Rangefinder

Abstract

A distance measuring device (1) includes a plurality of distance measuring sections (10A, 10B, 10F, 10L, 10R) and a control section (20) configured to control the plurality of distance measuring sections. The plurality of distance measuring sections each includes a deflection member that deflects laser light, and performs distance measuring processing that changes an irradiation direction of the laser light to scan the laser light within a prescribed distance measuring region by rotating or oscillating the deflection member, and measures a distance to an object present at the irradiation direction based on reflected light received from the same direction as the irradiation direction. The plurality of distance measuring sections include a first distance measuring section and a second distance measuring section whose distance measuring regions partially overlap. The control section causes the distance measuring processing of the first distance measuring section and the distance measuring processing of the second distance measuring section to be performed in parallel in a manner such that a region through which laser light irradiated by the first distance measuring section passes and a region through which laser light irradiated by the second distance measuring section passes do not interfere within the distance measuring region.

Description

[0001] Cross Reference to Related Applications

[0002] This international application claims priority based on Japanese Patent Application No. 2020-125659 filed in Japan Patent Office on July 22, 2020, the entire contents of which are incorporated herein by reference. TECHNICAL FIELD

[0003] The present disclosure relates to a ranging device. BACKGROUND

[0004] A radar device that measures a distance from an object based on reflected light of laser light is known. The radar device performs a ranging process of changing an irradiation direction of irradiated laser light to scan the laser light within a prescribed ranging region by rotating or oscillating a deflection member, and measuring a distance from an object present in the irradiation direction based on reflected light received from the same direction as the irradiation direction.

[0005] A technique of measuring a distance to an object present in the periphery of a vehicle until the radar device mounted on the vehicle is described in Patent Literature 1.

[0006] Patent Literature 1: U.S. Patent Application Publication No. 2019 / 0011544 Specification

[0007] It is considered that by configuring a plurality of ranging sections that perform the ranging process to be mutually repeated as a part of the ranging region, it is possible to detect an object without omission in a wider range.

[0008] However, as a result of detailed research by the inventors, it was found that if laser light irradiated by one of the plurality of ranging sections is reflected by an object present in a part of the ranging region where the ranging sections are repeated, and is received by the other ranging section, there is a problem that a distance from the object is erroneously measured. SUMMARY

[0009] An aspect of the present disclosure provides a technique of suppressing erroneous measurement of a distance from an object by a plurality of ranging sections that are mutually repeated as a part of a ranging region.

[0010] One embodiment of the present disclosure is a distance measuring device including a plurality of distance measuring sections and a control section. The control section is configured to control the plurality of distance measuring sections. Each of the plurality of distance measuring sections is configured to include a deflection member that deflects laser light, and is capable of performing distance measuring processing that changes an irradiation direction of the laser light to scan the laser light within a predetermined distance measuring region by rotating or oscillating the deflection member, and measures a distance to an object present in the irradiation direction based on reflected light received from the same direction as the irradiation direction. The plurality of distance measuring sections includes a first distance measuring section and a second distance measuring section whose distance measuring regions partially overlap each other. The control section causes the distance measuring processing of the first distance measuring section and the distance measuring processing of the second distance measuring section to be performed in parallel in a manner that a region through which laser light irradiated by the first distance measuring section passes, i.e., a first passing region, and a region through which laser light irradiated by the second distance measuring section passes, i.e., a second passing region, do not interfere with each other within the distance measuring region.

[0011] According to such a configuration, it is possible to suppress erroneous distance measurement to an object by the plurality of distance measuring sections whose distance measuring regions partially overlap each other. BRIEF DESCRIPTION OF DRAWINGS

[0012] Figure 1 FIG. 1 is a view that shows a configuration of a distance measuring section in a vehicle.

[0013] Figure 2 FIG. 4 is a block diagram that shows a configuration of a distance measuring device.

[0014] Figure 3 FIG. 6 is a perspective view that schematically shows a configuration of a distance measuring section.

[0015] Figure 4 FIG. 9 is a view that shows a periodic change in a rotation angle of a deflection member.

[0016] Figure 5 FIG. 11 is a view that shows a direction of a rotational movement of a deflection member.

[0017] Figure 6 FIG. 14 is a view that shows a state in which passing regions of laser light irradiated by a plurality of distance measuring sections interfere with each other within a distance measuring region.

[0018] Figure 7 FIG. 16 is a view that shows a state in which an object boundary surface is present within a region in which passing regions of laser light irradiated by a plurality of distance measuring sections interfere with each other.

[0019] Figure 8 FIG. 18 is a view that shows a state in which reflected light of laser light irradiated by another distance measuring section is received.

[0020] Figure 9 FIG. 21 is a view that shows distance measuring regions of two distance measuring sections.

[0021] Figure 10 FIG. 23 is a view that shows conditions of start timings corresponding to a configuration relationship of two distance measuring sections.

[0022] Figure 11 is a view showing the arrangement relationship of each distance measuring section in the first arrangement example.

[0023] Figure 12 is a view showing the change in the rotation angle of the deflection member of each distance measuring section in the first arrangement example.

[0024] Figure 13 is a view showing the change in the rotation angle of the deflection member of each distance measuring section in another example of the first arrangement example.

[0025] Figure 14 is a view showing the arrangement relationship of each distance measuring section in the second arrangement example.

[0026] Figure 15 is a view showing the change in the rotation angle of the deflection member of each distance measuring section in the second arrangement example.

[0027] Figure 16 is a view showing the arrangement relationship of each distance measuring section in the third arrangement example.

[0028] Figure 17 is a view showing the change in the rotation angle of the deflection member of each distance measuring section in the third arrangement example.

[0029] Figure 18 is a view showing the arrangement relationship of each distance measuring section in another example of the third arrangement example.

[0030] Figure 19 is a view showing the change in the rotation angle of the deflection member of each distance measuring section in another example of the third arrangement example.

[0031] Figure 20 is a view showing the arrangement relationship of each distance measuring section in the fourth arrangement example.

[0032] Figure 21 is a view showing the change in the rotation angle of the deflection member of each distance measuring section in the fourth arrangement example.

[0033] Figure 22 is a view showing the arrangement relationship of each distance measuring section in another example of the fourth arrangement example.

[0034] Figure 23 is a view showing the change in the rotation angle of the deflection member of each distance measuring section in another example of the fourth arrangement example.

[0035] Figure 24 is a view showing the arrangement relationship of each distance measuring section in the fifth arrangement example.

[0036] Figure 25is a graph showing a change in the rotation angle of the deflection member of each distance measuring section in the fifth configuration example.

[0037] Figure 26 is a graph showing the configuration relationship of each distance measuring section in the sixth configuration example.

[0038] Figure 27 is a graph showing a change in the rotation angle of the deflection member of each distance measuring section in the sixth configuration example.

[0039] Figure 28 is a graph showing the configuration relationship of each distance measuring section in another example of the sixth configuration example.

[0040] Figure 29 is a graph showing a change in the rotation angle of the deflection member of each distance measuring section in another example of the sixth configuration example.

[0041] Figure 30 is a graph showing a change in the current in a case where the scan timing of the plurality of distance measuring sections is not dispersed.

[0042] Figure 31 is a graph showing a change in the current in a case where the scan timing of the plurality of distance measuring sections is dispersed.

[0043] Figure 32 is a graph showing a change in the rotation angle of the deflection member of each distance measuring section in the second embodiment.

[0044] Figure 33 is a graph showing a state where each distance measuring section is arranged along the direction of the rotation axis of the deflection member.

[0045] Figure 34 is a graph showing a change in the rotation angle of the deflection member of each distance measuring section in a case where the waveform is a sine wave.

[0046] Figure 35 is a graph showing a change in the rotation angle of the deflection member of each distance measuring section in a case where the kinds of the waveforms are different from each other.

[0047] Figure 36 is a graph showing a change in the rotation angle of the deflection member of each distance measuring section in a case where the rotational movement has no periodicity. DETAILED DESCRIPTION

[0048] Hereinafter, an example of the embodiment of the present disclosure will be described with reference to the drawings.

[0049] [1. First Embodiment]

[0050] [1-1. Overall Configuration]

[0051] As Figure 1 and Figure 2As shown, the distance measuring device 1 of the present embodiment is mounted on the vehicle 100. The distance measuring device 1 is a device that measures distances to objects existing on the front side of the periphery of the vehicle 100. The distance measuring device 1 has three distance measuring sections, specifically, a right distance measuring section 10R, a front distance measuring section 10F, and a left distance measuring section 10L, and a control section 20.

