# US 12,109,935 B2 · Vehicle having road-surface rendering function > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,109,935 B2 - Document ID: US12109935B2 - Status: Granted - Kind: B2 - Application number: 18/430,487 - Filed: 2024-02-01 - Published: 2024-08-15 - Granted: 2024-10-08 - Earliest claimed: 2023-02-14 - Assignees: Subaru Corporation - Applicants: Subaru Corporation - Inventors: Kentarou Yamasaki; Makoto Kinoshita - Web page: https://patentgrep.com/patent/US12109935B2 ## CPC - B60Q 1/143: {combined with another condition, e.g. using vehicle recognition from camera images or activation of wipers} - B60Q 1/085: {due to special conditions, e.g. adverse weather, type of road, badly illuminated road signs or potential dangers (B60Q1/10, B60Q1/12, B60Q1/1423 take precedence)} - B60Q 1/50: for indicating other intentions or conditions, e.g. request for waiting or overtaking - G06V 10/145: Illumination specially adapted for pattern recognition, e.g. using gratings - G06V 10/60: relating to illumination properties, e.g. using a reflectance or lighting model - G06V 20/588: {Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road} - B60Q 2400/50: Projected symbol or information, e.g. onto the road or car body - B60Q: ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING ## Abstract A vehicle having a road-surface rendering function includes a light projection member, a detection device, and a control unit. The light projection member performs light projection for road-surface rendering in the traveling vehicle and renders a road-surface rendered image onto a road surface surrounding the traveling vehicle. The detection device performs detection of a detection range larger than a light projection range in which the road-surface rendered image is rendered by the light projection member. The control unit controls the light projection for the road-surface rendering by the light projection member in accordance with the detection. The control unit determines whether the road-surface rendering is adequate at least in an outer area of the road surface located outside the light projection range with respect the detection range, and suppresses the light projection when the road-surface rendered image passes a road-surface area determined as being inadequate for the road-surface rendering. ## Claims ### Claim 1 A vehicle having a road-surface rendering function, the vehicle comprising: a light projection member configured to perform light projection for road-surface rendering in the vehicle that is traveling, the light projection member being configured to render a road-surface rendered image onto a road surface surrounding the vehicle that is traveling; a detection device configured to perform detection of a detection range larger than a light projection range in which the road-surface rendered image is rendered by the light projection member; and a control unit configured to control the light projection for the road-surface rendering by the light projection member in accordance with the detection by the detection device, wherein the control unit is configured to determine whether the road-surface rendering is adequate at least in an outer area of the road surface located outside the light projection range with respect the detection range of the detection device, and suppress the light projection for the road-surface rendered image from the light projection member when the road-surface rendered image passes a road-surface area determined as being inadequate for the road-surface rendering. ### Claim 2 (depends on 1) The vehicle having the road-surface rendering function according to claim 1, wherein the detection range of the detection device is wide at least in a forward portion in a traveling direction of the vehicle, as compared with the light projection range of the light projection member. ### Claim 3 (depends on 2) The vehicle having the road-surface rendering function according to claim 2, wherein the control unit is configured to split the detection range of the detection device into segments, at least determine whether reflection toward a driver who drives the vehicle is insufficient for each of the segments, and suppress the light projection for the road-surface rendered image from the light projection member when the road-surface rendered image passes a road-surface area corresponding to, among the segments, a segment where the reflection is insufficient. ### Claim 4 (depends on 3) The vehicle having the road-surface rendering function according to claim 3, wherein the control unit is configured to stop the light projection for the road-surface rendered image from the light projection member before the road-surface rendered image passes the road-surface area corresponding to the segment where the reflection is insufficient, and resume the light projection for the road-surface rendered image from the light projection member after the road-surface rendered image passes the road-surface area corresponding to the segment where the reflection is insufficient. ### Claim 5 (depends on 4) The vehicle having the road-surface rendering function according to claim 4, further comprising: a storage medium configured to store light projection patterns to be projected by the light projection member, wherein the control unit is configured to when the light projection patterns are to be output simultaneously from the detection device, control the light projection by determining whether the road-surface rendered image corresponding to each of the light projection patterns has passed the road-surface area determined as being inadequate for the road-surface rendering. ### Claim 6 (depends on 5) The vehicle having the road-surface rendering function according to claim 5, wherein one or more of