Optical devices, vehicle-mounted systems and mobile devices

Abstract

The present invention discloses an optical device, a vehicle-mounted system, and a mobile device. The optical device includes: a deflector configured to deflect illumination light from a light source unit so as to scan an object, and configured to deflect reflected light from the object; a light guide configured to guide a portion of the illumination light from the light source unit to the deflector, guide the other portion to a first light receiving element, and guide reflected light from the deflector to a second light receiving element; and an optical element having an optical surface disposed between the light guide and the second light receiving element. The optical surface is tilted or eccentric relative to the main light of the illumination light.

Description

Technical Field

[0001] The present invention relates to an optical device for detecting an object by receiving reflected light from an illuminated object. Background Art

[0002] LiDAR (Light Detection and Ranging) is a known method for measuring the distance to an object, and the distance is calculated based on the reception time of reflected light from an illuminated object or the phase of the reflected light. Japanese Patent No. 4476599 discloses a configuration for measuring the position and distance of an object based on the angle of a deflector (driving mirror) when the light receiving element receives reflected light from the object and a signal obtained from the light receiving element.

[0003] In addition to the optical system and light receiving element for measuring the distance, the device using LiDAR may also use an optical system and light receiving element for detecting the timing of illumination and measuring the amount of emitted light. In this case, light that is not required for distance measurement may be generated inside the device and saturate the signal of the light receiving element. In particular, because the reflected light from the object is received before the signal saturation caused by the unwanted light is reset, it is difficult to distinguish the unwanted light from the reflected light from the close-range object from each other. As a result, the distance to the object cannot be accurately measured. Summary of the invention

[0004] The present invention provides an optical device, an in-vehicle system (in-vehicle system), and a mobile device, each of which can suppress unnecessary light from being received by a light receiving element.

[0005] An optical device according to one aspect of the present invention includes: a deflector configured to deflect illumination light from a light source unit so as to scan an object, and configured to deflect reflected light from the object; a light guide configured to guide a portion of the illumination light from the light source unit to the deflector, guide the other portion to a first light receiving element, and guide reflected light from the deflector to a second light receiving element; and an optical element having an optical surface disposed between the light guide and the second light receiving element. The optical surface is tilted or eccentric relative to a principal ray of the illumination light.

[0006] An optical device according to another aspect of the present invention includes: a deflector configured to deflect illumination light from a light source unit so as to scan an object, and configured to deflect reflected light from the object; and a light guide configured to guide a portion of the illumination light from the light source unit to the deflector, guide the other portion to a first light receiving element, and guide the reflected light from the deflector to a second light receiving element. A light receiving surface of the first light receiving element is inclined relative to a principal ray of the illumination light.

[0007] An in-vehicle system and a mobile device each having the above optical device also constitute other aspects of the present invention.

[0008] Further features of the present invention will become apparent from the following description of exemplary embodiments with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 is a schematic diagram of a distance measuring device according to a first embodiment.

[0010] Figure 2 The diagram shows the area provided at the separator.

[0011] FIG. 3A to FIG. 3C The optical path in the first embodiment is shown in the figure.

[0012] Figure 4A and Figure 4B The diagram shows an optical path of the unnecessary light from the second detector in the first embodiment reaching the first detector and an optical path of the unnecessary light from the second detector separating from the first detector.

[0013] Figure 5 is a schematic diagram of a distance measuring device according to a second embodiment.

[0014] Figure 6 The diagram shows the relationship between the magnification variation optical system and the driving mirror.

[0015] 7A to 7C The optical path in the second embodiment is shown in the figure.

[0016] Fig. 8A and Figure 8B The diagram shows an optical path of unnecessary light from the second detector in the second embodiment reaching the first detector and an optical path of unnecessary light from the second detector separating from the first detector.

[0017] Fig. 9 is a configuration diagram of the vehicle-mounted system according to this embodiment.

[0018] Fig.10 is a schematic diagram of a vehicle (mobile device) according to this embodiment.

[0019] Fig.11 is a flowchart showing an operation example of the in-vehicle system according to this embodiment. DETAILED DESCRIPTION

[0020] Now, with reference to the accompanying drawings, a detailed description of embodiments according to the present invention will be given. Corresponding elements in the various drawings will be designated by the same reference numerals, and their repeated description will be omitted.