[0052] The right distance measuring section 10R, the front distance measuring section 10F, and the left distance measuring section 10L are each configured to be able to perform a distance measuring process. The distance measuring process is a process of changing the irradiation direction of the irradiated laser light by rotating or oscillating a deflection member 13 described later to scan the laser light within a prescribed distance measuring region, and measuring the distance to an object existing at the irradiation direction based on the reflected light received from the same direction as the irradiation direction.

[0053] The distance measuring region refers to a range in which an object is detected as prescribed in design. For example, the distance measuring region is determined based on the angular range in which the laser light is scanned during distance measurement, and the longest distance in which detection of an object is permitted.

[0054] The right distance measuring section 10R is configured to scan laser light within a distance measuring region on the right front side of the vehicle 100. The front distance measuring section 10F is configured to scan laser light within a distance measuring region on the front side of the vehicle 100. The left distance measuring section 10L is configured to scan laser light within a distance measuring region on the left front side of the vehicle 100. Each distance measuring section is arranged so that a part of the distance measuring region overlaps with the other distance measuring section arranged next to it. In the present embodiment, the right distance measuring section 10R and the left distance measuring section 10L are each arranged so that a part of the distance measuring region overlaps with the front distance measuring section 10F.

[0055] [1-2. Configuration of distance measuring section]

[0056] The basic configurations of the right distance measuring section 10R, the front distance measuring section 10F, and the left distance measuring section 10L are the same. The configurations of the distance measuring sections will be described using the right distance measuring section 10R as an example. Figure 3 The configuration of each distance measuring section will be described.

[0057] Each distance measuring section has a light projecting section 11, a driving section 12, a deflection member 13, and a light receiving section 14.

[0058] The light projecting section 11 is a light source for irradiating laser light. The laser light of the present embodiment is pulsed laser light. The light projecting section 11 is configured to irradiate laser light toward the deflection member 13 according to an instruction from the control section 20.

[0059] The driving section 12 is an actuator for rotating or oscillating the deflection member 13. The driving section 12 has a rod-shaped shaft member 12a, and rotates or oscillates the shaft member 12a. In the present embodiment, the driving section 12 is a motor that oscillates the shaft member 12a. The timing of rotation, the direction of rotational movement, and the angular velocity of the shaft member 12a are controlled by the control section 20.

[0060] The deflection member 13 is a deflection member for deflecting the laser light. In the present embodiment, the deflection member 13 is a mirror. The deflection member 13 is fixed to the shaft member 12a of the driving section 12 and swings together with the shaft member 12a. By the deflection member 13 swinging, the laser light irradiated by the light projecting section 11 is deflected by the deflection member 13 in a direction corresponding to the rotational angle thereof, and scans within the distance measuring region. In addition, the reflected light of the scanned laser light reflected by an object present in the distance measuring region is deflected by the deflection member 13 in a direction corresponding to the rotational angle thereof, and is received by the light receiving section 14.

[0061] The light receiving section 14 is a sensor for receiving the laser light. The light receiving section 14 is provided at a position where the reflected light received from the same direction as the irradiation direction of the laser light scanned by the deflection member 13 is deflected by the deflection member 13 and enters. The light receiving section 14 converts the received laser light into an electric signal and outputs it to the control section 20.

[0062] [1-3. Configuration of Control Section]

[0063] Figure 2 The control section 20 shown is an electronic control device configured around a well-known microcomputer not shown, which has a CPU, a ROM, and a RAM. The CPU executes a program stored in the ROM as a non-transitory tangible recording medium. By executing the program, a method corresponding to the program is executed. Furthermore, the control section 20 can have one microcomputer or a plurality of microcomputers. In addition, the method of realizing the functions of the control section 20 is not limited to software, and one or a plurality of hardware can be used to realize part or all of the functions. For example, in the case where the above-described functions are realized by an electronic circuit as hardware, the electronic circuit can be realized by a digital circuit, or an analog circuit, or a combination thereof.

[0064] The control section 20 controls the right distance measuring section 10R, the front distance measuring section 10F, and the left distance measuring section 10L, and measures the distance to an object present in the periphery of the vehicle 100. In the present embodiment, the control section 20 controls the right distance measuring section 10R, the front distance measuring section 10F, and the left distance measuring section 10L so that the distance to an object present in the periphery of the vehicle 100 is measured. Figure 4 In the present embodiment, the horizontal axis represents time, and the vertical axis represents the rotational angle of the deflection member 13 with the center of the angle range of the swing of the deflection member 13 set to 0. The period of the swing of the deflection member 13 is the period of the distance measurement by the distance measuring section. Hereinafter, the period of the distance measurement will also be referred to as the distance measuring period. In addition, the period during which the distance measurement is performed in the distance measuring period will also be referred to as the distance measuring period, and the period during which the distance measurement is not performed will also be referred to as the non-distance measuring period. In the present embodiment, in order to increase the proportion of the distance measuring period in the distance measuring period, the distance measuring section is controlled so that the angular velocity of the deflection member 13 in the non-distance measuring period is faster than the angular velocity of the deflection member 13 in the distance measuring period. The angular velocity of the deflection member 13 in the distance measuring period will also be referred to as the distance measuring angular velocity. In the present embodiment, the distance measuring angular velocity is set to be faster than the distance measuring angular velocity in the distance measuring period. Figure 5The direction of the rotational movement of the deflection member 13 during the distance measurement period and the direction of the rotational movement of the deflection member 13 during the non-distance measurement period are shown by arrows Rl and R2, respectively. In Figure 5 In the example shown in FIG. 1, the direction in which the distance measurement section scans the laser light is the direction from left to right in FIG. 1. In the present embodiment, in order to avoid complication of the description, the period during which the deflection member 13 is rotated in the direction of the rotational movement Rl is taken as the distance measurement period. Hereinafter, the direction in which the distance measurement section scans the laser light is also referred to as the scanning direction. Figure 5

[0065] In the present embodiment, the control section 20 causes the distance measurement processing of each distance measurement section to be performed in such a manner that the scanning direction, the distance measurement period, and the distance measurement angular velocity are the same for each distance measurement section. That is, the distance measurement processing of each distance measurement section is performed in such a manner that the laser light is periodically scanned in a constant direction at a prescribed angular velocity. Specifically, the deflection member 13 is oscillated at a constant period, and the laser light is irradiated from the light projecting section 11 to the deflection member 13 during the period in which the deflection member 13 is rotated in a constant direction. In other words, the laser light is not irradiated from the light projecting section 11 to the deflection member 13 during the period in which the deflection member 13 is rotated in a direction opposite to the constant direction.

[0066] [1-4. Configuration for suppressing erroneous measurement caused by overlap of distance measurement regions]

[0067] As described above, the distance measurement regions of the respective distance measurement sections are configured to overlap each other. This is to eliminate regions that become dead angles, and to enable them to detect objects without omission. However, in such a configuration, there is a case in which the distance between an object and the distance measurement section is erroneously measured because the laser light irradiated by one of the distance measurement sections is reflected by an object existing in a region in which the distance measurement regions overlap each other, and is received by another distance measurement section.

[0068] The present inventors have found that erroneous distance measurement occurs when the following three conditions overlap.

[0069] First condition: At least a part of the distance measurement regions of the plurality of distance measurement sections overlap each other, as exemplified in Figure 1

[0070] Second condition: The passing regions of the laser light irradiated by the plurality of distance measurement sections interfere within the distance measurement regions. In the example shown in FIG. 1, the passing region of the laser light irradiated by the right distance measurement section 10R interferes with the passing region of the laser light irradiated by the front distance measurement section 10F within the distance measurement region, which is not shown. Figure 6 Third condition: An object boundary surface exists within the region in which the passing regions of the irradiated laser light interfere. In the example shown in FIG. 1, the object boundary surface 30 exists within the region in which the passing regions of the laser light irradiated by the right distance measurement section 10R and the front distance measurement section 10F interfere.

