diagram for explaining projection light 12 indicating the avoidance start range 6 projected when the mobility 10 detects an obstacle in the obstacle monitoring range 7. As shown in FIG. The avoidance start range 6 is within a certain distance from the mobility 10 where the mobility 10 starts decelerating to avoid collision with an obstacle. The avoidance start range 6 can also be said to be a range in which an obstacle may come into contact with the mobility 10 . Also, the obstacle monitoring range 7 is within a certain distance from the mobility 10 in which the obstacle is detected. The obstacle monitoring range 7 can be said to be a range in which projection of the projection light 12 indicating the avoidance start range 6 is started, or a range in which an obstacle may enter the avoidance start range 6 .

Mobility 10 detects the distance and direction to an obstacle with an obstacle sensor. In FIG. 3( a ), a pedestrian 9 as an obstacle is entering the obstacle monitoring range 7 . When the mobility 10 detects an obstacle that has entered the obstacle monitoring range 7, the mobility 10 projects projection light 12 indicating the avoidance start range 6 in the direction of the obstacle.

In FIG. 3B, the projection light 12 indicating the avoidance start range 6 is projected in front of the pedestrian 9 (between the mobility and the pedestrian) in the direction in which the pedestrian 9 was detected. The pedestrian 9 can grasp the outer edge of the avoidance start range 6 by the projection light 12 indicating the avoidance start range 6, and can reliably avoid the avoidance start range 6 while walking. Therefore, even if the mobility 10 runs in a place with a lot of people, it is possible to reduce the possibility that the movement of the mobility 10 will be hindered.

<Terms>
The method of projecting the projection light 12 indicating the avoidance start range 6 described in the present embodiment can be suitably applied to the mobility 10 that moves by power and can move on the sidewalk as the pedestrian 9 . The mobility 10 may be driven by an occupant 11 (except when powered by human power), or may be driven automatically to the destination. Mobility may be referred to as mobile, personal mobility, power wheelchair, and the like.

The projection light 12 indicating the avoidance start range 6 may be any light that allows pedestrians to recognize the avoidance start range 6, and there are various shapes, colors, and projection timings of the light.

A driving mode in which the vehicle is driven by the passenger 11 is called a manual driving mode, and a driving mode in which the vehicle is automatically driven is called an automatic driving mode.

The obstacle should just hinder the movement of the mobility 10 . It can move like a pedestrian or not move like an object. Moreover, it may be fixed to the road surface or simply installed.

<Example of installing a projection unit in mobility>
FIG. 4 is an example of a top view of the mobility 10. FIG. The projection unit 22 is mounted at a position where at least the projection light 12 indicating the avoidance start range 6 can be projected. Since the avoidance start range 6 is a direction in which the mobility 10 and obstacles can come into contact, the number and arrangement positions of the projection units 22 are adjusted so that the projection light 12 indicating the avoidance start range 6 can be projected in the direction in which the mobility mainly moves. It is determined. For example, when the mobility 10 moves only forward, one or more projection units 22 capable of projecting forward and sideways are arranged as shown in FIG. 4(a). In FIG. 4A, projection lights 12a to 12e indicating the avoidance start range 6 are projected, and five projection units 22a to 22e corresponding to the projection lights 12a to 12e indicating the avoidance start range 6 are mounted on the mobility 10. It is An arbitrary projection unit among the projection units 22 a to 22 e is hereinafter referred to as a projection unit 22 , and an arbitrary projection light beam among the projection light beams 12 a to 12 e is called a projection light beam 12 .

The projection unit 22a projects the projection light 12a indicating the avoidance start range 6, the projection unit 22b projects the projection light 12b indicating the avoidance start range 6, and the projection unit 22c projects the projection light 12c indicating the avoidance start range 6. , the projection unit 22 d projects the projection light 12 d indicating the avoidance start range 6 , and the projection unit 22 e projects the projection light 12 e indicating the avoidance start range 6 . The projection unit 22a is arranged, for example, on the right side of the mobility 10, the projection unit 22b is arranged, for example, on the right front corner of the mobility 10, the projection unit 22c is arranged, for example, on the front of the mobility 10, and the projection unit 22d is arranged, for example, on the mobility 10. It is arranged at the left front corner, and the projection unit 22e is arranged on the left side of the mobility 10, for example. The reason why the projection units 22a and 22e are mounted on the side surface is that the side surface of the mobility 10 may come into contact with an obstacle when the mobility 10 changes its traveling direction.

