# US 12,594,875 B2 · Vehicle with road surface image rendering function

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- Number: US 12,594,875 B2
- Document ID: US12594875B2
- Status: Granted
- Kind: B2
- Application number: 18/431,651
- Filed: 2024-02-02
- Published: 2024-08-15
- Granted: 2026-04-07
- Earliest claimed: 2023-02-14
- Assignees: Subaru Corporation
- Applicants: Subaru Corporation
- Inventors: Kentarou Yamasaki; Makoto Kinoshita
- Web page: https://patentgrep.com/patent/US12594875B2

## 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
- B60Q 1/525: {automatically indicating risk of collision between vehicles in traffic or with pedestrians, e.g. after risk assessment using the vehicle sensor data}
- B60W 50/14: Means for informing the driver, warning the driver or prompting a driver intervention
- G06V 20/58: Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
- B60Q 2400/50: Projected symbol or information, e.g. onto the road or car body
- B60W 2050/146: {Display means}
- B60W 2420/403: Image sensing, e.g. optical camera
- B60W 2554/402: Type
- B60W 2554/4026: Cycles
- B60W 2554/4029: Pedestrians
- B60W 2554/4041: Position
- B60Q: ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING

## Abstract

A vehicle with a road surface image rendering function includes a light projection member, a controller, and a detection device. The light projection member is configured to project light for road surface image rendering toward a road surface in front of the vehicle. The controller is configured to control light projection for of road surface image rendering. The detection device is configured to detect a pedestrian or a bicycle on a road shoulder in front of the vehicle on the road surface where a road surface image is rendered. The controller is configured to, when the pedestrian or the bicycle on the road shoulder in front of the vehicle is detected, change the light projection for the road surface image rendering by the light projection member so as to promote visual recognition of the pedestrian or the bicycle on the road shoulder in front of the vehicle.

## Claims

### Claim 1

A vehicle configured to render a road surface image on a road surface of a road on which the vehicle is traveling, the vehicle comprising:
a light projection member configured to project a visual notification image onto the road surface in front of the vehicle for rendering the road surface image;
a controller configured to control light projection by the light projection member for rendering the road surface image while the vehicle is traveling; and
a detection device configured to perform real-time detection of a pedestrian or a bicycle physically present on a road shoulder located in front of the vehicle and adjacent to the road on which the vehicle is traveling, while rendering the road surface image,
wherein the controller is configured to, in response to the real-time detection of the pedestrian or the bicycle on the road shoulder by the detection device while the vehicle is traveling and rendering the road surface image, modify at least one of a projection pattern, brightness, or shape of the light projection by the light projection member so as to enhance visual recognizability of the detected pedestrian or the detected bicycle to a driver of the vehicle.

### Claim 2 (depends on 1)

The vehicle with the road surface image rendering function according to claim 1, wherein the controller is configured to:
when the pedestrian or the bicycle on the road shoulder in front of the vehicle is detected by the detection device, stop the light projection for the road surface image rendering by the light projection member, thereby preventing the road surface image from being rendered on the road surface in front of the vehicle, and
when the pedestrian or the bicycle on the road shoulder in front of the vehicle is not detected by the detection device, cause the light projection member to project the light for the road surface image rendering, thereby rendering the road surface image on the road surface in front of the vehicle.

### Claim 3

A vehicle configured to render a road surface image on a road surface of a road on which the vehicle is traveling, the vehicle comprising:
a light projection member configured to project light toward the road surface in front of the vehicle for rendering the road surface image;
a controller configured to control light projection by the light projection member for rendering the road surface image;
a detection device configured to perform real-time detection of a pedestrian or a bicycle physically present on a road shoulder located in front of the vehicle and adjacent to the road on which the vehicle is traveling, while rendering the road surface image; and
an information output device provided in the vehicle, the information output device being configured to output information to an occupant of the vehicle,
wherein the controller is configured to, in response to the real-time detection of the pedestrian or the bicycle on the road shoulder by the detection device, modify at least one of a projection pattern, brightness, or shape of the light projection by the light projection member so as to enhance visual recognizability of the detected pedestrian or the detected bicycle to a driver of the vehicle,
wherein the controller is further configured to:
when the pedestrian or the bicycle on the road shoulder in front of the vehicle is detected by the detection device, stop the light projection for the road surface image rendering by the light projection member, thereby preventing the road surface image from being rendered on the road surface in front of the vehicle; and
when the pedestrian or the bicycle on the road shoulder in front of the vehicle is not detected by the detection device, cause the light projection member to project the light for the road surface image rendering, thereby rendering the road surface image on the road surface in front of the vehicle, and
wherein the controller is configured to, upon stopping the light projection for the road surface image rendering by the light projection member when the pedestrian or the bicycle on the road shoulder in front of the vehicle is detected by the detection device, output from the information output device to the occupant of the vehicle the information that indicates the road surface image rendering is stopped.

### Claim 4 (depends on 1)

The vehicle with the road surface image rendering function according to claim 1, wherein the controller is configured to:
select a first light projection pattern to be light-projected by the light projection member for the road surface image rendering, and determine whether the pedestrian or the bicycle on the road shoulder in front of the vehicle is detected by the detection device;
when the pedestrian or the bicycle on the road shoulder in front of the vehicle is detected by the detection device, cause the light projection member to project a second light projection pattern indicating that there is the detected pedestrian or bicycle, instead of the first light projection pattern or in addition to the first light projection pattern; and
when the pedestrian or the bicycle on the road shoulder in front of the vehicle is not detected by the detection device, cause the light projection member to project the first light projection pattern.

### Claim 5 (depends on 4)

The vehicle with the road surface image rendering function according to claim 4,
wherein the controller is configured to:
when the pedestrian or the bicycle on the road shoulder in front of the vehicle is detected by the detection device, suppress the light projection from the light projection member for a light projection pattern other than the second light projection pattern indicating that there is the detected pedestrian or bicycle, in comparison to the second light projection pattern.

### Claim 6

A vehicle configured to render a road surface image on a road surface of a road on which the vehicle is traveling, the vehicle comprising:
a light projection member including a light source and configured to project a visual notification image onto the road surface in front of the vehicle for rendering a road surface image;
circuitry configured to control light projection by the light projection member for rendering the road surface image while the vehicle is traveling; and
a detection device including a sensor and configured to perform real-time detection of a pedestrian or a bicycle physically present on a road shoulder located in front of the vehicle and adjacent to the road on which the vehicle is traveling, while rendering the road surface image,
wherein the circuitry is configured to, in response to the real-time detection of the pedestrian or the bicycle on the road shoulder by the detection device while the vehicle is traveling and rendering the road surface image, modify at least one of a projection pattern, brightness, or shape of the light projection by the light projection member so as to enhance visual recognizability of the detected pedestrian or the detected bicycle to a driver of the vehicle.