[0071] Figure 7 ​​​In the example shown, there is an object boundary surface C in a region in which the passing region of the laser light irradiated by the right distance measuring section 10R interferes with the passing region of the laser light irradiated by the front distance measuring section 10F. In Figure 7 In the example shown, there is an object boundary surface C in a region in which the passing region of the laser light irradiated by the right distance measuring section 10R interferes with the passing region of the laser light irradiated by the front distance measuring section 10F. In

[0072] The passing region of the laser light irradiated by the distance measuring section refers to a region extending along the irradiation direction of the laser light, and is a region through which the laser light passes when the laser light is irradiated. In other words, the passing region of the laser light irradiated by the distance measuring section refers to a region having the same width as the laser light. For example, in the case where pulsed laser light is irradiated, the region is determined not only during the on period of the pulse wave but also during the off period.

[0073] In the case where the above three conditions overlap, if the laser light irradiated by one of the plurality of distance measuring sections is reflected by an object present in the portion in which the distance measuring regions overlap, there is a case where it is received by the other distance measuring section. For example, Figure 8 The light reception waveform of the laser light received by the front distance measuring section 10F is shown. In Figure 8 In the example shown, there is an object boundary surface C in a region in which the passing region of the laser light irradiated by the right distance measuring section 10R interferes with the passing region of the laser light irradiated by the front distance measuring section 10F. In F the light reception waveform of the reflected light of the laser light irradiated by the right distance measuring section 10R is detected. Therefore, in the light reception waveform W R of the reflected light of the laser light irradiated by the front distance measuring section 10F, the reflected light of the laser light irradiated by the right distance measuring section 10R is detected. Since the distance to the object is determined from the difference between the timing of irradiating the laser light and the timing of receiving the reflected light, in this case, the front distance measuring section 10F erroneously measures the distance to the object as shorter than the actual distance.

[0074] The above first condition among the above three conditions is difficult to avoid for design reasons. In addition, the above third condition is an important factor from the outside and is therefore difficult to deal with. Therefore, in the distance measuring device 1 of the present embodiment, the control section 20 controls each distance measuring section so that the above second condition does not hold. Specifically, the control section 20 controls the start timing at which each distance measuring section starts scanning of the laser light so that the passing regions of the laser light irradiated by the plurality of distance measuring sections do not interfere within the distance measuring region. The conditions for the start timing differ depending on the arrangement relationship of each distance measuring section.

[0075] Hereinafter, the conditions for the start timing corresponding to the arrangement relationship of two distance measuring sections will be described. Figure 9 The distance measuring section 10A and the distance measuring section 10B shown are any two distance measuring sections among the three distance measuring sections mounted on the vehicle 100, which are arranged so that a portion of the distance measuring region overlaps each other. Figure 9The meanings of the symbols shown are as follows, as determined in plan view when viewed in the direction of the rotation axis of the deflection member 13 provided in the distance measuring section 10A or the distance measuring section 10B, and the position and angle. In the present embodiment, the rotation axes of the deflection members 13 provided in the distance measuring section 10A and the distance measuring section 10B are parallel. However, the directions of the rotation axes need not necessarily be parallel, and for example, can be directions close to parallel.

[0076] D A ... Reference position of distance measuring section 10A

[0077] D B ... Reference position of distance measuring section 10B

[0078] S A ... Start position of scanning of laser light of distance measuring section 10A

[0079] S B ... Start position of scanning of laser light of distance measuring section 10B

[0080] P A ... Point in deflection member 13 of distance measuring section 10A at which laser light is deflected, i.e., start point position

[0081] P B ... Point in deflection member 13 of distance measuring section 10B at which laser light is deflected, i.e., start point position

[0082] L A ... Straight line parallel to start point position P A and reference position D A

[0083] γ A ... Angle of start position S A set to 0 with reference position D A i.e., start angle

[0084] γ B ... Angle of start position S B set to 0 with reference position D B i.e., start angle

[0085] γ d ... Angle of reference position D A set to 0 with reference position D B i.e., arrangement offset angle γ B_A ... Angle of start position S A set to 0 with reference position D B i.e., opening angle

[0086] ​The reference orientation of the ranging unit refers to the orientation determined by the design. For example, in the case of a transmission window that transmits laser light, it is generally the direction of the front of the transmission window, and more specifically, the direction of the normal to the center or a portion of the surface of the transmission window. In this embodiment, the reference orientation coincides with the orientation of the center of the angular range of the scanning laser during ranging.

[0087] For the initial angle γ A γ B Configure offset angle γ d and opening angle γ B_A Generally speaking, the value is larger the further towards the scanning direction of the ranging unit 10A. Additionally, the starting angle γ... A γ B Configure offset angle γ d and opening angle γ B_A The values ​​are taken as positive on the side closest to the scanning direction and negative on the side opposite to the scanning direction, compared to their respective reference orientations.

[0088] like Figure 10 As shown, the conditions for starting timing are categorized into six conditions based on the configuration of the ranging unit 10A and the ranging unit 10B. These six conditions will be explained below based on six configuration examples.

[0089] (First configuration example)

[0090] like Figure 11 As shown, in the first configuration example, the ranging unit 10A and the ranging unit 10B are configured at the starting position P. B With reference line L A Compared to the opposite side of the scanning direction of the ranging unit 10A, and the starting angle γ A With opening angle γ B_A The relationship becomes γ B_A <γ A For example. Furthermore, although in Figure 11 In the first configuration example shown, the ranging unit 10A and the ranging unit 10B are configured as the reference azimuth D. A With reference bearing D B Parallelism is possible, but this is not a condition for the first configuration example.

[0091] Figure 12 The rotation angle θ of the deflection member 13 of the ranging unit 10A in the first configuration example is shown. A and the rotation angle θ of the deflection component 13 of the ranging unit 10B B_A The changes are all based on the reference azimuth D. A The rotation angle of the laser irradiation is set to 0, which represents the rotation angle θ. A and rotation angle θ B_A Additionally, the rotation angle θA and rotation angle θ B_A The value increases during the ranging period and decreases during the non-ranging period. The non-ranging periods of ranging unit 10A and ranging unit 10B are represented by non-ranging period α and non-ranging period β, respectively.

[0092] The control unit 20 measures the illumination direction of the laser irradiated by the rangefinder 10A and the illumination direction of the laser irradiated by the rangefinder 10B relative to a common reference orientation D when viewed from above in the direction of the rotation axis of the deflection member 13 provided in the rangefinder 10A or the rangefinder 10B. A The ranging processes of ranging unit 10A and ranging unit 10B are performed in a manner that does not reverse the magnitude relationship of the angles. This is to suppress interference from the laser transmission area irradiated by ranging units 10A and 10B within the ranging region. Reversal of the magnitude relationship of the angles, when the two angles are set as θ1 and θ2 respectively, refers to a change from θ1 > θ2 to θ1 < θ2, or from θ1 < θ2 to θ1 > θ2. Changes from θ1 = θ2 to θ1 > θ2 or θ1 < θ2, and changes from θ1 > θ2 or θ1 < θ2 to θ1 = θ2, do not constitute a reversal of the magnitude relationship of the angles.

[0093] The rotation angle θ during the ranging period A and rotation angle θ B_A This indicates the direction of the laser beams irradiated by the ranging unit 10A and the ranging unit 10B, respectively, relative to the reference orientation D. A Therefore, the control unit 20 rotates by an angle θ while both the ranging unit 10A and the ranging unit 10B are in the ranging period, i.e., in the co-ranging ranging state. A With rotation angle θ B_A The values ​​are not reversed, so that the ranging processing of ranging unit 10A and ranging unit 10B is executed. At the starting position P... B With reference line L A Compared to the case on the opposite side of the scanning direction of the ranging unit 10A, such as Figure 12 As shown, as long as the rotation angle θ is in the common ranging state... B_A It will not rotate at angle θ A The value above is acceptable. The earlier the timing of the laser scanning starting from the ranging unit 10B is relative to the timing of the laser scanning starting from the ranging unit 10A, the greater the rotation angle θ. B_A Relative to rotation angle θ A The larger the size, the better. However, in the first configuration example, the opening angle γ... B_A Compared to the initial angle γ A Small. Therefore, it is possible to rotate by an angle θ. B_A Not at rotation angle θA Within the above limits, the timing of starting the laser scanning of the ranging unit 10B is advanced. On the other hand, if the timing of starting the laser scanning of the ranging unit 10B is too delayed, and the ranging period of the ranging unit 10A begins before the ranging period of the ranging unit 10B ends, then the rotation angle θ B_A At rotation angle θ A Therefore, it is necessary to ensure that the timing delay of the laser scanning start of the ranging unit 10B is not greater than the non-ranging period β of the ranging unit 10B.