the light projection patterns are stored in the storage medium with being in association with each other, and wherein the control unit is configured to determine, when a light projection pattern selected from the multiple light projection patterns associated with each other is to be projected from the light projection member, whether all of road-surface rendered images respectively corresponding to the light projection patterns associated with each other have passed the road-surface area determined as being inadequate for the road-surface rendering, and perform control so as not to perform the light projection. ### Claim 7 (depends on 3) The vehicle having the road-surface rendering function according to claim 3, further comprising: a storage medium configured to store light projection patterns to be projected by the light projection member, wherein the control unit is configured to when the light projection patterns are to be output simultaneously from the detection device, control the light projection by determining whether the road-surface rendered image corresponding to each of the light projection patterns has passed the road-surface area determined as being inadequate for the road-surface rendering. ### Claim 8 (depends on 7) The vehicle having the road-surface rendering function according to claim 7, wherein one or more of the light projection patterns are stored in the storage medium with being in association with each other, and wherein the control unit is configured to determine, when a light projection pattern selected from the multiple light projection patterns associated with each other is to be projected from the light projection member, whether all of road-surface rendered images respectively corresponding to the light projection patterns associated with each other have passed the road-surface area determined as being inadequate for the road-surface rendering, and perform control so as not to perform the light projection. ### Claim 9 (depends on 2) The vehicle having the road-surface rendering function according to claim 2, further comprising: a storage medium configured to store light projection patterns to be projected by the light projection member, wherein the control unit is configured to when the light projection patterns are to be output simultaneously from the detection device, control the light projection by determining whether the road-surface rendered image corresponding to each of the light projection patterns has passed the road-surface area determined as being inadequate for the road-surface rendering. ### Claim 10 (depends on 9) The vehicle having the road-surface rendering function according to claim 9, wherein one or more of the light projection patterns are stored in the storage medium with being in association with each other, and wherein the control unit is configured to determine, when a light projection pattern selected from the multiple light projection patterns associated with each other is to be projected from the light projection member, whether all of road-surface rendered images respectively corresponding to the light projection patterns associated with each other have passed the road-surface area determined as being inadequate for the road-surface rendering, and perform control so as not to perform the light projection. ### Claim 11 (depends on 1) The vehicle having the road-surface rendering function according to claim 1, further comprising: a storage medium configured to store light projection patterns to be projected by the light projection member, wherein the control unit is configured to when the light projection patterns are to be output simultaneously from the detection device, control the light projection by determining whether the road-surface rendered image corresponding to each of the light projection patterns has passed the road-surface area determined as being inadequate for the road-surface rendering. ### Claim 12 (depends on 11) The vehicle having the road-surface rendering function according to claim 11, wherein one or more of the light projection patterns are stored in the storage medium with being in association with each other, and wherein the control unit is configured to determine, when a light projection pattern selected from the multiple light projection patterns associated with each other is to be projected from the light projection member, whether all of road-surface rendered images respectively corresponding to the light projection patterns associated with each other have passed the road-surface area determined as being inadequate for the road-surface rendering, and perform control so as not to perform the light projection. ### Claim 13 A vehicle having a road-surface rendering function, the vehicle comprising: a light projection member including a light source and configured to perform light projection for road-surface rendering in the vehicle that is traveling, the light projection member being configured to render a road-surface rendered image onto a road surface surrounding the vehicle that is traveling; and circuitry configured to perform detection of a detection range larger than a light projection range in which the road-surface rendered image is rendered by the light projection member, control the light projection for the road-surface rendering by the light projection member in accordance with the detection, determine whether the road-surface rendering is adequate at least in an outer area of the road surface located outside the light projection range with respect the detection range, and suppress the light projection for the road-surface rendered image from the light projection member when the road-surface rendered image passes a road-surface area determined as being inadequate for the road-surface rendering.