[0021] A distance measuring device using LiDAR includes an illumination system for illuminating an object and a light receiving system for receiving reflected light or scattered light from the object. LiDAR has a coaxial system in which the optical axes of the illumination system and the light receiving system partially coincide with each other, and a non-coaxial system in which the optical axes do not coincide with each other at all. The distance measuring device according to this embodiment is suitable for a coaxial LiDAR.

[0022] First embodiment

[0023] Figure 1 1 is a schematic diagram of a distance measuring device (optical device) 1 according to this embodiment. The distance measuring device 1 includes a light source unit 10 , a separator (light guide) 20 , a driving mirror (deflector) 30 , a first detector 40 , a second detector 50 , and a controller 100 .

[0024] The light source unit 10 includes a light source 11 and a collimator 12 that makes divergent light from the light source 11 into substantially parallel light.

[0025] The drive mirror 30 is a two-dimensional scanning drive mirror, which is rotationally driven around an axis parallel to the Y axis passing through the center of the mirror and an Mx axis indicated by alternating long and short dashed lines and orthogonal to the Y axis. The drive mirror 30 deflects the illumination light from the light source unit 10 so as to scan the subject (object), and deflects the reflected light from the subject so as to guide the light to the separator 20.

[0026] The separator 20 guides a part of the illumination light from the light source unit 10 to the driving mirror 30, and guides the other part of the illumination light to the second detector 50. The separator 20 guides the reflected light from the driving mirror 30 to the first detector 40.

[0027] The separator 20 includes an optical element having a flat plate shape. Figure 2 As shown in FIG. 1 , the surface A on the driving mirror 30 side of the separator 20 has an area 21 that transmits a part (most part) of the illumination light from the light source unit 10 and reflects the other part, and an area 22 that reflects the reflected light from the driving mirror 30. When viewed from the light source unit 10 side, the area 21 is smaller than the effective diameter of the driving mirror 30, and the illumination light passing through the area 21 falls within the effective diameter of the driving mirror 30. The area 22 has an effective diameter configured to sufficiently reflect the reflected light or scattered light from the object reflected by the driving mirror 30.

[0028] In this embodiment, the separator 20 includes an optical element having a flat plate shape, but the present invention is not limited to this example. The separator 20 may include an optical element (prism) having a polyhedral shape having a plurality of optical surfaces that are not parallel to each other, or may include an optical element having a flat plate shape and an optical element having a polyhedral shape.

[0029] The first detector 40 includes an imaging lens 41 , a light receiving element (second light receiving element) 42 , and a band pass filter (not shown). The light receiving element 42 receives light reflected or scattered from an object through the driving mirror 30 and the separator 20 .

[0030] The second detector 50 includes an imaging lens 51, a light receiving element (first light receiving element) 52, and a neutral density ("ND") filter (dimming element) 53. The illumination light reflected by the separator 20 is dimmed by the ND filter 53, passes through the imaging lens 51, and is received by the light receiving element 52. The second detector 50 has a role different from the detection of the reflected light from the object, and is used, for example, to detect the illumination timing and measure the amount of illumination light. In this embodiment, the type of the light receiving element 52 is different from the light receiving element 42. For example, one can be set as a sensor using an avalanche photodiode (APD), and the other can be set as a sensor using other common photodiodes. One can be set as a CMOS sensor, and the other can be set as a CCD sensor. The ND filter 53 has a flat plate shape, is arranged between the separator 20 and the light receiving element 52, and is inclined (not perpendicular) relative to the main ray of the illumination light from the light source section 10 reflected by the separator 20, which is indicated by the dotted line. Here, the inclination relative to the main ray of the illumination light refers to an optical surface that includes an inclination relative to the main ray of the illumination light. In other words, the normal line at the incident point of the principal ray of illumination light on the optical surface is not parallel to the principal ray.

[0031] The controller 100 controls light emission parameters of the light source unit 10 , driving of the driving mirror 30 , and light reception parameters of the first detector 40 and the second detector 50 .

[0032] FIG. 3A to FIG. 3C The optical path in this embodiment is illustrated. Figure 3A It is illustrated that a portion of the illumination light from the light source unit 10 passes through the region 21 of the separator 20 , is reflected while being scanned by the driving mirror 30 , and illuminates the object OBJ. Figure 3B It is illustrated that the other part of the illumination light from the light source unit 10 is reflected by the region 21 of the separator 20 and is condensed by the second detector 50 . Figure 3C It is illustrated that reflected light or scattered light from object OBJ is reflected by drive mirror 30, reflected in region 22 of separator 20, and converged by first detector 40. Due to this configuration, an optical system used for purposes other than distance measurement can be made smaller without adding any optical elements.