[0094] Therefore, in the first configuration example, the control unit 20 controls the timing t of the laser scanning of the ranging unit 10B, which is the timing of the laser scanning of the ranging unit 10A, to be within the range of -Φ≤t≤β. Here, Φ is the starting position S of the rotational movement at the aforementioned ranging angular velocity. A Starting position S B The time required to form the angle. Therefore, interference in the transmission area of ​​the laser emitted by the ranging unit 10A and the ranging unit 10B can be suppressed.

[0095] also, Figure 9 The configuration examples shown are other examples of the first configuration example. Figure 11 In the first configuration example shown, the reference azimuth D A With reference bearing D B Parallel, but Figure 9 In the first configuration example shown, the reference azimuth D A With reference bearing D B Compared to the scanning direction side facing the ranging unit 10A.

[0096] Figure 13 Show Figure 9 The rotation angle θ in the first configuration example shown A and rotation angle θ B_A The changes. And Figure 11 The first configuration example shown is the same, in order to rotate the angle θ in the co-range measurement state. A With rotation angle θ B_A The magnitude relationship of the values ​​will not be reversed as long as the rotation angle θ is adjusted. B_A Not at rotation angle θ A That's all. Therefore, with Figure 11 Similar to the first configuration example shown, the control unit 20 can suppress the interference of the laser passing through the range irradiated by the ranging unit 10A and the ranging unit 10B by controlling the timing t to the range of -Φ≤t≤β.

[0097] (Second Configuration Example)

[0098] like Figure 14The second configuration example is an example in which the ranging section 10A and the ranging section 10B are arranged at the start position P B on the opposite side of the scanning direction of the ranging section 10A than the reference straight line L A , and the start angle γ A is equal to the opening angle γ B_A . In this case, the relationship between the start angle γ B_A and the opening angle γ A is γ A = γ B_A .

[0099] Figure 15 The change in the rotation angle θ B_A and the rotation angle θ A in the second configuration example is shown. In the second configuration example, the opening angle γ B_A is equal to the start angle γ A . Therefore, it is necessary to make the timing at which the ranging section 10B starts scanning of laser light coincide with or be delayed from the timing at which the ranging section 10A starts scanning of laser light. On the other hand, if the timing at which the ranging section 10B starts scanning of laser light is excessively delayed, the ranging period of the ranging section 10A is started before the ranging period of the ranging section 10B is ended, and the rotation angle θ B exceeds the rotation angle θ A . Therefore, it is necessary to make the delay of the timing at which the ranging section 10B starts scanning of laser light not greater than the non-ranging period of the ranging section 10B.

[0100] Therefore, in the second configuration example, the control section 20 controls the timing t at which the ranging section 10B starts scanning of laser light with respect to the timing at which the ranging section 10A starts scanning of laser light to be in the range of 0 ≤ t ≤ β. Thereby, it is possible to suppress the interference of the passing regions of the laser light irradiated by the ranging section 10A and the ranging section 10B.

[0101] (Third Configuration Example)

[0102] As shown in FIG. 15, the third configuration example is an example in which the ranging section 10A and the ranging section 10B are arranged at the start position P B on the opposite side of the scanning direction of the ranging section 10A than the reference straight line L A , and the start angle γ A is greater than the opening angle γ B_A . In this case, the relationship between the start angle γ B_A and the opening angle γ A is γ A > γ B . In addition, although in the third configuration example shown in FIG. 15, the ranging section 10A and the ranging section 10B are arranged so that the reference direction D A is on the scanning direction side of the ranging section 10A than the reference direction D B_A , this is not a condition of the third configuration example.

[0103] Figure 17The rotation angle θ is shown in the third configuration example. A and rotation angle θ B_A The change. In the third configuration example, the opening angle γ B_A Compared to the initial angle γ A Large. Therefore, it is necessary to rotate by an angle θ. B_A Not at rotation angle θ A The above method delays the timing of the laser scanning start of the ranging unit 10B. On the other hand, if the timing of the laser scanning start of the ranging unit 10B is too delayed, and the ranging period of the ranging unit 10A begins before the ranging period of the ranging unit 10B ends, then the rotation angle θ B_A At rotation angle θ A Therefore, it is necessary to ensure that the timing delay of the laser scanning start of the ranging unit 10B is not greater than the non-ranging period of the ranging unit 10B.

[0104] Therefore, in the third configuration example, the control unit 20 controls the timing t of the laser scanning started by the ranging unit 10B relative to the timing of the laser scanning started by the ranging unit 10A to be within the range of Φ≤t≤β. This suppresses interference in the transmission area of ​​the lasers irradiated by the ranging unit 10A and the ranging unit 10B.

[0105] also, Figure 18 The configuration example shown is another example of the third configuration example. Figure 16 In the third configuration example shown, the reference azimuth D A With reference bearing D B Compared to the scanning direction side facing the ranging unit 10A, but... Figure 18 In the third configuration example shown, the reference azimuth D B With reference bearing D A Compared to the scanning direction side facing the ranging unit 10A.

[0106] Figure 19 Show Figure 18 The rotation angle θ in the third configuration example shown A and rotation angle θ B_A The changes. And Figure 16 Similar to the third configuration example shown, the control unit 20 can suppress the interference of the laser passing through the range irradiated by the ranging unit 10A and the ranging unit 10B by controlling the timing t to the range of Φ≤t≤β.

[0107] (Fourth Configuration Example)

[0108] like Figure 20 As shown, in the fourth configuration example, the ranging unit 10A and the ranging unit 10B are configured as the starting position P. B With reference line L A Compared to the scanning direction side of the ranging unit 10A, and the starting angle γA With opening angle γ B_A The relationship is γ B_A <γ A For example. Furthermore, although in Figure 20 In the fourth configuration example shown, the ranging unit 10A and the ranging unit 10B are configured with reference azimuth D. A With reference bearing D B Parallelism is possible, but this is not a condition for the fourth configuration example.

[0109] The control unit 20 measures the illumination direction of the laser irradiated by the rangefinder 10A and the illumination direction of the laser irradiated by the rangefinder 10B relative to a common reference orientation D when viewed from above in the direction of the rotation axis of the deflection member 13 provided in the rangefinder 10A or the rangefinder 10B. A The ranging processes of ranging unit 10A and ranging unit 10B are executed in a manner that does not reverse the magnitude relationship of the angles. This is to suppress interference from the laser transmission areas irradiated by ranging units 10A and 10B within the ranging region. Specifically, the control unit 20 rotates by an angle θ in the co-ranging state. A With rotation angle θ B_A The distance measurement processing of distance measuring unit 10A and distance measuring unit 10B is performed in a manner that does not reverse the magnitude relationship of the values.

[0110] Figure 21 The rotation angle θ is shown in the fourth configuration example. A and rotation angle θ B_A The change. At the starting position P. B With reference line L A Compared to the case on the scanning direction side of the ranging unit 10A, such as Figure 21 As shown, as long as the rotation angle θ is... B_A Not at rotation angle θ A The following is sufficient. In the fourth configuration example, the opening angle γ B_A Compared to the initial angle γ A Large. Therefore, in order to make the rotation angle θ B_A Not at rotation angle θ A Therefore, it is necessary to advance the timing of the laser scanning start of the ranging unit 10B. On the other hand, if the timing of the laser scanning start of the ranging unit 10B is advanced too much, and the ranging period of the ranging unit 10B begins before the ranging period of the ranging unit 10A ends, then the rotation angle θ B_A At rotation angle θ A Therefore, it is necessary to ensure that the timing of the laser scanning start of the ranging unit 10B is not greater than the non-ranging period α of the ranging unit 10A.

[0111] Therefore, in the fourth configuration example, the control unit 20 controls the timing t of the laser scanning started by the ranging unit 10B relative to the timing of the laser scanning started by the ranging unit 10A to be within the range of -α≤t≤-Φ. This suppresses interference in the transmission area of ​​the lasers irradiated by the ranging unit 10A and the ranging unit 10B.

[0112] also, Figure 22 The configuration example shown is another example of the fourth configuration example. Although in Figure 20 In the fourth configuration example shown, the reference azimuth D A With reference bearing D B Parallel, but Figure 22 In the fourth configuration example shown, the reference azimuth D A With reference bearing D B Compared to the scanning direction side facing the ranging unit 10A.

