A lighting device includes at least a light source for emitting light rays and a guide for guiding light rays on a projection plane. The guide is formed by a lens presenting a cylindrical portion extending along an axis perpendicular to the projection plane, and at least one convex shaped surface extending at an extremity of the cylindrical portion. The convex shaped surface is adapted to direct a portion of the light rays emitted from the light source towards the projection plane. This enables to project the light towards a projection plane quasi parallel to the beam direction without using any guides on the projection plane itself.