[0033] Here, in Figure 3B In the optical path in FIG. 4 , reflected light or scattered light (hereinafter, unnecessary light) from the ND filter 53 may be received by the light receiving element 42. Figure 4A As shown in the figure, the ND filter 53 is substantially perpendicular to the main light of the illumination light reflected by the separator 20, and the unnecessary light passes through the area 21 of the separator 20 and is easily received by the light receiving element 42. In the case where the output of the light source unit is set to 1, the unnecessary light can be suppressed to as low as 10 -8 or less. In the case where the region 21 of the separator 20 has a reflectivity of 5% and the ND filter 53 has a reflectivity of 5%, the unwanted light is about 2.5×10 -3 , which is 10 higher than the allowable value of unwanted light -8 Much higher.

[0034] In this embodiment, if Figure 4B As illustrated in FIG. 5 , the ND filter 53 is inclined with respect to the principal ray of the illumination light reflected by the separator 20, and thus most of the unwanted light does not pass through the region 21 of the separator 20 and reaches other places. Therefore, most of the unwanted light can be separated from the first detector 40. For example, θ>tan(d / 2f) may be satisfied, where f(mm) is the focal length of the imaging lens 41, (mm) is the size of the light receiving element 42, and θ (degrees) is the tilt angle of the unwanted light relative to the main ray of the illumination light reflected by the separator 20. In this case, the unwanted light is separated from (or not received by) the light receiving element 42. More specifically, in a case where the focal length of the imaging lens 41 is 20 mm and the size of the light receiving element 42 is 500 μm, the tilt angle θ may be greater than 0.72 degrees.

[0035] In order to suppress the unnecessary light generated by the ND filter 53 from colliding with the lens barrel, etc. and causing strong return light from the lens barrel, etc., a diffuser for diffusing the unnecessary light and an absorber for absorbing the unnecessary light may be provided on the reflection light path of the unnecessary light reflected by the ND filter 53.

[0036] As described above, the configuration in this embodiment can accurately measure the distance using the optical system for a purpose different from the distance measurement.

[0037] This embodiment tilts the ND filter 53 and suppresses the unnecessary light generated by the ND filter 53 from being received by the light receiving element 42, but the present invention is not limited to this example. For example, when other optical elements such as a diffusion element or a bandpass filter are provided between the separator 20 and the light receiving element 52, the provided optical elements may be tilted. The imaging lens 51 may be tilted.

[0038] In order to suppress the unwanted light generated by the optical element arranged between the separator 20 and the light receiving element 52 from being received by the light receiving element 42, this embodiment tilts the optical element, but the present invention is not limited to this example. The optical element can be eccentric with respect to the main light ray of the illumination light reflected by the separator 20. In other words, the surface vertices on the optical surface included in the optical element and the incident point of the main light ray of the illumination light can be spaced apart from each other. Thereby, the same effect as that of the present invention can be obtained. For example, the imaging lens 51 can be eccentric (or centrifugal).

[0039] The light receiving element 52 may be tilted relative to the principal ray of the illumination light, in other words, the normal line at the incident point of the principal ray of the illumination light on the light receiving surface of the light receiving element 52 may not be parallel to the principal ray. Thus, it is possible to suppress unnecessary light regularly reflected on the light receiving surface of the light receiving element 52 from being received by the light receiving element 42. Two or more of the three methods, namely, tilting the optical element, centrifuging the optical element, and tilting the light receiving element 52, may be combined.

[0040] Second embodiment

[0041] Figure 5 is a schematic diagram of a distance measuring device 1 according to this embodiment. The distance measuring device 1 according to this embodiment is different from the distance measuring device 1 in the first embodiment in that the separator 20 is not in a flat plate shape but is a polyhedral prism having a plurality of surfaces, and in that a magnification variation optical system 60 is disposed on the light-emitting side of the driving mirror 30. The magnification variation optical system 60 has no refractive power in the entire system, and guides the illumination light from the driving mirror 30 to the object OBJ and guides the reflected light from the object OBJ to the driving mirror 30. Since the other configurations are the same as those of the first embodiment, the detailed description thereof will be omitted.