Each projection unit 22 is connected to the projection control unit 21 by wire or wirelessly, and projection is controlled by the projection control unit 21 . The projection control unit 21 is placed under the seat or on the back of the seat, but the placement location is appropriately designed. When an obstacle is detected in the obstacle monitoring range 7, the projection control section 21 causes the projection section 22 capable of projecting the direction of the obstacle to project.

When the mobility 10 can also move backward, one or more projection units 22 capable of projecting backward are arranged as shown in FIG. 4(b). In FIG. 4B, projection lights 12f to 12j indicating the avoidance start range 6 are projected, and five projection units 22f to 22j corresponding to the projection lights 12f to 12j indicating the avoidance start range 6 are mounted on the mobility 10. It is

Note that the number and arrangement of the projection units 22 shown in FIG. 4 are merely an example. The number and arrangement of the projection units 22 may change depending on the projection range of one projection unit 22, and may also change depending on the shape of the mobility 10 and the like.

In the following description, unless otherwise specified, the projection light 12 is projected by the projection unit 22 at an appropriate position.

The projection light 12 is only an example for showing the line-shaped avoidance start range 6 shown in FIG. 4B, and as shown in FIG. There are various things. FIG. 5 is a diagram showing a modification of the projection light 12 showing the avoidance start range 6. As shown in FIG. For example, as shown in FIG. 5(a), the entire inside of the avoidance start range 6 may be projected with projection light 12, or only the outline of the avoidance start range 6 may be projected as shown in FIG. 5(b). Light 12 may be projected. These make it easier to emphasize the avoidance start range 6 rather than the line shape.

Further, as shown in FIG. 5(c), projection lights 12a to 12e that indicate the avoidance start range 6 may be projected regardless of the direction of the obstacle. In FIG. 5C, even if an obstacle exists in the right front, the projection light 12 indicating the avoidance start range 6 is also projected by the projection units 22a, 22c to 22e other than the projection unit 22b corresponding to the right front. That is, all the projection units 22a to 22e project the projection light 12 indicating the avoidance start range 6. FIG. Thereby, the surrounding pedestrians 9 can recognize the overall avoidance start range 6 .

In any shape of the projected light 12 indicating the avoidance start range 6, the projected light 12 indicating the avoidance start range 6 may blink, or the color of the visible light may change over time. This makes it easier to emphasize the avoidance start range 6 .

Further, as shown in FIG. 5D, the projection unit 22 may project not only the projection light 12b indicating the avoidance start range 6, but also the projection light 15 indicating the obstacle monitoring range 7. FIG. In this case, the pedestrian 9 can grasp that the area inside the projection light 15 is the avoidance start range 6 .

In addition to the projected light 12 indicating the avoidance start range 6 , the projection unit 22 may project a line or the like indicating the predicted traveling direction of the mobility 10 .

<About configuration example>
Next, the configuration of the projection device 20 will be described with reference to FIG. FIG. 6 is a configuration diagram of an example of the projection device 20 and the movement control device 30 mounted on the mobility 10. As shown in FIG. Regarding the description of FIG. 6, not only the function related to the projection of projection light but also the function related to automatic driving will be described.

<<projection device>>
The projection device 20 has one or more projection units 22 and a projection control unit 21 . The projection control unit 21 is an information processing device, computer, or microcomputer having a CPU, RAM, flash memory, input/output I/O, and the like. It is actually mounted as a substrate. The movement control device 30 may be the same. The function of the projection control unit 21 is a function or means implemented by the CPU executing a program expanded from the flash memory to the RAM. However, it may be implemented by hardware such as an IC.

The projection unit 22 projects projection light 12 indicating the avoidance start range 6 toward the road surface by using a light source such as a laser or an LED. A method of projecting projection light will be described with reference to FIG.

The projection control unit 21 causes a predetermined projection unit 22 to project according to the direction of the obstacle detected by the movement control device 30 . Details will be described with reference to FIG. The movement control device 30 detects the horizontal center of the obstacle as the direction of the obstacle. Then, preferably, the directions of the left and right ends of the obstacle are detected. This is for steering left and right to avoid obstacles when the movement control unit 32 has a function of avoiding obstacles and moving.

<<Movement control device>>
The movement control device 30 is controlled by a movement control unit 32. The movement control unit 32 includes a GNSS receiver 31 (Global Navigation Satellite System), an obstacle sensor 33, a steering drive unit 34, a motor drive unit 35, and a brake drive unit. 36 are connected. A steering wheel 37 as a steering member is connected to the steering drive section 34 , a travel lever 38 is connected to the motor drive section 35 , and a brake pedal 39 is connected to the brake drive section 36 .

