Distance measuring control device, distance measuring control method, distance measuring control program product, and distance measuring device

Abstract

An image processing apparatus (100) controls a LiDAR apparatus (1) mounted on a vehicle (A) that measures a distance to a reflection point by detecting reflected light from the reflection point with respect to irradiation of scanning light. The image processing apparatus includes a mode determination unit (120) that determines whether an execution condition for performing correction of the LiDAR apparatus is satisfied. The image processing apparatus includes a mode execution unit (130) that causes the LiDAR apparatus to execute a correction mode in which a scanning speed of the scanning light is made slower than in a normal ranging mode executed in the LiDAR apparatus when it is determined that the execution condition is satisfied. The image processing apparatus includes a correction unit (140) that performs correction based on a ranging result of the LiDAR apparatus in the correction mode.

Description

[0001] Cross-reference of related applications

[0002] This application is based on Japanese Patent Application No. 2021-042724 filed on March 16, 2021 and Japanese Patent Application No. 2022-005954 filed on January 18, 2022, and the contents of the base applications are referenced in their entirety. Technical Field

[0003] The disclosure in this specification relates to a technique for determining the distance to a reflection point by detecting reflected light from the reflection point relative to the illumination of light. Background Technology

[0004] Patent Document 1 discloses a photodetector for detecting light reflected by an object relative to an emitted light source. This photodetector designates at least one region containing an object within the emitted light range as a region of interest, and makes at least one of the emission conditions of the emission system for the region of interest and the processing conditions of the signal processing system different when emitting light to the region of interest compared to emitting light to a region of non-interest.

[0005] Existing technical documents

[0006] Patent documents

[0007] Patent Document 1: Japanese Patent Application Publication No. 2017-173298 Summary of the Invention

[0008] However, in rangefinders that detect reflected light, it is generally believed that situations arise where normal range measurement is performed and situations require correction. Patent Document 1 does not disclose how to control the rangefinder based on these situations.

[0009] The purpose of this disclosure is to provide a ranging control device, ranging control method, ranging control program, and ranging device capable of performing ranging control in accordance with the situation.

[0010] The various methods disclosed in this specification employ different technical means to achieve their respective purposes. Furthermore, the reference numerals in parentheses within the claims are merely examples indicating a correspondence with the specific means described as an embodiment below, and do not limit the scope of the technology.

[0011] The disclosed ranging control device includes a processor for controlling a ranging device mounted on a moving body. The ranging device determines the distance to a reflection point by detecting reflected light from a reflection point relative to the illumination of scanning light. The ranging control device comprises:

[0012] The determination unit determines whether the execution conditions for performing the calibration of the ranging device are met;

[0013] The mode execution unit, when determining that the execution condition is met, causes the ranging device to execute a correction mode. In this correction mode, compared to the normal ranging mode executed in the ranging device when the execution condition is not met, the scanning speed of the scanning light is slowed down; and

[0014] The calibration unit performs calibration based on the ranging results from the ranging device in calibration mode.

[0015] The disclosed ranging control method is executed by a processor to control a ranging device mounted on a moving body. The ranging device determines the distance to a reflection point by detecting reflected light from a reflection point relative to the illumination of scanning light. The ranging control method includes:

[0016] The determination process involves determining whether the conditions for performing the calibration of the ranging device are met.

[0017] In the mode execution process, if the execution condition is determined to be met, the ranging device executes a correction mode. In this correction mode, compared to the normal ranging mode executed in the ranging device when the execution condition is determined not to be met, the scanning speed of the scanning light is slowed down; and

[0018] The calibration process is performed based on the ranging results from the ranging device in the calibration mode.

[0019] The disclosed ranging control program includes commands executed by a processor to control a ranging device mounted on a moving body, which determines the distance to a reflection point by detecting reflected light from a reflection point relative to the illumination of scanning light.

[0020] Commands include:

[0021] The determination process involves determining whether the conditions for performing the calibration of the ranging device are met.

[0022] In the mode execution process, if the execution condition is determined to be met, the ranging device executes a correction mode. In this correction mode, compared to the normal ranging mode executed in the ranging device when the execution condition is determined not to be met, the scanning speed of the scanning light is slowed down; and

[0023] The calibration process is performed based on the ranging results from the ranging device in the calibration mode.

[0024] The disclosed ranging device includes a processor and is configured to be mounted on a moving body. It determines the distance to a reflection point by detecting reflected light from a reflection point relative to the illumination of scanning light. The ranging device includes:

[0025] The determination unit determines whether the execution conditions for performing the correction are met;

[0026] The mode execution unit, when determining that the execution condition is met, executes a correction mode, in which the scanning speed of the scanning light is slowed down compared to the normal ranging mode executed when the execution condition is not met; and

[0027] The calibration unit performs calibration based on the ranging results in the calibration mode.