[0042] Figure 6 The relationship between the magnification variation optical system 60 and the driving mirror 30 is shown in FIG. Figure 5In the configuration, the configuration on the light emitting side of the driving mirror 30 is illustrated in the YZ plane. Fa, Fb, and Fc are respectively the illumination light path having the outermost viewing angle when the driving mirror 30 swings relative to the Mx axis, the illumination light path when the swing angle of the driving mirror 30 is 0, and the illumination light path having the outermost viewing angle on the opposite side of the illumination light path Fa. The illumination light path Fc is the illumination light path with the outermost axis viewing angle for measuring the distance to the object OBJ, rather than the illumination light path when the driving mirror 30 swings to the maximum. Within the tilt and reflection range of the driving mirror 30, the illumination light paths Fa, Fb, and Fc use only one side relative to the optical axis of the magnification changing optical system 60 so as to prevent the illumination light from vertically entering the optical elements of the magnification changing optical system 60. Therefore, the trace amount of reflected light generated on the surface of the optical element does not reach the light receiving surface of the light receiving element 42, and no stray light occurs.

[0043] Fg represents the illumination light path when the driving mirror 30 has the maximum swing angle relative to the Mx axis. When the illumination light path Fg is vertically incident on the optical element of the magnification variation optical system 60, a small amount of reflected light from the optical element is reflected by the separator 20 through the same optical path as the illumination light path Fg, and is detected as stray light by the first detector 40. The viewing angle between the illumination light path Fc and the illumination light path Fg is a margin of the viewing angle where stray light does not appear. For example, the amount of deviation due to manufacturing error can be set as a margin.

[0044] Figure 6 The intersection AXP of the optical axis of the magnification variation optical system 60 and the driving mirror 30 is shown to be offset relative to the center 32 of the driving mirror 30. That is, the optical axis of the magnification variation optical system 60 is eccentric relative to the center position of the driving mirror 30 (the driving mirror 30 is placed on the deflection surface of the driving mirror 30 so that the incident point of the main light of the illumination light and the optical axis of the magnification variation optical system 60 are spaced apart from each other). As a result, the stray light from the illumination light path Fg can be centrifuged. Since the area where no stray light occurs can be expanded to the viewing angle outside the illumination light path Fg, the area from the illumination light path Fc to the direction toward the illumination light path Fg can be used to measure the distance to the object OBJ. When the illumination light path Fb is allocated to the illumination light path Fg side, the illumination light path Fa can be allocated to the optical axis center side of the magnification variation optical system 60, so that the effective diameter of the magnification variation optical system 60 can be reduced and the distance measuring device 1 can be made smaller as a whole. Therefore, it is desirable that the center 32 of the driving mirror 30 and the optical axis of the magnification variation optical system 60 may not coincide with each other on the driving mirror 30.

[0045] like Figure 5As shown in the figure, in this embodiment, the separator 20 is a polygonal optical element. Similar to the separator 20 in the first embodiment, the surface A of the separator 20 on the driving mirror 30 side has an area 21 that transmits a part (most part) of the illumination light from the light source unit 10 and reflects the other part, and an area 22 that reflects the reflected light from the driving mirror 30.

[0046] 7A to 7C The optical path in this embodiment is illustrated. Fig. 7A It is illustrated that a portion of the illumination light from the light source unit 10 enters the separator 20 and is refracted, passes through the region 21 of the separator 20 , is reflected while being scanned by the driving mirror 30 , and illuminates the object OBJ. Figure 7B It is illustrated that the other part of the illumination light from the light source unit 10 enters the separator 20 and is refracted, reflected in the region 21 of the separator 20, and is condensed on the second detector 50 while being turned in the separator 20 by reflection and refraction. Figure 7C The diagram shows that reflected light or scattered light from the object OBJ is reflected by the drive mirror 30, reflected in the region 22 of the separator 20, and converged on the first detector 40. Due to this configuration, the light beam passing through the separator 20 of this embodiment has a beam diameter that is reduced or expanded in the XZ plane while the divergence angle is expanded or reduced.

[0047] Here, in Figure 7B In the optical path in FIG. 4 , reflected light or scattered light (hereinafter, unnecessary light) from the ND filter 53 may be received by the light receiving element 42. Fig. 8A As shown in the figure, the ND filter 53 is substantially perpendicular to the principal ray of the illumination light reflected by the separator 20 , and the unnecessary light passes through the area 21 of the separator 20 and is received by the light receiving element 42 .

[0048] In this embodiment, if Figure 8B As shown in FIG. 5 , the ND filter 53 is tilted relative to the principal ray of the illumination light reflected by the separator 20 , so most of the unwanted light does not pass through the region 21 and moves to other places. Therefore, most of the unwanted light can be away from the first detector 40 .