[0113] Figure 23 Show Figure 22 The rotation angle θ in the fourth configuration example shown A and rotation angle θ B_A The changes. And Figure 20 Similar to the fourth configuration example shown, the control unit 20 can suppress the interference of the laser passing through the range irradiated by the ranging unit 10A and the ranging unit 10B by controlling the timing t to the range of -α≤t≤-Φ.

[0114] Furthermore, the fourth configuration example can also be understood as a configuration example in which the arrangement of the ranging unit 10A and the ranging unit 10B in the third configuration example is swapped. In other words, the fourth configuration example is actually the same as the third configuration example.

[0115] (Fifth Configuration Example)

[0116] Figure 24 As shown, in the fifth configuration example, the ranging unit 10A and the ranging unit 10B are configured with the starting position P. B With reference line L A Compared to the scanning direction side of the ranging unit 10A, and the starting angle γ A With opening angle γ B_A The relationship is γ B_A =γ A Examples.

[0117] Figure 25 The rotation angle θ is shown in the fifth configuration example. A and rotation angle θ B_A The change. In the fifth configuration example, the opening angle γ B_A With the starting angle γ ATherefore, the timing of the laser scanning starting in the ranging unit 10B needs to be simultaneous with or earlier than the timing of the laser scanning starting in the ranging unit 10A. On the other hand, if the timing of the laser scanning starting in the ranging unit 10B is too advanced, and the ranging period of the ranging unit 10B begins before the end of the ranging period of the ranging unit 10A, then the rotation angle θ... B_A At rotation angle θ A Therefore, it is necessary to ensure that the timing of the laser scanning start of the ranging unit 10B is not greater than the non-ranging period α of the ranging unit 10A.

[0118] Therefore, in the fifth configuration example, the control unit 20 controls the timing t of the laser scanning of the ranging unit 10B, which is relative to the timing of the laser scanning started by the ranging unit 10A, to be in the range of -α≤t≤0. This suppresses interference in the transmission area of ​​the lasers irradiated by the ranging unit 10A and the ranging unit 10B.

[0119] Furthermore, the fifth configuration example can also be understood as a configuration example in which the arrangement of the ranging unit 10A and the ranging unit 10B in the second configuration example is swapped. In other words, the fifth configuration example is actually the same as the second configuration example.

[0120] (Sixth Configuration Example)

[0121] like Figure 26 As shown, in the sixth configuration example, the ranging unit 10A and the ranging unit 10B are configured with the starting position P. B With reference line L A Compared to the scanning direction side of the ranging unit 10A, and the starting angle γ A With opening angle γ B_A The relationship is γ B_A >γ A For example. Furthermore, although in Figure 26 In the sixth configuration example shown, the ranging unit 10A and the ranging unit 10B are configured with a starting angle γ. B Configure offset angle γ d and opening angle γ B_A The relationship is γ B_A =γ B -γ d However, this is not a condition for the sixth configuration example.

[0122] Figure 27 The rotation angle θ is shown in the sixth configuration example. A and rotation angle θ B_A The change. In the sixth configuration example, the opening angle γ B_A Compared to the initial angle γ A Small. Therefore, it is possible to rotate by an angle θ. B_A Not at rotation angle θ AWithin the following limits, the timing of starting the laser scan of the ranging unit 10B is delayed. On the other hand, if the timing of starting the laser scan of the ranging unit 10B is too advanced, and the ranging period of the ranging unit 10B begins before the ranging period of the ranging unit 10A ends, then the rotation angle θ B_A At rotation angle θ A Therefore, it is necessary to ensure that the timing of the laser scanning start of the ranging unit 10B is not greater than the non-ranging period α of the ranging unit 10A.

[0123] Therefore, in the sixth configuration example, the control unit 20 controls the timing t of the laser scanning started by the ranging unit 10B relative to the timing of the laser scanning started by the ranging unit 10A to be within the range of -α≤t≤Φ. This suppresses interference in the transmission area of ​​the lasers irradiated by the ranging unit 10A and the ranging unit 10B.

[0124] also, Figure 28 The configuration example shown is another example of the sixth configuration example. In Figure 26 In the sixth configuration example shown, the starting angle γ B Configure offset angle γ d and opening angle γ B_A The relationship is γ B_A =γ B -γ d ,but Figure 28 The configuration example shown is with a starting angle γ. B Configure offset angle γ d and opening angle γ B_A The relationship is γ B_A =γ d -γ B .

[0125] Figure 29 Show Figure 28 The rotation angle θ in the sixth configuration example shown A and rotation angle θ B_A The changes. And Figure 26 Similar to the sixth configuration example shown, the control unit 20 can suppress the interference of the laser passing through the range irradiated by the ranging unit 10A and the ranging unit 10B by controlling the timing t to the range of -α≤t≤Φ.

[0126] Furthermore, the sixth configuration example can also be understood as a configuration example in which the arrangement of the ranging unit 10A and the ranging unit 10B in the first configuration example is swapped. In other words, the sixth configuration example is actually the same as the first configuration example.

[0127] [1-5. Configuration for dispersing the scanning timing of multiple ranging units]

[0128] The control section 20 of this embodiment not only suppresses erroneous distance measurement as described above, but also controls the distance measurement sections so that the timing of switching of the plurality of distance measurement sections is dispersed. Specifically, the control section 20 controls the distance measurement sections so that the timing at which the angular velocity of the deflection member 13 changes differs among the distance measurement sections. In addition, the control section 20 controls the distance measurement sections so that at least a part of the period during which the angular velocity of the deflection member 13 is fastest does not overlap among the distance measurement sections. Furthermore, the following description is given on the assumption that the number of distance measurement sections is two, but the same applies to the case where the number of distance measurement sections is three or more.

[0129] [1-5-1. Configuration for dispersing the timing of switching of the plurality of distance measurement sections]

[0130] In the distance measurement processing of this embodiment, the distance measurement period and the non-distance measurement period are alternately repeated. Therefore, as shown in FIG. 6, the rotation angle θ A of the deflection member 13 of the distance measurement section 10A B increases during the distance measurement period, and decreases during the non-distance measurement period. The rotation angle θ B at which the laser is irradiated is set to 0 degrees. The rotation angle θ B is expressed in degrees. In the control section 20, the timing at which the angular velocity of the deflection member 13 changes, in other words, the timing of switching the distance measurement period and the non-distance measurement period, that is, the switching timing, the value I A of the current flowing through the drive section 12 of the distance measurement section 10A B and the value I A of the current flowing through the drive section 12 of the distance measurement section 10B B instantaneously increase. Therefore, as shown in FIG. 6, if the switching timing of the plurality of distance measurement sections overlaps, and the peak of the instantaneous current overlaps, the instantaneous current of the vehicle 100 as a whole increases, and becomes a cause of noise in the electric signal or the like output by the light receiving section 14. In addition, the power supply design of the vehicle 100 as a whole is also redundantly designed on the basis of the instantaneous current that overlaps. Figure 30 Figure 30 Therefore, as shown in FIG. 6, the control section 20 controls the plurality of distance measurement sections so that the switching timing differs among the distance measurement sections, that is, the switching timing is staggered. By such control, the peaks of the instantaneous currents do not easily overlap, and the increase in the instantaneous current of the vehicle 100 as a whole is suppressed.

[0131] Therefore, as shown in FIG. 6, the control section 20 controls the plurality of distance measurement sections so that the switching timing differs among the distance measurement sections, that is, the switching timing is staggered. By such control, the peaks of the instantaneous currents do not easily overlap, and the increase in the instantaneous current of the vehicle 100 as a whole is suppressed. Figure 31

[0132] [1-5-2. Configuration for dispersing the period during which the angular velocity of the deflection member is fastest]

[0133] In the period during which the angular velocity of the deflection member 13 is fastest, the value I A of the current flowing through the drive section 12 of the distance measurement section 10A B and the value I AIt is larger than other periods. For example, Figure 30 As shown, in this embodiment, the angular velocity of the deflection member 13 during the non-range-measuring period is controlled to be faster than the range-measuring angular velocity. In other words, in this embodiment, the non-range-measuring period is the period when the angular velocity of the deflection member 13 is the fastest. In this case, during the non-range-measuring period, the value I of the current flowing through the drive unit 12 of the range-measuring unit 10A is... A And the value I of the current flowing through the drive unit 12 of the ranging unit 10B. B It is larger than the ranging period. Therefore, for example, as... Figure 30 As shown, if the non-range-measuring periods of multiple range-measuring units overlap, the overall current of the vehicle 100 increases, which becomes a cause of noise in the electrical signals output through the light-receiving unit 14. Furthermore, the overall power supply design of the vehicle 100 is based on redundant design using overlapping instantaneous currents.