[0028] According to these disclosures, when the execution conditions for correction are met, a correction mode that slows down the scanning speed of the scanning light is executed, and correction is performed based on the ranging results in this correction mode. Therefore, the amount of information per pixel can be increased compared to the normal ranging mode through the correction mode. This enables more accurate ranging, thus improving the accuracy of calculating external parameters based on the ranging results and the accuracy of correction. Therefore, when correction is possible, control of the ranging device suitable for correction can be performed. Based on the above, a ranging control device, a ranging control method, and a ranging control program capable of controlling the ranging device according to conditions can be provided.

[0029] The disclosed ranging control device includes a processor for controlling a ranging device mounted on a moving body. The ranging device determines the distance to a reflection point by detecting reflected light from a reflection point relative to the illumination of scanning light. The ranging control device comprises:

[0030] The determination unit determines whether the execution conditions for performing the calibration of the ranging device are met;

[0031] The mode execution unit, when determining that the execution condition is met, causes the ranging device to execute a correction mode. In this correction mode, compared to the normal ranging mode executed in the ranging device when the execution condition is not met, the resolution of the distance to the reflection point is improved; and

[0032] The calibration unit performs calibration based on the ranging results from the ranging device in calibration mode.

[0033] The disclosed ranging control method is executed by a processor to control a ranging device mounted on a moving body. The ranging device determines the distance to a reflection point by detecting reflected light from a reflection point relative to the illumination of scanning light. The ranging control method includes:

[0034] The determination process involves determining whether the conditions for performing the calibration of the ranging device are met.

[0035] The mode execution process, when the execution condition is determined to be met, causes the ranging device to execute a correction mode, which improves the distance resolution up to the reflection point compared to the normal ranging mode executed in the ranging device when the execution condition is determined not to be met; and

[0036] The calibration process is performed based on the ranging results from the ranging device in the calibration mode.

[0037] The disclosed ranging control program includes commands executed by a processor to control a ranging device mounted on a moving body, which determines the distance to a reflection point by detecting reflected light from a reflection point relative to the illumination of scanning light.

[0038] Commands include:

[0039] The determination process involves determining whether the conditions for performing the calibration of the ranging device are met.

[0040] The mode execution process, when the execution condition is determined to be met, causes the ranging device to execute a correction mode, which improves the distance resolution up to the reflection point compared to the normal ranging mode executed in the ranging device when the execution condition is determined not to be met; and

[0041] The calibration process is performed based on the ranging results from the ranging device in the calibration mode.

[0042] The disclosed ranging device includes a processor and is configured to be mounted on a moving body. It determines the distance to a reflection point by detecting reflected light from a reflection point relative to the illumination of scanning light. The ranging device includes:

[0043] The determination unit determines whether the execution conditions for performing the correction are met;

[0044] The mode execution unit, when determining that the execution condition is met, executes a correction mode, which improves the distance resolution up to the reflection point compared to the normal ranging mode executed when the execution condition is not met; and

[0045] The calibration unit performs calibration based on the ranging results in the calibration mode.

[0046] According to these disclosures, when the execution conditions for correction are met, a correction mode that improves the resolution of the distance up to the reflection point is executed, and correction is performed based on the ranging results in this correction mode. Therefore, by using the correction mode, the distance accuracy during ranging can be improved, thereby improving the calculation accuracy of external parameters implemented based on the ranging results and the accuracy of correction. Thus, when correction is possible, control of the ranging device suitable for correction can be performed. Based on the above, a ranging control device, a ranging control method, and a ranging control program capable of controlling the ranging device according to conditions can be provided. Attached Figure Description

[0047] Figure 1 It is a block diagram representing the overall structure of an image processing device.

[0048] Figure 2 It is a graph representing the unit pixel of the light-receiving part in reflected light detection and background light detection.

[0049] Figure 3 It is a graph representing the difference in pixel density between the distance image and the background light image.

[0050] Figure 4 This is a diagram illustrating an example of the surrounding structure of a vehicle when corrections are being performed.

[0051] Figure 5 This is a graph showing the difference between the normal ranging mode and the calibration mode.

[0052] Figure 6 This is a flowchart illustrating an example of a ranging control method performed by an image processing device.

[0053] Figure 7 This is a diagram showing the difference between the normal ranging mode and the correction mode in the second embodiment.

[0054] Figure 8 This is a diagram illustrating the difference between the normal ranging mode and the correction mode in the third embodiment.

[0055] Figure 9 This is a flowchart illustrating an example of a ranging control method executed by an image processing device in the fourth embodiment.