The GNSS receiver 31 receives radio waves from satellites and estimates the current location. The obstacle sensor 33 is a sensor that detects obstacles around the mobility 10 . For example, it is a stereo camera, an ultrasonic sensor, a laser radar (LiDAR: Light Detection and Ranging, Laser Imaging Detection and Ranging), or a millimeter wave radar. Both can detect the distance to the obstacle and the direction of the obstacle. The distance of the obstacle is detected as, for example, "XX meters", and the direction of the obstacle is determined as "X degree” is detected. Therefore, the direction of obstacles to the left of the direction of straight travel is negative.

If the obstacle sensor 33 simply detects whether or not there is an obstacle, the cost of the obstacle sensor 33 can be reduced. For example, a 2D laser radar irradiates a laser radar with a predetermined resolution in the horizontal direction, and can detect the presence or absence of obstacles and the horizontal direction. On the other hand, when the obstacle sensor 33 is a stereo camera, the type of obstacle can be determined by image recognition whether the obstacle is a pedestrian 9 or an object such as a feature, an installation, or a building.

The movement control device 30 has a manual driving mode and an automatic driving mode. In the manual travel mode, the vehicle travels according to the operation of the passenger 11 . That is, when the occupant 11 pushes the travel lever 38 forward from the neutral state, the vehicle travels at a constant speed, like a normal passenger car (a car that runs on an internal combustion engine, an EV (electric vehicle), a HV (hybrid vehicle), etc.). When the steering wheel 37 is steered, the vehicle turns in the steering direction, and when the brake pedal 39 is stepped on, the vehicle decelerates. Also, when the travel lever 38 is tilted forward from the neutral state, it moves backward at a constant speed. However, the steering wheel 37, the travel lever 38, and the brake pedal 39 are effective in both the manual travel mode and the automatic operation mode. That is, even in the automatic driving mode, the passenger 11 can drive the mobility 10 prior to automatic driving. Note that the brake pedal 39 and the brake driving unit 36 may be omitted in the mobility 10 . This is because the maximum speed of the mobility 10 is not so high, so that by returning the travel lever 38 to the neutral state, the mobility 10 can naturally stop due to friction with the road surface or the like.

When an obstacle in the avoidance start range 6 is detected in the manual travel mode, the movement control unit 32 causes the motor drive unit 35 to reduce the rotation speed of the motor even if the travel lever 38 is pushed forward from the neutral state. . While the obstacle is detected in the avoidance start range 6, the movement control unit 32 continues to reduce the rotational speed of the motor, so the mobility 10 decelerates and eventually stops. Note that the movement control unit 32 may drive the brake driving unit 36 to forcibly stop the mobility 10 .

The movement control unit 32 controls the steering drive unit 34, the motor drive unit 35, and the brake drive unit 36 in the automatic driving mode. The steering drive unit 34 steers the steering according to the traveling direction received from the movement control unit 32 . The motor drive unit 35 controls the motor so that the vehicle travels at the speed received from the movement control unit 32 . The brake drive section 36 decelerates in response to a request from the movement control section 32 .

In the automatic driving mode, there are cases where the destination is set and cases where the vehicle simply travels straight ahead at a constant speed. In either case, when an obstacle is detected in the automatic driving mode, the vehicle may attempt to avoid the obstacle by steering or may simply decelerate and eventually stop. When an obstacle is detected in the avoidance start range 6 when the vehicle simply decelerates and eventually stops, the movement control unit 32 controls the motor drive unit 35 and the brake drive unit 36 in the same manner as in the manual travel mode.

When attempting avoidance by steering, the movement control unit 32 creates a table in which TTC (Time To Collision) calculated from the speed and the distance to the obstacle is associated with the amount of lateral movement possible with this TTC. By referring to it, it is determined whether or not avoidance is possible by steering. If the amount of lateral movement required for avoidance is smaller than the amount of lateral movement obtained from the table based on the actual TTC, it is determined that avoidance is possible. The directions of the left and right edges of the obstacle are used to calculate the amount of lateral movement required for avoidance. The movement control unit 32 calculates the minimum amount of movement at which the overlap between the width of the mobility 10 and the obstacle becomes zero. If it can be avoided, set a route to the position after avoidance, and check whether there are any other obstacles on this route (including obstacles approaching from behind the mobility 10). If there is no other obstacle on the route, avoid it by steering. If it cannot be avoided by steering, the movement control section 32 controls the motor drive section 35 and the brake drive section 36 in the same manner as in the manual travel mode.