[0134] Therefore, as Figure 31 As shown, in this embodiment, the control unit 20 controls the plurality of ranging units so that at least a portion of their non-ranging periods do not overlap with each other. For example, if the lengths of the non-ranging periods in two ranging units are different, at least a portion of the non-ranging period of the longer unit will necessarily not overlap with the non-ranging period of the shorter unit. Therefore, in such an example, it means that at least a portion of the non-ranging period of the shorter unit will also not overlap with the non-ranging period of the longer unit. Through such control, the increase in the overall current of the vehicle 100 can be suppressed.

[0135] [1-6. Effects]

[0136] Based on the implementation methods detailed above, the following effects can be obtained.

[0137] (1a) The ranging device 1 performs ranging processing for each ranging unit in such a way that the areas through which the lasers irradiated by the multiple ranging units pass do not interfere with each other within the ranging area. With this configuration, it is possible to suppress the erroneous measurement of the distance to the object by multiple ranging units that repeatedly measure a portion of the ranging area. In particular, since the ranging device 1 performs ranging processing for each ranging unit in parallel, compared to a configuration where ranging processing for each ranging unit is performed sequentially without parallel execution, the time required to complete ranging processing for the entire ranging area can be shortened.

[0138] (1b) The ranging device 1, when viewed from above in the direction of the rotation axis of the deflection member 13 provided in the ranging unit 10A or the ranging unit 10B, measures the irradiation direction of the laser irradiated by the ranging unit 10A and the irradiation direction of the laser irradiated by the ranging unit 10B relative to a common reference orientation D. Athe ranging processing of the ranging section 10A and the ranging processing of the ranging section 10B are executed in a manner that the magnitude relation of the angle of the irradiation direction of the laser light irradiated by the ranging section 10A and the irradiation direction of the laser light irradiated by the ranging section 10B with respect to the common reference direction D is not reversed. According to such a configuration, it is possible to suppress the interference of the passing regions of the laser lights irradiated by the plurality of ranging sections in the ranging region.

[0139] (1c) The ranging device 1 executes the ranging processing of each ranging section in a manner that the ranging periods are the same. According to such a configuration, it is possible to set the phase difference of the ranging periods of each ranging section to the magnitude relation of the angle of the irradiation direction of the laser light irradiated by the ranging section 10A and the irradiation direction of the laser light irradiated by the ranging section 10B with respect to the common reference direction D not being reversed, for example, by controlling the timing at which the scanning of the laser light is started. A

[0140] (1d) The ranging period includes a non-ranging period. According to such a configuration, it is possible to suppress the interference of the passing regions of the laser lights irradiated by the plurality of ranging sections in the ranging region, and to improve the degree of freedom of the design of parameters such as the timing at which the scanning of the laser light is started, for example.

[0141] (1e) The ranging device 1 controls the timing at which the scanning of the laser light is started by each ranging section in a manner that the rotation angle of the deflection member 13 of the ranging section disposed on the side of the scanning direction among the two ranging sections disposed to be repeated to each other in the ranging region is not above the rotation angle of the deflection member 13 of the ranging section disposed on the side opposite to the scanning direction. According to such a configuration, it is possible to suppress the interference of the passing regions of the laser lights irradiated by the plurality of ranging sections in the ranging region.

[0142] (1f) The ranging device 1 controls the plurality of ranging sections in a manner that the switching timing is different among the plurality of ranging sections. According to such a configuration, it is possible to suppress the overlapping of the peak values of the instantaneous currents, and to suppress the increase of the instantaneous current of the vehicle 100 as a whole.

[0143] (1g) The ranging device 1 controls the plurality of ranging sections in a manner that at least a part of the period in which the angular velocity of the deflection member 13 is fastest does not overlap among the plurality of ranging sections. According to such a configuration, it is possible to suppress the overlapping of the peak values of the instantaneous currents, and to suppress the increase of the current of the vehicle 100 as a whole.

[0144] [2. Second Embodiment]

[0145] The basic configuration of the second embodiment is the same as that of the first embodiment, so the same configuration is omitted from the description, and the description is focused on the difference. Furthermore, the same reference numerals as those of the first embodiment indicate the same configuration, and the description is referred to the description and the drawing of the preceding description.

[0146] ​In the second embodiment, similar to the first embodiment, the control unit 20 executes the ranging processing of each ranging unit with the same scanning direction and ranging period. However, in the second embodiment, the control unit 20 executes the ranging processing of each ranging unit with different ranging angular velocities.

[0147] In the second embodiment, such as Figure 9 The distance measuring unit 10A and distance measuring unit 10B are configured as shown. However, the distance measuring angular velocity ω of distance measuring unit 10B... B The ranging angular velocity ω of the ranging unit 10A A Large. In order to suppress interference from the laser beams irradiated by ranging units 10A and 10B within the ranging region, such as... Figure 32 As shown, during the period when TA is in the co-range measurement state, the rotation angle θ needs to be adjusted. B_A Not at rotation angle θ A That's all. Figure 32 In this context, θ represents the distance measurement period of each of the distance measuring units 10A and 10B. A and θ B_A The slope of the straight line representing the value of the distance measurement angular velocity ω indicates the distance measurement angular velocity. A and ranging angular velocity ω B The ranging angular velocity ω of the ranging unit 10B B The ranging angular velocity ω relative to the ranging unit 10A A The faster, the greater the rotation angle θ A With rotation angle θ B_A The difference decreases more rapidly. In addition, the longer the period TA (Time To Arrangement) is in the common ranging state, the more the rotation angle θ... A With rotation angle θ B_A The difference is getting smaller.

[0148] Therefore, the control unit 20 controls the ranging angular velocity ω of the ranging unit 10A to be less than or equal to the value obtained by dividing the angle between the illumination directions of the ranging units 10A and 10B at the beginning of the co-ranging state by the difference between the ranging angular velocities of the second and first ranging units in the co-ranging state during the period TA of the co-ranging state. A And the ranging angular velocity ω of the ranging unit 10B B .

[0149] Furthermore, if the timing of starting the laser scanning of the ranging unit 10B is too delayed, and the ranging period of the ranging unit 10A begins before the ranging period of the ranging unit 10B ends, then the rotation angle θ B_A At rotation angle θ A That's all. Furthermore, when the timing for starting the laser scanning of the ranging unit 10B is too advanced, and the ranging period of the ranging unit 10B begins before the ranging period of the ranging unit 10A ends, the rotation angle θ...B_A Also at the rotation angle θ A The above.

[0150] Therefore, the control section 20 controls the timing at which the ranging section 10B starts the scanning of the laser light to be within a range that has, as a lower limit value, a value that represents the non-ranging period of the ranging section 10A and has, as an upper limit value, a value that represents the non-ranging period of the ranging section 10B, with respect to the timing at which the ranging section 10A starts the scanning of the laser light. In other words, the control section 20 controls the timing at which the ranging section 10B starts the scanning of the laser light to be within a range of a ≤ t ≤ β, with respect to the timing at which the ranging section 10A starts the scanning of the laser light.

[0151] For example, in a case where the timing at which the scanning of the laser light is started is made to be simultaneous in the ranging section 10A and the ranging section 10B, the control section 20 controls the ranging angular velocity ω A and the ranging angular velocity ω B in a manner that TA≤ | γ B_A - γ A | / (ω B - ω A ). In this case, the control section 20 controls the ranging angular velocity ω A of the ranging section 10A and the ranging angular velocity ω B of the ranging section 10B.

[0152] Thereby, it is possible to suppress the interference of the passing regions of the laser light irradiated by the ranging section 10A and the ranging section 10B within the ranging region.

[0153] [3. Other Embodiments]

[0154] The above describes the embodiments of the present disclosure, but the present disclosure is not limited to the above-described embodiments, and various modes can of course be adopted.

[0155] (3a) In each of the above-described embodiments, a configuration in which the ranging processing of each ranging section is executed in a manner that at least the scanning direction and the ranging period are respectively identical is exemplified, but at least one of them can be made different. For example, the ranging periods can be made different.