[0056] Figure 10 This is a flowchart illustrating an example of a ranging control method executed by an image processing device in the fifth embodiment.

[0057] Figure 11 This is a flowchart illustrating an example of a ranging control method executed by an image processing device in the sixth embodiment.

[0058] Figure 12This is a block diagram showing the overall configuration of the image processing apparatus in the seventh embodiment.

[0059] Figure 13 This is a flowchart illustrating an example of a ranging control method executed by an image processing device in the seventh embodiment.

[0060] Figure 14 This is a block diagram illustrating the overall configuration of a LiDAR device in other embodiments. Detailed Implementation

[0061] <First Implementation Method>

[0062] like Figure 1 As shown, an image processing device 100, which serves as a ranging control device according to one embodiment of this disclosure, is mounted on a vehicle A, which is a moving body. The image processing device 100 is, for example, an on-board ECU (Electronic Control Unit) that acquires image information from multiple on-board sensors, including a LiDAR (Light Detection and Ranging / Laser Imaging Detection and Ranging) device 1 described later, and performs image recognition and other processing.

[0063] The image processing device 100 can acquire various information, for example, via an in-vehicle network 50 that includes at least one of a LAN (Local Area Network), a wiring harness, and an internal bus. The information acquired from the in-vehicle network 50 includes, for example, location information based on a locator, map information contained in a map database, motion information from motion sensors of vehicle A, and detection information based on other sensors described later. Motion sensors include vehicle speed sensors, attitude sensors, etc.

[0064] In addition, the image processing device 100 is connected to the LiDAR device 1 and can communicate with each other. The LiDAR device 1 is a measuring device that measures the distance to a reflection point by detecting the reflected light from the reflection point relative to the illumination of light. The LiDAR device 1 includes a light-emitting unit 11, a light-receiving unit 12, a mirror component, and a control circuit 14.

[0065] The light-emitting part 11 is, for example, a semiconductor element that emits directional laser light, such as a laser diode. The light-emitting part 11 irradiates the outside of the vehicle A with laser light in the form of intermittent pulsed beams. The light-receiving part 12 is, for example, a light-receiving element with high light sensitivity, such as a SPAD (Single Photon Avalanche Diode). Multiple light-receiving elements are arranged in an array in a two-dimensional direction. A group of multiple adjacent light-receiving elements constitutes a light-receiving pixel (hereinafter also referred to as a pixel). In addition, the number of light-receiving elements constituting a light-receiving pixel can be changed by the control circuit 14. The light-receiving element is exposed by light incident from the outside of the light-receiving part 12 into a sensing detection area determined by the field of view of the light-receiving part 12.

[0066] Actuator 13 controls the reflection angle of the mirror that reflects the laser light irradiated from the light-emitting unit 11 towards the exit surface of the LiDAR device 1. The laser is scanned by controlling the reflection angle of the mirror by actuator 13. The scanning direction can be either horizontal or vertical. Alternatively, actuator 13 can also scan the laser by controlling the attitude angle of the housing of the LiDAR device 1 itself.

[0067] The control circuit 14 controls the light-emitting part 11, the light-receiving part 12, and the actuator 13. The control circuit 14 is a computer comprising at least one memory and one processor. The memory is at least one non-transitory tangible storage medium, such as semiconductor memory, magnetic media, and optical media, that non-transitorily stores or stores programs and data that can be read by a computer. The memory stores various programs executed by the processor.

[0068] The control circuit 14 controls the exposure and scanning of multiple pixels in the light-receiving unit 12, and processes the signals from the light-receiving unit 12 to digitize them. The control circuit 14 performs the following two types of light detection: reflected light detection, in which the light-receiving unit 12 detects reflected light in relation to the light irradiation of the light-emitting unit 11; and background light detection, in which the light-receiving unit 12 detects background light when the light irradiation of the light-emitting unit 11 stops.

[0069] In reflected light detection, the laser light emanating from the light-emitting unit 11 is reflected upon contact with an object within the sensing detection area. This reflected portion becomes the laser reflection point. The laser light reflected at the reflection point (hereinafter referred to as reflected light) passes through the incident surface and enters the light-receiving unit 12 for exposure. At this time, the control circuit 14 obtains reflected light at various angles within the field of view by scanning multiple pixels of the light-receiving unit 12. Thus, the control circuit 14 obtains a distance image of the reflecting object (object).