In addition, when the destination is set in the automatic driving mode, the movement control unit 32 refers to map data stored in advance or downloaded from the server, searches for a route from the current location to the destination, and travels along the route. to the destination. Since the mobility 10 runs on the sidewalk, it is preferable to recognize the sidewalk from the image (for example, detect the building side of the guardrail, the braille block, etc.) and run on the right side of the sidewalk.

<<Control Panel>>
An operation panel 40 is connected to the movement control device 30 . The operation panel 40 is an information processing device such as a tablet device. The operation panel 40 has a touch panel integrated with the display 43 , receives operations by the crew member 11 , and transmits the operations to the movement control device 30 . It also receives the state of the movement control device 30 and displays it on the display 43 .

The operation panel 40 has an I/F 49 , an operation reception section 41 , a display control section 42 and a display 43 . The I/F 49 is an interface such as a USB that bi-directionally communicates with the I/F 48 on the mobile control device 30 side. Wireless communication may be used instead of wired communication.

The display control unit 42 displays a menu screen, a map screen, an AV operation screen, and the like on the display 43 . The operation reception unit 41 receives various operations on the operation panel 40 . For example, it accepts settings for manual driving mode and automatic driving mode, and accepts destination settings.

The operation panel 40 is a kind of in-vehicle device. Therefore, the operation panel 40 may be called a navigation device, tuner, car audio, or display audio, for example. Further, the operation panel 40 may also serve as the projection control section 21 of the projection device 20 . In this case, the projection section 22 is connected to the operation panel 40 .

<Configuration example of projection unit>
Next, a configuration example of the projection unit 22 will be described with reference to FIG. The configuration of the projection unit 22 includes a configuration for projecting projection light of a fixed shape and a configuration for projecting projection light of an arbitrary shape. FIG. 7A shows an example of the configuration of the projection unit 22 that projects projection light having a fixed shape. The projection unit 22 has a mask 101 having a slit (opening) 103 of a fixed shape and a light source 102 . In the configuration of FIG. 7A, a slightly curved slit 103 is formed in the mask 101. In FIG. For example, projection lights 12b to 12d indicating the avoidance start range 6 shown in FIG. 4 can be projected. In order to project the projection light 12 having a straight line shape, the slit 103 should have a straight line shape. In the case of letters, numbers, alphabets, and symbols, a mask 101 having slits 103 in the shape of letters, numbers, alphabets, and symbols is prepared.

FIG. 7(b) is a configuration example of the projection unit 22 that projects the projection light 12 of arbitrary shape. The projection unit 22 has a light source 102, a lens 104, a scanning unit 105, and a driver unit 106, for example. The light source 102 is an LED, laser, or the like, and mainly emits visible light. When the light source 102 emits light of each of the three primary colors (RGB), it is possible to project the projection light 12 with a higher attention-evoking property. The brightness of the light source 102 may be fixed, but it is preferable to detect the brightness of the surroundings with an illuminance sensor and set the brightness according to the brightness of the surroundings.

A lens 104 collects the light generated by the light source 102 and shapes it into a predetermined shape. The scanning unit 105 scans the road surface so that the visible light is projected in a meaningful shape under the control of the driver unit 106 . The scanning unit 105 is, for example, a galvanomirror, an ultrasonic polarizer, or a DMD (Digital Micromirror Device) used in DLP (Digital Light Processing). These have a function of irradiating light in an indicated direction, and the driver unit 106 switches the irradiation direction of light in a short period of time so that afterimages appear to humans as if an image had been drawn.

The driver unit 106 has a function of converting the coordinates of the image data representing the projection light into the irradiation direction of the scanning unit 105 . The image data created by the projection control unit 21 is sent to the driver unit 106, and the driver unit 106 adjusts the amount of light emitted by the scanning unit 105 so that the light is projected in the specified color at the coordinates specified by the image data. Control direction. Thereby, projection light 12 having the same shape as the image data is projected onto the road surface around the mobility 10 .

<Regarding the correspondence between the direction of the obstacle and the projection part>
Next, with reference to FIG. 8, which projection unit 22 is used for projection when an obstacle is detected will be described. FIG. 8 is an example of a diagram for explaining the relationship between the direction of the obstacle and the projection unit 22. As shown in FIG. First, FIG. 8( a ) shows an example of the correspondence between the direction viewed from the mobility 10 and the projection light 12 indicating the avoidance start range 6 . As shown, the projection light 12a indicating the avoidance start range 6 is about 60° to 90°, the projection light 12b indicating the avoidance start range 6 is about 30° to 60°, and the projection light 12c indicating the avoidance start range 6 is about 30° to -30°, the projection light 12d indicating the avoidance start range 6 can be projected in the range of about -30° to -60°, and the projection light 12e indicating the avoidance start range 6 can be projected in the range of about -60° to -90°.