[0049] As described above, the configuration according to this embodiment can accurately measure the distance using the optical system for a purpose different from the distance measurement.

[0050] In-vehicle system

[0051] Fig. 91 is a configuration diagram of a distance measurement device 1 according to this embodiment and an in-vehicle system (driving support apparatus) 1000 including the distance measurement device 1. The in-vehicle system 1000 is a device held by a movable body (mobile device) such as an automobile (vehicle), and is configured to support driving (manipulation) of the vehicle based on distance information of objects such as obstacles or pedestrians around the vehicle acquired by the distance measurement device 1. Fig.10 is a schematic diagram of a vehicle 500 including an in-vehicle system 1000 . Fig.10 It is illustrated that the distance measurement range (detection range) of the distance measurement device 1 is set to the front of the vehicle 500 , but the distance measurement range may be set to the rear or side of the vehicle 500 .

[0052] like Fig. 9 As shown in the figure, the vehicle-mounted system 1000 includes a distance measuring device 1, a vehicle information acquisition device 200, a control device (ECU: Electronic Control Unit) 300 and a warning device (warning unit) 400. In the vehicle-mounted system 1000, the controller 100 included in the distance measuring device 1 is used as a distance acquirer (acquirer) and a collision determiner (determinator). However, if necessary, the vehicle-mounted system 1000 may be provided with a distance acquirer and a collision determiner separated from the controller 100, and each may be provided outside the distance measuring device 1 (for example, inside the vehicle 500). Alternatively, the control device 300 may be used as the controller 100.

[0053] Fig.11 : is a flowchart showing an operation example of the in-vehicle system 1000 according to this embodiment. Now, a description will be given of the operation of the in-vehicle system 1000 along the flowchart.

[0054] First, in step S1, the light source unit 10 in the distance measuring device 1 illuminates an object around the vehicle, and the controller 100 acquires distance information of the object OBJ based on a signal output by the light receiving element 42 by receiving reflected light from the object. In step S2, the vehicle information acquisition device 200 acquires vehicle information including vehicle speed, yaw rate, steering angle, etc. Then, in step S3, the controller 100 uses the distance information acquired in step S1 and the vehicle information acquired in step S2 to determine whether the distance to the object OBJ is included in a preset distance range.

[0055] This configuration can determine whether there is an object within a set distance around the vehicle, and determine the possibility of a collision between the vehicle and the object. Steps S1 and S2 can be performed in the reverse order of the above sequence, or can be processed in parallel with each other. The controller 100 determines that a collision is possible when there is an object within the set distance (step S4), and determines that a collision is impossible when there is no object within the set distance (step S5).

[0056] Next, when the controller 100 determines that a collision is possible, the controller 100 notifies (transmits) the determination result to the control device 300 and the warning device 400. At this time, the control device 300 controls the vehicle based on the determination result of the controller 100 (step S6), and the warning device 400 warns the user (driver) of the vehicle based on the determination result of the controller 100 (step S7). The determination result may be notified to at least one of the control device 300 and the warning device 400.

[0057] The control device 300 can control the moving vehicle by outputting control signals to drivers such as an engine and a motor of the vehicle. For example, the vehicle controls and generates control signals for applying brakes, returning the accelerator, turning the steering wheel, and applying braking force to each wheel to suppress the output of the engine or the motor. The warning device 400 warns the driver, for example, by emitting a warning sound, by displaying a warning message on a screen of a car navigation system, or by vibrating a seat belt or a steering wheel.

[0058] Therefore, the vehicle-mounted system 1000 according to this embodiment can detect an object and measure a distance using the above processing, and can avoid a collision between a vehicle and an object. In particular, by applying the distance measuring device 1 according to each of the above embodiments to the vehicle-mounted system 1000, the distance can be accurately measured, the object can be accurately detected, and the collision can be accurately determined.

[0059] This embodiment applies the vehicle-mounted system 1000 to driving support (to mitigate collision damage), but the present invention is not limited to this example. The vehicle-mounted system 1000 can be applied to cruise control (including full vehicle speed tracking function) and automatic driving. The vehicle-mounted system 1000 can be applied not only to vehicles such as cars, but also to mobile bodies such as ships, airplanes, or industrial robots. The vehicle-mounted system 1000 is also applicable not only to mobile bodies, but also to various devices using object recognition such as intelligent transportation systems (ITS) and surveillance systems.