[0070] In detail, the control circuit 14 accumulates the intensity of reflected light obtained by scanning within a certain time period in each pixel, or the value obtained based on its intensity (hereinafter referred to as reflection intensity), according to each distance obtained. Thus, the control circuit 14 obtains... Figure 5 The control circuit 14 calculates the distance to the reflection point based on the reflection intensity of each bar (i.e., bin) in the histogram, as shown. Specifically, the control circuit 14 generates an approximate curve for bars (i.e., bins) that exceed a predetermined threshold, and uses the extreme value of this approximate curve as the distance to the reflection point in that pixel. By performing the above processing on all pixels, the control circuit 14 is able to generate a distance image containing distance information for each pixel.

[0071] On the other hand, in background light detection, when the light irradiation from the light-emitting unit 11 stops, external light such as sunlight is reflected off the object and exposed in the light-receiving unit 12. Hereinafter, this exposed light is referred to as background light. At this time, the control circuit 14 scans multiple pixels of the light-receiving unit 12 to obtain background light at various angles within the field of view, similar to the reflected light. By performing the above-described processing on all pixels, the control circuit 14 is able to generate a background light image. Furthermore, the sensing and detection areas for reflected light and background light are almost identical. Background light can also be referred to as external light or interference light.

[0072] Furthermore, in the implementation, the control circuit 14 changes the size by 1 pixel during reflected light detection and during background light detection. Specifically, as follows: Figure 2 As shown, the control circuit 14 reduces the number of light-receiving elements (α×β) constituting one pixel during background light detection to the number of light-receiving elements (A×B) constituting one pixel during reflected light detection. Therefore, the number of pixels in the background light image is increased compared to the distance image capture (see reference). Figure 3 (Q≥M, R≥N). That is, for the background light image, the angular resolution per pixel is higher than that of the distance image.

[0073] During both reflected light detection and background light detection, the control circuit 14 can control the scanning speed of the light-emitting unit 11 and the light-receiving frequency of the light-receiving unit 12. The control circuit 14 changes the scanning speed by controlling the actuator 13.

[0074] As a ranging mode corresponding to the scanning speed, the control circuit 14 can execute a normal ranging mode and a correction mode. The correction mode is a ranging mode that slows down the scanning speed compared to the normal ranging mode. Details of each ranging mode will be described later.

[0075] The image processing apparatus 100 is a computer comprising at least one memory 101 and one processor 102. The memory 101 is at least one non-temporary tangible storage medium, such as semiconductor memory, magnetic media, and optical media, that non-temporarily stores or stores programs and data readable by a computer. The memory 101 stores various programs executed by the processor 102, such as the ranging control program described later.

[0076] The processor 102 may include, for example, as a core, at least one of the following: CPU (Central Processing Unit), GPU (Graphics Processing Unit), and RISC (Reduced Instruction Set Computer)-CPU. The processor 102 executes multiple commands contained in the ranging control program stored in the memory 101. Thus, the image processing apparatus 100 constructs multiple functional units for controlling the ranging mode executed by the LiDAR device 1. In this way, in the image processing apparatus 100, the ranging control program stored in the memory 101 causes the processor 102 to execute multiple commands, thereby constructing multiple functional units for ranging control. Specifically, as... Figure 1 As shown, the image processing apparatus 100 includes functional units such as an image acquisition unit 110, a mode determination unit 120, a mode determination unit 130, and a correction unit 140.

[0077] The image acquisition unit 110 acquires the distance image and the background light image generated in the control circuit 14 of the LiDAR device 1. The image acquisition unit 110 performs prescribed image processing, such as object recognition, on each acquired image. The image acquisition unit 110 may also send each acquired image or each image after image processing to other ECUs.

[0078] Based on information obtained from the vehicle network 50, the mode determination unit 120 determines whether to set the ranging mode of the LiDAR device 1 to either the normal ranging mode or the correction mode. To this end, the mode determination unit 120 determines whether the execution conditions for performing correction are met. If the execution conditions are met, the mode determination unit 120 issues an execution decision for the correction mode; if the execution conditions are not met, it issues an execution decision for the normal ranging mode.

[0079] For example, the execution condition is set to vehicle A entering the correction area where the correction mode is allowed. Here, the correction area includes at least one of the following: a space set up for correction, a passenger pick-up and drop-off stop, a parking space such as a parking lot, or an intersection. Furthermore, the determination of whether vehicle A has entered the correction area can be performed, for example, based on the current position of vehicle A using GNSS (Global Navigation Satellite System) such as GPS.

[0080] If the pattern determination unit 120 determines that vehicle A has entered the correction area, it further determines whether vehicle A has stopped. The pattern determination unit 120 can determine whether vehicle A has stopped based on the speed information of vehicle A. As an example, the pattern determination unit 120 may also determine that vehicle A has stopped if the speed information is 0 km / h for a predetermined period (e.g., 5 seconds). Alternatively, the pattern determination unit 120 may make the determination based on the distance image and the background light image acquired by the image acquisition unit 110. For example, it may also calculate the difference between the two distance images acquired at the two most recent times, and determine that vehicle A has stopped if the difference is less than a certain value.