The projection control unit 21 determines the projection unit 22 that projects the projection light based on the direction acquired from the movement control device 30 . FIG. 8B is an example of a projection unit determination table held by the projection control unit 21. FIG. The projection control unit 21 determines the projection unit 22 associated with the direction of the obstacle (the center of the obstacle may be used) acquired from the movement control device 30 from the projection unit determination table. Therefore, the projection unit 22 projects the projection light in the direction in which the obstacle exists.

In FIG. 8A, the projection unit 22 and the projection light 12 indicating the avoidance start range 6 correspond one-to-one, but one projection unit 22 may correspond to a plurality of projection lights 12. . When one projection unit 22 can project the projection light 12 in different directions, one projection unit 22 corresponds to the projection light 12 indicating a plurality of avoidance start ranges 6 .

<Regarding obstacle monitoring range and avoidance start range>
The obstacle monitoring range and the avoidance start range will be described with reference to FIG. FIG. 9 is a diagram showing the shapes of the obstacle monitoring range 7 and the avoidance start range 6. As shown in FIG. Each of the obstacle monitoring ranges 7b to 7d is substantially fan-shaped, and the obstacle monitoring ranges 7b to 7d form substantially a part of a circle. Since it is fan-shaped, the closer to the front, the earlier the projection light 12 can be projected. However, the shapes of the tip portions of the obstacle monitoring ranges 7b to 7d may be straight lines. In this case, each of the obstacle monitoring ranges 7b to 7d has a substantially triangular shape. The obstacle monitoring ranges 7a and 7e have straight lines parallel to the sides of the mobility 10 at their leading ends. This is because the possibility of contact with an obstacle is considered to be the same at any part of the side surface. However, the obstacle monitoring ranges 7a and 7e may also be fan-shaped.

Further, the obstacle monitoring range 7 in FIG. 9 becomes wider toward the front of the mobility 10 . For example, the distance from the tip mobility 10 in the obstacle monitoring range 7c is L1, the distance from the tip mobility 10 in the obstacle monitoring ranges 7b and d is L2, and the distance from the tip mobility 10 in the obstacle monitoring ranges 7a and 7e is L2. Assuming that the distance is L3, L1>L2>L3. This is because the mobility 10 moves in the front direction, so by widening the obstacle monitoring range 7 in the front direction, the pedestrian 9 is given time to avoid entering the avoidance start range 6. be. Further, since there is little need to project the projection light 12 indicating the avoidance start range 6 to the pedestrian 9 who is not likely to come into contact with the mobility 10 because it is out of the front direction, unnecessary projection can be suppressed.

However, the distance L1 from the mobility 10 of the tip of the obstacle monitoring range 7b-7d,
L2 may be equal. Further, the distance L3 from the mobility 10 to the tip of the obstacle monitoring range 7a, 7e may be equal to L1. That is, the combined obstacle monitoring ranges 7a to 7e may be circular (actually semicircular).

Further, regarding the distances M1 to M3 from the mobility 10 of the points of the avoidance start ranges 6a to 6e, M1=M2 may be set in order to reliably avoid contact with the obstacle. That is, in the avoidance start range 6b to 6d in the front direction or close to the front direction, the avoidance action can be started with a margin. However, even if M1>M2, there is little problem.

The distance M3 of the tip of the avoidance start range 6a, 6e from the mobility 10 is relatively small (approximately 10 cm) or the projection light 12 may not be projected (the avoidance start range 6a, 6e is set to zero and the sides are do not evade). This is because the mobility 10 is structurally difficult to move right sideways, so even if an obstacle enters the side avoidance start ranges 6a and 6e, there is little need to start an avoidance action. Exceptions to relatively small values of distance M3 or not projecting projection light 12 are explained in FIG. 10(d).

In FIG. 9, the pedestrian 9 has not entered the obstacle monitoring range 7 . Since the obstacle sensor 33 detects the direction and distance of the pedestrian 9 , it can be determined that the pedestrian has not entered the obstacle monitoring range 7 . Alternatively, an obstacle sensor 33 whose detection range is the distance to the tip of the obstacle monitoring range 7 may be employed. It should be noted that the projection light may be projected simply when an obstacle is detected, and may not be limited to when the obstacle is detected within a certain distance. Thereby, the pedestrian 9 can confirm the avoidance start range 6 even from a distance.

<Example of projected light indicating avoidance start range>
Next, several projection examples of the projection light 12 indicating the avoidance start range 6 will be described with reference to FIG. FIG. 10 shows an example of projection light projected when an obstacle is detected in the obstacle monitoring range 7. FIG.

