Object detection device and method for controlling object detection device
A technology for object detection and light control, applied in measuring devices, energy-saving control technology, re-radiation of electromagnetic waves, etc., can solve problems such as not considering the dynamic range of ambient light images or background light images
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no. 1 approach
[0027] like figure 1 As shown, the object detection device 10 in the vehicle according to the first embodiment is mounted on the vehicle 50 and used. The object detection device 10 includes a laser radar (Lidar: Light Detection and Ranging) 200 and a control device 100 that controls the operation of the laser radar 200 . In addition, the object detection device 10 is also called a distance measuring device, and can detect the position and characteristics of the object in addition to the distance of the object using the lidar 200 . In addition to this, the vehicle 50 may further include an illuminance sensor 48 for detecting ambient light, a wheel speed sensor, a yaw rate sensor, and a driving assistance control device for performing driving assistance.
[0028] like figure 2 As shown, the object detection device 10 includes: a lidar 200 as a light measuring unit that emits detection light by emitting light and receives incident detection reflected light or ambient light; an...
no. 2 approach
[0048] In the first embodiment, the ambient light acquisition period T1 is determined based on the ambient light intensity Ei, but in the second embodiment, the emission period T2 is determined based on the characteristics of the detected reflected light in the emission period T2, and the ambient light acquisition period is changed T1. In addition, since the structure of the object detection apparatus in 2nd Embodiment is the same as that of the structure of the object detection apparatus 10 which concerns on 1st Embodiment, description is abbreviate|omitted by attaching the same code|symbol.
[0049] An object detection process including acquisition of ambient light intensity performed by the object detection device 10 according to the second embodiment will be described. For example, the control system of the vehicle is repeatedly executed at predetermined time intervals, for example, every several 100 ms, from the time of starting the control system of the vehicle to the ti...
Embodiment approach
[0056] (1) In each of the above-described embodiments, the acquisition of the ambient light intensity Ei and the acquisition of the detected reflected light are continuously performed during the determined ambient light acquisition period T1 and the emission period T2. On the other hand, when an appropriate accumulated ambient light quantity is obtained, for example, when the average of the accumulated ambient light quantity and the maximum value of the output value (pixel value) of the light-receiving pixel exceeds a predetermined reference value, The ambient light acquisition period T1 ends, and the transition to the light emission period T2 is performed. Alternatively, when an appropriate detected reflected light SNi is obtained, for example, when the peak light amount indicated by the detected reflected light signal exceeds a predetermined reference value, the light emission period T2 may be terminated, and the ambient light acquisition period T1 may be executed. transfer....
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