[0081] When vehicle A enters the correction area and has stopped, the mode determination unit 120 issues an execution determination for the correction mode.

[0082] The mode determination unit 130 switches the ranging mode to be executed by the control circuit 14 based on the execution determination in the mode determination unit 120. Specifically, when an execution determination for a different ranging mode is issued, the mode determination unit 130 generates a ranging mode switching command and sends it to the control circuit 14. In the first embodiment, the mode determination unit 130 only needs to generate a ranging mode switching command for the entire range of the sensing detection area. Thus, the mode determination unit 130 causes the LiDAR device 1 to execute any ranging mode. The mode determination unit 130 is an example of a "mode execution unit".

[0083] In calibration mode, the scan speed is set slower compared to normal ranging mode. For example, in calibration mode, the scan speed is set to one-tenth, and the 10Hz scan cycle in normal ranging mode is changed to 1Hz. In this case, such as Figure 5 As shown, the correction mode receives more light per pixel compared to the normal ranging mode. Therefore, the amount of information constituting the histogram is greater in the correction mode. Consequently, the distance to the detected reflection point is closer to the true distance. Furthermore, in Figure 5 In the diagram, the dashed rectangles schematically represent the light-receiving range LR for each of the multiple light-receiving timings. (For details to follow...) Figure 7 The same.

[0084] When the calibration unit 140 is in calibration mode, it performs calibration of the LiDAR device 1 based on the distance image and the background light image obtained in the calibration mode.

[0085] The correction unit 140 acquires image information obtained in the correction mode. Furthermore, the correction unit 140 acquires feature point information of the correction target CT obtained from sensors other than the LiDAR device. Additionally, the correction target CT, for example... Figure 4 The calibration target CT shown is a flat checkerboard pattern. Alternatively, the calibration target CT can also be a flat plate with other arbitrary patterns (such as dot patterns). Such a calibration target CT is set in a pre-defined calibration space. Other sensors are, for example, a measuring machine TS set in the calibration space. The measuring machine TS is a structure capable of three-dimensional measurement, such as a total station. The measuring machine TS extracts feature points from the calibration target CT and provides its information to the calibration unit 140.

[0086] The correction unit 140 extracts feature points of the target CT based on each image from the LiDAR device 1 and determines their three-dimensional coordinates. Specifically, the correction unit 140 extracts feature points of the target CT from a background light image with a resolution of at least that of a distance image. Furthermore, the correction unit 140 calculates the coordinates of the distance image corresponding to the coordinates of the extracted feature points in the background light image, and extracts distance information from each of the adjacent pixels. The correction unit 140 converts the extracted distances of multiple adjacent pixels into three-dimensional coordinates and interpolates the obtained three-dimensional coordinates using bilinear interpolation or bicubic interpolation, thereby determining the three-dimensional coordinates of the feature points.

[0087] Furthermore, the calibration unit 140 acquires information about feature points extracted from other sensors. The calibration unit 140 determines the feature points (corresponding points) of other sensors that correspond to each feature point of the LiDAR device 1, and calculates the attitude and position of the LiDAR device 1, i.e., external parameters, based on their correspondence. The calculated external parameters can be used for image processing in the image acquisition unit 110, or for processing in other ECUs using distance images or background light images.

[0088] Next, the following is based on Figure 6 The flow of the ranging control method executed by the image processing device 100 through the coordination of functional modules will be described. Furthermore, in the flow described later, "S" refers to multiple steps of the flow executed through multiple commands included in the program.

[0089] First, in S110, the mode determination unit 120 determines whether vehicle A has entered the correction area. If it is determined that vehicle A has entered the correction area, in S115, the mode determination unit 120 determines whether vehicle A has stopped.

[0090] If it is determined in S110 that the vehicle has not entered the calibration area, or if it is determined in S115 that vehicle A has not stopped, the process proceeds to S130. In S130, the mode determination unit 130 determines the ranging mode to the normal ranging mode. Specifically, if the previous ranging mode was the calibration mode, a switching command to switch to the normal ranging mode is sent in S130. Furthermore, if the previous ranging mode was the normal ranging mode, the ranging mode is maintained in S130.

[0091] On the other hand, if it is determined in S115 that vehicle A has stopped, the process proceeds to S140. In S140, the mode determination unit 130 determines the ranging mode to the correction mode. Specifically, if the previous ranging mode was the normal ranging mode, a switching command to switch to the ranging mode is sent in S140. Moreover, if the previous ranging mode was the correction mode, the ranging mode is maintained in S140.