As shown in FIG. 10(a), when the pedestrian 9 enters the obstacle monitoring range 7d, the obstacle sensor 33 detects the direction and distance of the pedestrian 9, and the projection control unit 21 moves to the obstacle monitoring range 7d. It detects that the pedestrian 9 has entered. The projection control unit 21 refers to the projection unit determination table to determine the projection unit 22d, and causes the projection unit 22d to project the projection light 12 indicating the avoidance start range 6. FIG. Note that the projection light 12 indicating the avoidance start range 6 does not have to be completely aligned with the outer edge of the avoidance start range 6 . For example, the projection light 12 that indicates the avoidance start range 6 is projected slightly outside the avoidance start range 6 . As a result, the projection light 12 can be projected with a margin for the actual avoidance start range 6 .

Also, as shown in FIG. 10B, when a plurality of pedestrians 9 are detected in a plurality of obstacle monitoring ranges 7 at the same time, the projection control unit 21 determines the avoidance start range corresponding to each obstacle monitoring range 7. A projection light 12 indicating 6 is projected. In FIG. 10(b), projection lights 12b and 12d indicating avoidance start ranges 6b and 6d are projected.

Next, obstacles on the sides of the mobility 10 will be described with reference to FIGS. 10(c) and 10(d). As shown in FIG. 10(c), the size of the avoidance start range 6 may be set relatively small for side obstacles, or side obstacles may be set so as not to be avoided. In other words, even if the pedestrian 9 is detected in the obstacle monitoring ranges 7a and 7e, the mobility 10 does not stop unless the pedestrian 9 approaches the mobility 10 at a close distance, or even if the pedestrian 9 comes into contact with the mobility 10 from the side. Mobility 10 does not stop. In the former case, the projection control unit 21 projects the projection light indicating the avoidance start range 6a at a short distance from the mobility 10, and in the latter case, the projection control unit 21 does not project the projection light indicating the avoidance start range 6a.

However, when the mobility 10 changes its traveling direction, that is, when it is steered by an occupant or by automatic driving, there is a risk of contact with a pedestrian 9 in the obstacle monitoring range 7 . Therefore, as shown in FIG. 10(d), the projection control unit 21 acquires the direction in which the mobility 10 is steered from the movement control unit 32, and detects an obstacle in the obstacle monitoring range 7 in that direction. In this case, projection light 12 indicating the avoidance start range 6 is projected. In FIG. 10(d), the mobility 10 is steered to the right and the pedestrian 9 is detected in the obstacle monitoring range 7a, so the projection control unit 21 projects projection light indicating the avoidance start range 6a. Further, in this case, the movement control unit 32 performs an avoidance action when the pedestrian 9 enters the avoidance start range 6a. The avoidance start range 6a in the case of FIG. 10(d) may be approximately the same as the distance M2, and the mobility 10 stops when the pedestrian 9 enters the avoidance start range 6a.

FIG. 11 is a diagram showing another projection example of projection light. In FIG. 11A, the projection light 12 indicating the avoidance start range 6 is projected in front of the object 16 . In other words, the projection control unit 21 similarly projects the projection light 12 indicating the avoidance start range 6 when the object 16 is detected without distinguishing from the case where the pedestrian 9 is detected in the obstacle monitoring range 7. good. Since the obstacle sensor 33 does not need to determine whether the obstacle is the pedestrian 9 or the object 16, costs can be suppressed. In addition, the occupant 11 of the mobility 10 can also intuitively know the direction in which the obstacle is present, which has the effect of facilitating driving.

Furthermore, if the projection unit 22 can project projection light of any shape, the projection control unit 21 can also project a message. In FIG. 11(b), a message 17 saying "avoid" and an arrow 19 pointing to an object 16 are projected in the direction read by the passenger 11 of the mobility 10. FIG. Projecting the message 17 makes it easier for the passenger 11 to grasp that the object 16 should be avoided.

FIG. 11(c) is an example of projection light for projecting a message 18 to the pedestrian 9. FIG. In FIG. 11(c), a message 18 reading "Avoid" is projected along with the projection light 12 indicating the avoidance start range 6 in the direction that the pedestrian 9 reads. Projecting the message 18 makes it easier for the pedestrian 9 to grasp what should be avoided without entering the avoidance start range 6 .

When switching between FIGS. 11B and 11C, the obstacle sensor 33 preferably performs object recognition using a camera or the like. That is, when the obstacle is the object 16, the projection control unit 21 projects the message 17 in FIG. 11B, and when the obstacle is the pedestrian 9, the projection control unit 21 projects the message 18 in FIG. Project. Thereby, the projection light can be switched according to the type of obstacle.