[0060] The in-vehicle system 1000 and the mobile device may include a notification device (notifier) ​​for notifying the manufacturer of the in-vehicle system and the seller (dealer) of the mobile device of the fact that the mobile device collides with an obstacle. For example, the notification device may send information about the collision between the mobile device and the obstacle (collision information) to a preset external destination via an email or the like.

[0061] Therefore, a configuration that automatically notifies collision information using a notification device can quickly provide measures such as inspection and repair after a collision occurs. The destination of the collision information can be set to an insurance company, a medical institution, the police, or any place that can be set by the user. The notification device can be configured to notify the destination of the failure information of each part and the consumption information of consumables in addition to the collision information. The presence or absence of a collision can be detected based on the distance information obtained according to the output from the above-mentioned optical receiver or based on other detectors (sensors).

[0062] Each of the above embodiments can provide an optical device, an in-vehicle system, and a mobile device each of which can suppress unnecessary light from being received by a light receiving element.

[0063] While the present invention has been described with reference to exemplary embodiments, it is to be understood that the invention is not limited to the disclosed exemplary embodiments.The scope of the following claims is to be accorded the broadest interpretation so as to encompass all such modifications and equivalent structures and functions.

Claims

1. An optical device, comprising: a deflector configured to deflect illumination light from the light source unit so as to scan the object, and configured to deflect reflected light from the object; a light guide configured to guide a portion of the illumination light from the light source unit to the deflector, guide the other portion to the first light receiving element, and guide the reflected light from the deflector to the second light receiving element; as well as a dimming element having an optical surface disposed between the light guide and the first light receiving element, characterised in that the dimming element is configured to reduce the amount of light from the light guide, The optical surface is tilted or off-centered with respect to the chief ray of illumination. The light guide has a plurality of outer surfaces configured to guide at least one of the illumination light and the reflected light, The plurality of outer surfaces are non-parallel to each other and are inclined relative to the principal ray of the illumination light and the principal ray of the reflected light, and The lens is disposed between the dimming element and the first light receiving element, and a normal line at an incident point of a principal ray of the illumination light on each optical surface of the lens is parallel to the principal ray of the illumination light.

2. The optical device according to claim 1, characterized in that The dimming element has a flat plate shape, and an optical surface is inclined with respect to the chief ray.

3. The optical device according to claim 1, characterized in that The direction in which the illumination light travels from the light source to the light guide member and the direction in which the reflected light travels from the light guide member to the second light receiving element are parallel to each other.

4. The optical device according to claim 1, characterized in that The light guide transmits a portion of the illumination light, reflects the other portion of the illumination light, and reflects the reflected light from the deflector.

5. The optical device according to claim 1, characterized in that The light guide includes an optical element having a flat plate shape.

6. The optical device according to claim 3, characterized in that The multiple outer surfaces include a first surface, a second surface, and a third surface, the illumination light is incident on the first surface, the second surface transmits a portion of the illumination light and reflects the other portion, and reflects the reflected light from the deflector, and the third surface guides the other portion to the first light receiving element. 7 . The optical device of claim 1 , further comprising a diffuser configured to diffuse the illumination light reflected by the dimming element.

8. The optical device of claim 1, further comprising an absorber configured to absorb illumination light reflected by the dimming element.

9. The optical device according to claim 1, characterized in that The first light receiving element and the second light receiving element are different types of light receiving elements. 10 . The optical device according to claim 1 , further comprising an optical system configured to direct the illumination light from the deflector to the object and direct the reflected light from the object to the deflector.

11. The optical device according to claim 10, characterized in that The incident point of the principal ray of the illumination light and the optical axis of the optical system are spaced apart from each other on the deflecting surface of the deflector.

12. The optical device according to claim 1, characterized in that The light receiving surface of the first light receiving element is inclined with respect to the principal ray of the illumination light.

13. An in-vehicle system comprising the optical device according to any one of claims 1 to 12 and configured to determine a possibility of a collision between a vehicle and an object based on distance information of the object obtained by the optical device. 14 . The in-vehicle system according to claim 13 , further comprising a control device configured to output a control signal that generates a braking force in the vehicle when it is determined that a collision is possible. 15 . The in-vehicle system of claim 13 , further comprising a warning device configured to warn a driver of the vehicle when a collision is determined to be possible. 16 . The in-vehicle system according to claim 13 , further comprising a notification device configured to notify information about a collision between the vehicle and the object.

17. A moving device comprising the optical device according to any one of claims 1 to 12 and configured to hold and move the optical device.

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