[0092] Next, in S150, the image acquisition unit 110 acquires a distance image and a background light image. In the subsequent S160, the correction unit 140 calculates the attitude and position of the LiDAR device 1 based on the distance image and the background light image.

[0093] Furthermore, S110 and S115 mentioned above are examples of "judgment processes", and S140 is an example of "pattern execution processes". Additionally, S160 is an example of "calibration processes".

[0094] According to the first embodiment described above, when the execution conditions for performing correction are met, a correction mode that slows down the scanning speed of the scanning light is executed, and correction is performed based on the ranging results in this correction mode. Therefore, the data collection time per pixel is longer in the correction mode, thus increasing the amount of information compared to the normal ranging mode. This enables more accurate ranging, thereby improving the accuracy of the calculation of external parameters based on the ranging results and the accuracy of the correction. Therefore, when correction is possible, control of the LiDAR device 1 suitable for correction can be performed. As a result, ranging control corresponding to the situation can be performed. Furthermore, since the data collection time is longer, the amount of background light data also increases, expanding the high dynamic range. Therefore, the number of situations in which calibration can be performed can increase.

[0095] Furthermore, according to the first embodiment, when vehicle A enters the calibration area where calibration mode is permitted, the execution condition is determined to be met. Therefore, when vehicle A equipped with LiDAR device 1 enters the calibration area, calibration can be reliably performed.

[0096] <Second Implementation Method>

[0097] In the second embodiment, a variation of the image processing apparatus 100 in the first embodiment will be described. Figure 7 The elements marked with the same reference numerals as those in the drawings of the first embodiment are the same elements and have the same function and effect.

[0098] In the second embodiment, the mode determination unit 130, in addition to the scanning speed, changes the number of light-receiving elements used to obtain distance information for each pixel in the distance image in both the normal ranging mode and the correction mode. Specifically, compared to the normal ranging mode, the mode determination unit 130 slows down the scanning speed in the correction mode and reduces the number of light-receiving elements constituting one pixel. As a result, the size of a pixel in the correction mode (correction pixel) is smaller than the size of a pixel in the normal ranging mode (normal pixel). For example, the mode determination unit 130 specifies the size of the correction pixel in such a way that the number of times it receives light in one scan of a correction pixel is equal to or greater than the number of times it receives light in one scan of a normal pixel.

[0099] As an example, such as Figure 7 As shown, the mode determination unit 130 receives light at the same number of times per pixel in the correction mode and the normal ranging mode (in Figure 7 The number of light-receiving elements in the correction mode is set in a manner that is 3 times (in the middle). Specifically, when the scan speed in the normal mode is 10Hz and the scan speed in the correction mode is 1Hz, the mode determination unit 130 sets the size of the correction pixel to half that of the normal pixel. Therefore, by reducing the number of light-receiving elements as described above, a distance image with higher angular resolution can be obtained. Furthermore, Figure 7 The black dots within the pixels in the image indicate the points of interest when converting distance information in each pixel into three-dimensional coordinates.

[0100] According to the second embodiment described above, in the correction mode, the amount of information per pixel that is reduced due to the reduction in the number of light-receiving elements can be reduced to the same level as per pixel in the normal ranging mode by slowing down the scanning speed. Therefore, while maintaining the amount of information, the number of light-receiving elements can be reduced, thus enabling the acquisition of a distance image with higher angular resolution compared to the normal ranging mode. If a distance image with higher angular resolution is obtained, the three-dimensional coordinates of feature points can be obtained with higher accuracy, thereby improving the accuracy of external parameter calculation and correction.

[0101] <Third Implementation Method>

[0102] In the third embodiment, a variation of the image processing apparatus 100 in the first embodiment will be described. Figure 8The elements marked with the same reference numerals as those in the drawings of the first embodiment are the same elements and have the same function and effect.

[0103] In the third embodiment, the mode determination unit 130 changes the resolution of the distance up to the reflection point in both the normal ranging mode and the correction mode. Specifically, in the correction mode, the mode determination unit 130 increases the resolution of the distance corresponding to one bar in the histogram by changing the light-receiving frequency of the light-receiving unit 12. That is, the mode determination unit 130 makes the light-receiving frequency in the correction mode higher than that in the normal ranging mode. For example, the mode determination unit 130 adjusts the light-receiving frequency so that the resolution in the correction mode is three times that in the normal ranging mode. In other words, the distance range of one bar in the correction mode is one-third of that in the normal ranging mode.