[0156] (3b) In each of the above-described embodiments, a configuration in which the control section 20 has both a function of controlling the actions of each ranging section individually and a function of controlling the ranging processing of each ranging section uniformly is exemplified, but the configuration of the control section 20 is not limited thereto. For example, the function of controlling the actions of each ranging section individually can be dispersed to each ranging section. For example, in this case, the function of controlling the ranging processing of each ranging section uniformly can be realized by communication between the control sections respectively possessed by each ranging section, or can be realized by performing the control by a control section different from these control sections.

[0157] (3c) In the above embodiments, each ranging unit is arranged in the scanning direction. However, as Figure 33 As shown, the ranging units 10A and 10B can also be arranged along the direction of the rotation axis of the deflection member 13. In this case, each ranging unit is configured such that a portion of its ranging area in the direction of the rotation axis of the deflection member 13 overlaps with a ranging unit disposed adjacent to it. Figure 33 In the example shown, each ranging unit performs a laser scan with a profile shape F that is longer along a direction perpendicular to the scanning direction. The control unit 20 executes the ranging processing of each ranging unit in a manner that prevents interference between the areas through which the lasers irradiated by the multiple ranging units pass in the overlapping portions of the ranging area. For example, when the scanning direction, ranging period, and ranging angular velocity are the same, the rotation angle θ is adjusted. A With rotation angle θ B_A The difference is acceptable. Specifically, if the scanning laser angle range is the same during ranging, the scanning timing can be staggered. Alternatively, if the scanning laser angle range is different during ranging, the scanning timing can be adjusted within the range of inconsistency.

[0158] (3d) In the second embodiment described above, the ranging unit 10B is arranged on the opposite side to the scanning direction side of the ranging unit 10A, and the ranging angular velocity ω is... B Specific ranging angular velocity ω A The overall configuration is as follows. However, the arrangement of each ranging unit and the relationship between the magnitudes of the ranging angular velocities are not limited to this. For example, ranging unit 10B can be positioned on the scanning direction side of ranging unit 10A, and the ranging angular velocity ω can also be... A Specific ranging angular velocity ω B big.

[0159] (3e) In the above embodiments, for example, Figure 12 As shown, the drive unit 12 causes the deflection members 13 of the ranging units 10A and 10B to rotate, and the waveforms representing the changes in rotation angle are both periodic waveforms. Specifically, the example shows a configuration where the type of waveform for rotating the deflection members is a triangular wave that alternately repeats during the ranging period and non-ranging periods. However, the rotation of the deflection members 13 is not limited to this. For example, as... Figure 34 As shown, the drive unit 12 can also rotate the deflection member 13 so that the waveform representing the change in rotation angle is a sine wave. In this example, the entire ranging period is the ranging period. For example, when the ranging period is the same, the sine waves representing the change in rotation angle of the deflection member 13 of the ranging unit 10A and the ranging unit 10B are represented by the following equations (1) and (2), respectively.

[0160] [Formula 11

[0161] θ A = γ A sin(ωt) (1)

[0162] θ B_A = γ B sin(ωt+θ)-γ d (2)

[0163] Here, ω is the angular velocity [[ω]] of the deflection member 13 of the distance measuring section 10A and the distance measuring section 10B, t is time, and θ is the phase difference θ of θ A and θ B_A .

[0164] In the case where the distance measuring section 10A and the distance measuring section 10B are configured as illustrated in Figure 9 , in order to suppress the passage region interference of the laser light irradiated by the distance measuring section 10A and the distance measuring section 10B, it is only necessary to rotate the angle θ B_A by the distance measuring section 10A and the distance measuring section 10B in the co-distance measuring state not more than the value of the angle θ A . Therefore, it is only necessary to satisfy the relationship of the following formula (3), and thus it is only necessary to set θ to satisfy the relationship of the following formula (4).

[0165] [Formula 2]

[0166] γ A sin(ωt) ≥ γ B sin(ωt+θ)-γ d (3)

[0167]

[0168] In addition, for example as illustrated in Figure 35 , the driving section 12 can rotate and move the deflection member 13 of the distance measuring section 10A and the distance measuring section 10B to be different from each other in the kind of the waveform indicating the change of the rotation angle. In addition, for example as illustrated in Figure 36 , the driving section 12 can rotate and move the deflection member 13 of the distance measuring section 10A and the distance measuring section 10B to be non-periodic.

[0169] (3f) In each of the above embodiments, the driving section 12 is a configuration that swings the deflection member 13, but the driving section 12 can be a configuration that rotates the deflection member 13.

[0170] (3g) In each of the above embodiments, a configuration that performs control in a manner that the passage region of the laser light irradiated by the plurality of distance measuring sections does not interfere not only within the distance measuring region but also outside the distance measuring region is exemplified. However, it is also possible to allow the passage region of the laser light to interfere outside the distance measuring region.

[0171] (3h) In each of the above embodiments, the configuration in which three ranging sections are provided so as to have a ranging region in front of the vehicle 100 is exemplified, but the number of ranging sections and the arrangement are not limited thereto. For example, the number of ranging sections can be two or more than four, and each ranging section can be arranged so as to have a ranging region in the rear of the vehicle 100.

[0172] (3i) In each of the above embodiments, the ranging device 1 mounted on the vehicle 100 is exemplified, but the use of the ranging device is not limited thereto. For example, the ranging device can be mounted on a moving body other than a vehicle, specifically, a flying body such as a drone.

[0173] (3j) In each of the above embodiments, the configuration in which the driving section 12 is a motor is exemplified, but the configuration of the driving section 12 is not limited thereto. For example, the driving section 12 can be a MEMS. MEMS is an abbreviation of Micro-electrical-mechanical system.

[0174] (3k) In each of the above embodiments, the configuration in which the reflecting mirror is used as the deflection member 13 is exemplified, but another deflection member such as a prism that can deflect laser light can be used as the deflection member 13.

[0175] (3l) Figure 3 The configuration of the ranging section shown is one example, and another configuration can be used. For example, the ranging section can be configured so that the laser light from the light projecting section 11 passes through a half mirror and is irradiated to the deflection member 13, and the reflected light from the deflection member 13 is reflected by the half mirror and is received by the light receiving section 14.

[0176] (3m) The function of one configuration element in the above embodiments can be dispersed to a plurality of configuration elements, or the functions of a plurality of configuration elements can be concentrated to one configuration element. In addition, a part of the configuration of the above embodiments can be omitted. In addition, at least a part of the configuration of the above embodiments can be added to or replaced with another configuration of the above embodiments, and the like.

Claims

1. A ranging device, wherein, The distance measuring device includes: a plurality of distance measuring sections; and a control section configured to control the plurality of distance measuring sections, the plurality of distance measuring sections each include a deflection member that deflects laser light, and are each configured to perform a distance measuring process that changes an irradiation direction of the laser light to be irradiated to periodically scan the laser light within a prescribed distance measuring region by rotating or oscillating the deflection member, and measures a distance to an object present at the irradiation direction based on reflected light received from the same direction, the plurality of distance measuring sections include a first distance measuring section and a second distance measuring section whose distance measuring regions partially overlap each other, the control section is configured to execute the distance measuring process of the first distance measuring section and the distance measuring process of the second distance measuring section in parallel in a manner that a first passage region through which the laser light irradiated by the first distance measuring section passes and a second passage region through which the laser light irradiated by the second distance measuring section passes do not interfere with each other within the distance measuring region, a period in which the distance is measured, i.e., a distance measuring period, includes a period in which the distance is measured, i.e., a distance measuring period, and a period in which the distance is not measured, i.e., a non-distance measuring period, as the non-interference configuration, the control section is configured to execute the distance measuring process of the first distance measuring section and the distance measuring process of the second distance measuring section in a manner that the first passage region and the second passage region do not interfere with each other within the distance measuring region in a state where both the first distance measuring section and the second distance measuring section are in the distance measuring period, i.e., a common distance measuring state, the control section is further configured to execute the distance measuring process of the first distance measuring section and the distance measuring process of the second distance measuring section in a manner that a magnitude relationship of angles of the irradiation direction of the laser light irradiated by the first distance measuring section and the irradiation direction of the laser light irradiated by the second distance measuring section with respect to a common reference direction is not reversed when viewed from above in a direction of an axis of rotation of the deflection member included in the first distance measuring section or the second distance measuring section, the control section is further configured to execute the distance measuring process of the first distance measuring section and the distance measuring process of the second distance measuring section in a manner that the distance measuring periods are the same, the control section is further configured to execute the distance measuring process of the first distance measuring section and the distance measuring process of the second distance measuring section in a manner that a direction in which the laser light is scanned, i.e., a scanning direction, and an angular velocity of rotation or oscillation of the deflection member in the distance measuring period, i.e., a distance measuring angular velocity, are the same, the first distance measuring section and the second distance measuring section are arranged along the scanning direction such that the axis of rotation of the deflection member of the first distance measuring section is located on a scanning direction side compared to the axis of rotation of the deflection member of the second distance measuring section, and The timing at which the second distance measuring section starts scanning of the laser light with respect to the timing at which the first distance measuring section starts scanning of the laser light is within a range having, as a lower limit value, a value indicating a time required for the first distance measuring section to rotate by the distance measuring angular velocity from a first start position, which is the irradiation position at which the laser light starts to be scanned, to a second start position, which is the irradiation position at which the laser light starts to be scanned by the second distance measuring section, and having, as an upper limit value, a value indicating the non-distance measuring period of the second distance measuring section, and the value indicating the time is a value indicating a time required for the first distance measuring section to rotate by the distance measuring angular velocity from the first start position, which is the irradiation position at which the laser light starts to be scanned, to the second start position, which is the irradiation position at which the laser light starts to be scanned by the second distance measuring section, and is a value that is negative in the case where the first start position is on the side of the scanning direction with respect to the second start position.