The shapes of the messages 17 and 18 and the arrow 19 in FIG. 11 are examples, and arbitrary messages can be projected, and projection light in arbitrary shapes such as triangles, squares, and stars can be projected.

<Other projection examples>
When the mobility 10 is moving in the automatic driving mode, the projection light can be projected in front of the obstacle detected by the obstacle sensor 33 . That is, even if the obstacle monitoring range 7 is not entered, the projection control unit 21 projects the projection light indicating the presence of the obstacle in the direction detected by the obstacle sensor 33 .

FIG. 12 is a diagram showing an example of projected light indicating the presence of an obstacle. As shown in FIG. 12A, the projection control unit 21 projects projection light 201 indicating the existence of the object 16 in front of the object 16 . In the automatic driving mode, the occupant 11 may not know whether the obstacle sensor 33 recognizes an obstacle, but in this embodiment, it can be confirmed that the obstacle sensor 33 has detected an obstacle. Moreover, since it is possible to know in advance whether the mobility 10 will avoid, the mobility 10 can be used with more peace of mind. Although the object 16 is detected in FIG. 12(a), the same is true when a pedestrian is detected.

In FIG. 12(b), a depression 202 on the road is detected as an obstacle. Although it is often difficult to notice the dent 202 on the road, the projection control unit 21 projects the projection light 203 indicating the dent 202 so that the occupant 11 can easily notice the dent 202 . In addition, when the mobility 10 is steered to avoid the recess 202, the occupant 11 can grasp the reason why the mobility 10 has changed its direction, which provides a sense of security. Also, when the third party 301 sees, there is an effect that it is easy to understand what the mobility 10 is doing.

As a method of detecting the depression 202, there is a method of using a 3D laser radar or a stereo camera, but the probe car may record the depression 202 without using the obstacle sensor 33. FIG. Each mobility 10 accumulates position information as a probe car in a server when an acceleration sensor that detects vertical acceleration detects acceleration equal to or greater than a threshold. Mobility 10 acquires the position information of depression 202 from the server and projects projection light 203 indicating depression 202 .

Not only dents but also bumps on the road surface can be recorded in the same way. In addition, if the obstacle sensor 33 can determine the type of obstacle, if the obstacle is fixed on the road surface, the position of the obstacle can be recorded so that even if the obstacle sensor 33 does not detect the obstacle, projection can be performed. Light 12 can be projected.

<Operation procedure>
Next, with reference to FIG. 13, the flow of processing in which the projection device 20 projects the projection light 12 indicating the avoidance start range 6 will be described. FIG. 13 is an example of a flowchart showing the process of projecting the projection light 12 indicating the avoidance start range 6 by the projection device 20 . The process of FIG. 13 starts while the vehicle is running in the manual driving mode or the automatic driving mode.

The projection control unit 21 determines whether or not the obstacle sensor 33 has detected an obstacle within the obstacle monitoring range 7 (S1). If no obstacle within the obstacle monitoring range 7 is detected, the process of FIG. 13 ends.

When an obstacle is detected within the obstacle monitoring range 7, the projection control unit 21 determines whether or not the obstacle exists on the side of the mobility 10 (S2). That is, it is determined whether an obstacle has been detected in the obstacle monitoring range 7a, e.

If the determination in step S2 is Yes, the projection control unit 21 determines whether the steering wheel 37 has been steered toward the obstacle, or whether the steering drive unit 34 has been steered toward the obstacle by automatic operation (S3). ).

If the determination in step S3 is No, the projection light 12 indicating the avoidance start range 6 is not projected, so the process of FIG. 13 ends. If the determination in step S3 is Yes, the process proceeds to step S4.

If the determination in step S2 is No or the determination in step S3 is Yes, the projection control unit 21 projects the projection light 12 indicating the avoidance start range 6 corresponding to the obstacle monitoring range 7 (S4).

As described above, the projection device 20 of the present embodiment can easily travel in crowded places and many obstacles. Moreover, if it is sufficient to detect an obstacle without judging the type of the obstacle (without distinguishing between the object and the pedestrian 9), the projection device 20 can be realized at low cost.

If the obstacle sensor 33 has a stereo camera and a processor for image processing, the pedestrian 9 and the feature can be distinguished from each other, the projection light 12 can be switched, and an appropriate message or the like can be projected.

FIG. 14 is an example of a flow chart showing a process in which the projection device 20 distinguishes between the pedestrian 9 and the feature and projects the projection light. The process of FIG. 14 is executed in step S4 of FIG.