[0104] At this time, the mode determination unit 130 can make the detection distance of the correction mode smaller than that of the normal ranging mode. Specifically, the mode determination unit 130 uses the value obtained by multiplying the detection distance of the normal ranging mode by the reciprocal of the resolution multiple as the detection distance of the correction mode. By limiting the detection distance, the mode determination unit 130 suppresses the increase in the amount of distance image data in the correction mode.

[0105] According to the third embodiment described above, when the execution conditions for performing correction are met, a correction mode that increases the resolution of the distance to the reflection point is executed, and correction is performed based on the ranging results in this correction mode. Therefore, by using the correction mode, the distance accuracy during ranging can be improved, thereby improving the calculation accuracy of external parameters implemented based on the ranging results and the accuracy of correction. Therefore, when correction is possible, control of the LiDAR device 1 suitable for correction can be performed. Thus, the ranging device can be controlled according to the situation.

[0106] Furthermore, the mode determination unit 130 can also, in addition to improving the distance resolution, slow down the scanning speed of the scanning light in the correction mode. In other words, the correction mode can also include both: improving the resolution of the distance to the reflection point; and slowing down the scanning speed of the scanning light compared to the normal ranging mode. As a result, more accurate correction can be performed.

[0107] <Fourth Implementation Method>

[0108] In the fourth embodiment, a variation of the image processing apparatus 100 in the first embodiment will be described. Figure 9 The elements marked with the same reference numerals as those in the drawings of the first embodiment are the same elements and have the same function and effect.

[0109] In the fourth embodiment, the mode determination unit 120 determines that the execution condition is met if a pre-defined correction target CT exists within the ranging area. The mode determination unit 120 determines whether a correction target CT exists based on image information obtained in a normal ranging mode. For example, the mode determination unit 120 determines the presence or absence of a pre-defined identification mark for the correction target CT from a distance image or a background light image through image processing.

[0110] The mode determination unit 130 determines the ranging in the correction mode for a specific range within the sensing detection area that includes the correction target CT. For example, the mode determination unit 130 can set the azimuth range imagined from the position of the detected identification mark as the specific range. In the fourth embodiment, the mode determination unit 130 sends information related to the specific range along with a switching command to the control circuit 14. The correction unit 140 performs correction based on the image information within the specific range.

[0111] Next, the following is based on Figure 9 The flowchart illustrates the ranging control method executed by the image processing device 100 in the fourth embodiment.

[0112] First, in S100, the image acquisition unit 110 acquires image information generated in the normal ranging mode. Next, in S120, the mode determination unit 120 determines whether a correction target CT has been detected. If it is determined that no correction target CT has been detected, the process proceeds to S130. On the other hand, if it is determined that a correction target CT has been detected, the process proceeds to S145. In S145, the mode determination unit 130 determines that the correction mode will be performed only on a specific area containing the correction target CT during the scan. After that, the process proceeds to S150 and S160.

[0113] According to the fourth embodiment described above, the execution condition is determined to be met when a pre-defined calibration target CT exists within the ranging area. Furthermore, the ranging range of the calibration mode is limited to a specific range within the ranging area containing the calibration target CT. Therefore, when a calibration target CT available for calibration exists, calibration can be reliably performed, and the amount of data can be reduced by limiting the ranging range.

[0114] <Fifth Implementation Method>

[0115] In the fifth embodiment, a variation of the image processing apparatus 100 in the first embodiment will be described. Figure 10 The elements marked with the same reference numerals as those in the drawings of the first embodiment are the same elements and have the same function and effect.

[0116] In the fifth embodiment, the pattern determination unit 120 determines, based on image information acquired in a normal ranging mode, whether there are any reflection points exceeding a predetermined amount within an allowable distance range. Here, the allowable distance range is a distance range below or less than a threshold related to the distance to the reflection point. As an example, the threshold can be set to 30m. Alternatively, as an example, the predetermined amount can be set to 80% of all reflection points.

[0117] Next, the following is based on Figure 10 The flowchart below describes the ranging control method executed by the image processing apparatus 100 in the fifth embodiment. Furthermore, for steps labeled with the same reference numerals as in the first or second embodiment, the description in the corresponding embodiment is used.

[0118] If the image acquisition unit 110 acquires the image information generated in the normal ranging mode in S100, the process proceeds to S125. In S125, the mode determination unit 120 determines whether a predetermined amount of reflection points exist within the allowable distance range. If it is determined that no predetermined amount of reflection points exist, the process proceeds to S130. On the other hand, if it is determined that a predetermined amount of reflection points exist, the process proceeds to S140, and continues to S150 and S160.