2. A ranging device, wherein, The distance measuring device includes: a plurality of distance measuring sections; and a control section configured to control the plurality of distance measuring sections, the plurality of distance measuring sections each include a deflection member that deflects laser light, and are each configured to be capable of performing distance measuring processing that changes an irradiation position of the laser light being irradiated to periodically scan the laser light within a prescribed distance measuring region by rotating or oscillating the deflection member, and measures a distance to an object present at the irradiation position based on reflected light received from the same position as the irradiation position, the plurality of distance measuring sections include a first distance measuring section and a second distance measuring section whose distance measuring regions partially overlap each other, the control section includes a configuration that performs the distance measuring processing of the first distance measuring section and the distance measuring processing of the second distance measuring section in parallel in a manner in which a region through which the laser light irradiated by the first distance measuring section passes, that is, a first passage region, and a region through which the laser light irradiated by the second distance measuring section passes, that is, a second passage region, do not interfere with each other within the distance measuring region, includes a distance measuring period during which the distance is measured and a non-distance measuring period during which the distance is not measured in a distance measuring cycle during which the distance is measured, as the configuration in which the first passage region and the second passage region do not interfere with each other within the distance measuring region, the control section includes a configuration that performs the distance measuring processing of the first distance measuring section and the distance measuring processing of the second distance measuring section in a manner in which the first passage region and the second passage region do not interfere with each other within the distance measuring region in a state in which both the first distance measuring section and the second distance measuring section are in the distance measuring period, that is, a common distance measuring state, the control section further includes a configuration that performs the distance measuring processing of the first distance measuring section and the distance measuring processing of the second distance measuring section in a manner in which the angle of the irradiation position of the laser light irradiated by the first distance measuring section and the irradiation position of the laser light irradiated by the second distance measuring section with respect to a common reference position does not reverse in magnitude when viewed from above in a direction of an axis of rotation of the deflection member included in the first distance measuring section or the second distance measuring section, The control section further has a structure in which the rotational or swinging angular velocity of the deflection member during the period in which the distance is measured, i.e., the ranging angular velocity, is different between the first ranging section and the second ranging section, and the ranging processing of the first ranging section and the ranging processing of the second ranging section are executed, The control section further has a structure in which the ranging period and the direction in which the laser is scanned, i.e., the scanning direction, are the same between the first ranging section and the second ranging section, and the ranging processing of the first ranging section and the ranging processing of the second ranging section are executed, The first ranging section and the second ranging section are arranged along the scanning direction such that the rotational axis of the deflection member of the first ranging section is located on the scanning direction side compared to the rotational axis of the deflection member of the second ranging section, The period during which the co-ranging state is established is the angle formed by the irradiation direction of the first ranging section and the irradiation direction of the second ranging section at the start of the co-ranging state, multiplied by the difference between the ranging angular velocity of the second ranging section and the ranging angular velocity of the first ranging section in the co-ranging state.

3. The ranging device according to claim 1 or 2, wherein In the case of a ranging device in which the deflection member is swung, the deflection member is moved in a prescribed rotational movement direction during the ranging period, and is moved in a direction opposite to the rotational movement direction during the non-ranging period.

4. A ranging device, wherein, The ranging device has: a plurality of ranging sections; and a control section configured to control the plurality of ranging sections, The plurality of ranging sections each has a deflection member that deflects a laser, and is configured to be able to execute ranging processing in which the irradiation direction of the irradiated laser is changed by rotating or swinging the deflection member to periodically scan the laser in a prescribed ranging region, and the distance to an object present in the irradiation direction is measured based on reflected light received from the same direction as the irradiation direction, The plurality of ranging sections has a first ranging section and a second ranging section in which a part of the ranging region overlaps, The control section has a structure in which the region through which the laser irradiated by the first ranging section passes, i.e., the first passage region, and the region through which the laser irradiated by the second ranging section passes, i.e., the second passage region, do not interfere with each other in the ranging region, and the ranging processing of the first ranging section and the ranging processing of the second ranging section are executed in parallel, The period in which the distance is measured, i.e., the ranging period, includes a period in which the distance is measured, i.e., the ranging period, and a period in which the distance is not measured, i.e., the non-ranging period, As the structure in which they do not interfere with each other, the control section has a structure in which the ranging processing of the first ranging section and the ranging processing of the second ranging section are executed in a state in which both the first ranging section and the second ranging section are in the ranging period, i.e., the co-ranging state, and the first passage region and the second passage region do not interfere with each other in the ranging region, The control section further has a structure in which the type of the waveform representing the time-varying angle of rotation or oscillation of the deflection member of the first distance measuring section and the type of the waveform representing the time-varying angle of rotation or oscillation of the deflection member of the second distance measuring section are adjusted to be different in a manner that does not cause the interference.

5. A ranging device, wherein, The distance measuring device has: a plurality of distance measuring sections; and a control section configured to control the plurality of distance measuring sections, The plurality of distance measuring sections each has a deflection member that deflects laser light, and is configured to be able to perform distance measuring processing in which the irradiation direction of the laser light is changed by rotating or oscillating the deflection member to periodically scan the laser light within a prescribed distance measuring region, and the distance to an object present at the irradiation direction is measured based on reflected light received from the same direction as the irradiation direction. The plurality of distance measuring sections has a first distance measuring section and a second distance measuring section in which a portion of the distance measuring region overlaps, The control section has a structure in which, in control other than control that causes the laser light of the first distance measuring section to scan in synchronization with the laser light of the second distance measuring section to form the same irradiation direction, the distance measuring processing of the first distance measuring section and the distance measuring processing of the second distance measuring section are performed in parallel in a manner that the region through which the laser light irradiated by the first distance measuring section passes, i.e., a first passing region, and the region through which the laser light irradiated by the second distance measuring section passes, i.e., a second passing region, do not interfere within the distance measuring region. The control section further has a structure in which the type of the waveform representing the time-varying angle of rotation or oscillation of the deflection member of the first distance measuring section and the type of the waveform representing the time-varying angle of rotation or oscillation of the deflection member of the second distance measuring section are adjusted to be different in a manner that does not cause the interference.

6. The distance measuring device according to any one of claims 1, 2, 4, and 5, wherein The first distance measuring section and the second distance measuring section each has an irradiation section that irradiates the laser light and a light receiving section that receives the reflected light of the laser light, Each of the light receiving sections is configured to receive the reflected light from the same direction as the irradiation direction of the laser light irradiated from the irradiation section of the same distance measuring section.

7. The distance measuring device according to claim 6, wherein The reflected light from the same direction as the irradiation direction is configured to be reflected by the deflection member that deflects the laser light and received by the light receiving section.

8. The distance measuring device according to any one of claims 1, 2, 4, 5, and 7, wherein The control section controls the plurality of distance measuring sections in a manner that the timing at which the angular velocity of rotation or oscillation of the deflection member is changed is different among the plurality of distance measuring sections.

9. The distance measuring device according to any one of claims 1, 2, 4, 5, and 7, wherein The control section controls the plurality of distance measuring sections in such a manner that at least a part of the period in which the angular velocity of rotation or oscillation of the deflection member is fastest does not overlap among the plurality of distance measuring sections.

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