The projection control unit 21 determines whether or not the obstacle is the pedestrian 9 (S11). If the obstacle is the pedestrian 9 (Yes in step S11), the projection control unit 21 projects a message to the pedestrian 9 (S12).

If the obstacle is not the pedestrian 9 (No in step S11), the projection control unit 21 projects a message to the passenger 11 (S13). Through such processing, appropriate messages can be projected to the occupant 11 and the pedestrian 9. FIG.

<Summary>
As described above, the projection device 20 of the present embodiment projects the projection light 12 indicating the avoidance start range 6 when an obstacle is detected. The outer edge of the avoidance start range 6 can be grasped by 12, and the avoidance start range 6 can be reliably avoided while walking. Therefore, even if the mobility 10 runs in a place with a lot of people, it is possible to reduce the possibility that the movement of the mobility 10 will be hindered.

Moreover, since it is not necessary to determine whether the obstacle is the pedestrian 9 or not, the cost of the projection device 20 can be reduced. When it is determined whether the obstacle is the pedestrian 9 or an object, the projection light 12 can be switched according to the type of obstacle.

<Other application examples>
Although the best mode for carrying out the present invention has been described above using examples, the present invention is by no means limited to such examples, and various modifications can be made without departing from the scope of the present invention. and substitutions can be added.

For example, the mobility does not have to be occupied by a passenger. In factories, transport vehicles that transport parts and the like move unmanned, and the present invention can be suitably applied to such unmanned transport vehicles. Mobility may also move within a facility. For example, if there is a patient undergoing multiple examinations at a hospital, the patient can automatically move to the designated examination window by getting on the mobility. Even if the patient is visiting the hospital for the first time, the examination window can be reached without hesitation. If a reception counter is set up for users to use at a government office other than a hospital, the user can move to the counter just by getting on the mobility.

6 avoidance start range 7 obstacle monitoring range 9 pedestrian 10 mobility 11 passenger 12 projection light 20 projection device 30 movement control device

Claims (10)

A projection device that is mounted on a mobility and projects visible light,
at least one or more projection units that project visible light onto a road surface;
a projection control unit that, when an obstacle sensor detects an obstacle, causes the projection unit to project projection light indicating an avoidance start range in which the mobility starts an avoidance action against the obstacle that has entered;
A projection device comprising: the obstacle sensor detects a distance to the obstacle;
2. The projection apparatus according to claim 1, wherein the projection control unit causes the projection unit to project the projection light indicating the avoidance start range when the distance to the obstacle is within a predetermined distance. the obstacle sensor detects a direction in which the obstacle exists as viewed from the projection device;
3. The projection apparatus according to claim 1, wherein the projection control unit causes the projection unit to project the projection light indicating the avoidance start range in the direction of the obstacle. Having a plurality of the projection units,
The projection control unit refers to information in which the direction of the obstacle and the projection unit are associated, and determines the projection unit associated with the direction of the obstacle detected by the obstacle sensor;
4. The projection apparatus according to claim 3, wherein the determined projection unit projects projection light indicating the avoidance start range. Regardless of the direction of the obstacle detected by the obstacle sensor, the projection control unit
4. The projection apparatus according to claim 3, wherein all the projection units are caused to project the projection light indicating the avoidance start range. When an obstacle is detected on the side of the mobility, the projection control unit
When the steering member of the mobility is not steered in the direction of the obstacle, the projector does not project the projection light indicating the avoidance start range in the direction of the obstacle,
When the steering member of the mobility is steered in the direction of the obstacle, the projection light indicating the avoidance start range is projected onto the projection unit in the direction of the obstacle. A projection device according to any one of the preceding claims. The projection control unit acquires information about the type of obstacle from the obstacle sensor,
7. The projection apparatus according to any one of claims 1 to 6, wherein the projection light is projected according to the type of the obstacle. If the type of obstacle obtained from the obstacle sensor is a pedestrian,
The projection control unit projects a message in a direction to be read by the pedestrian with projection light,
If the type of obstacle acquired from the obstacle sensor is a feature,
7. The projection device according to claim 6, wherein the projection control unit projects a message in a direction to be read by a passenger of the mobility with projection light. A projection device mounted on mobility that projects visible light,
When an obstacle sensor detects an obstacle, projecting light indicating an avoidance start range in which the mobility starts an avoidance action against the obstacle that has entered,
a projection control unit that causes at least one or more projection units that project visible light onto a road surface;
A program that acts as a A mobility characterized by being equipped with the projection device according to any one of claims 1 to 8 and capable of moving by power.

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