[0119] According to the fifth embodiment described above, if the number of reflection points within the allowable distance range from vehicle A exceeds a predetermined amount, the execution condition is deemed met. Therefore, it is possible to detect situations where there are a large number of calibration target CTs at relatively close distances, i.e., situations suitable for calibration, and calibration can be reliably performed under such conditions.

[0120] <Sixth Implementation Method>

[0121] In the sixth embodiment, a variation of the image processing apparatus 100 in the fourth embodiment will be described. Figure 11 The elements marked with the same reference numerals as those in the drawings of the first embodiment are the same elements and have the same function and effect.

[0122] In the sixth embodiment, the mode determination unit 120 determines that the execution condition is met if a pre-defined correction target CT exists within the ranging area. The mode determination unit 120 determines whether a correction target CT exists based on image information obtained in a normal ranging mode. For example, the mode determination unit 120 determines the presence or absence of a pre-defined identification mark for the correction target CT from a distance image or a background light image through image processing.

[0123] The mode determination unit 130 determines the ranging in the calibration mode for a specific range within the sensing detection area that includes the calibration target CT. The mode determination unit 130 sets at least one of the size of the specific range and the scanning speed such that the scan cycle in the calibration mode (hereinafter referred to as the calibration cycle) converges within an allowable cycle range including the scan cycle in the normal ranging mode (normal cycle). The allowable cycle range is, for example, a range where the calibration cycle is above or exceeds a predetermined threshold. In this case, the threshold becomes a value below the normal cycle. The smaller the difference between the threshold and the normal cycle, the better.

[0124] As an example, the mode determination unit 130 is set so that the calibration period is substantially the same as the normal period. In other words, the mode determination unit 130 maintains the calibration period as the same as the normal period. When the scan speed in the calibration mode is predetermined, the mode determination unit 130 determines the size of a specific range based on the normal period and the scan speed. For example, if the normal period is 10Hz and the scan speed is specified as one-tenth of the normal mode, the mode determination unit 130 sets the size of the specific range to one-tenth of the sensing detection area. Alternatively, the mode determination unit 130 may also set the scan speed based on a predetermined specific range.

[0125] Next, the following is based on Figure 11 The flowchart illustrates the ranging control method executed by the image processing device 100 in the sixth embodiment.

[0126] If the target CT is detected in S120, the process proceeds to S146. In S146, the mode determination unit 130 determines, for a specific range containing the target CT, a correction mode that maintains the correction cycle at the same scan cycle as the normal cycle. Afterwards, the process proceeds to S150 and S160.

[0127] According to the sixth embodiment described above, when the ranging range of the correction mode is limited to a specific range within the ranging area including the correction target CT, at least one of the size of the specific range and the scanning speed is set in a manner that converges within an allowable period range including the normal period. Therefore, it is possible to suppress the correction period from slowing down. In particular, by setting the correction period to be equal to or greater than the normal period, it is possible to make the ranging of the correction mode end at a speed equal to or greater than that of the ranging of the normal ranging mode.

[0128] <Seventh Implementation Method>

[0129] In the seventh embodiment, a variation of the image processing apparatus 100 in the first embodiment will be described. Figure 12 , Figure 13The elements marked with the same reference numerals as those in the drawings of the first embodiment are the same elements and have the same function and effect.

[0130] In the seventh embodiment, the image processing device 100 is connected to the information prompting system 60 and the communication system 70 in a manner that enables communication.

[0131] The information prompting system 60 includes an in-vehicle prompting unit 61 that prompts reported information to the occupants of vehicle A. The in-vehicle prompting unit 61 can also prompt reported information by stimulating the occupants' vision. The visual stimulation type information prompting system 60 is, for example, at least one of a HUD (Head-Up Display), MFD (Multi-Function Display), instrument cluster, navigation unit, and luminous unit. The in-vehicle prompting unit 61 can also prompt reported information by stimulating the occupants' hearing. The auditory stimulation type information prompting system 60 is, for example, at least one of a speaker, buzzer, and vibration unit. The in-vehicle prompting unit 61 can also prompt reported information by stimulating the occupants' skin sensation. Skin sensations stimulated by the skin sensation stimulation type in-vehicle prompting unit 61 include, for example, at least one of touch, temperature, and wind sensation. The skin sensation stimulation type in-vehicle prompting unit 61 is, for example, at least one of a steering wheel vibration unit, a driver's seat vibration unit, a steering wheel reaction force unit, an accelerator pedal reaction force unit, a brake pedal reaction force unit, and an air conditioning unit.

[0132] The information notification system 60 includes an external notification unit 62 that notifies people in the vicinity of vehicle A of information. The external notification unit 62 may include at least one of visual or auditory stimuli. The visual stimuli type external notification unit 62 may be, for example, at least one of a display light and an external display. The auditory stimuli type external notification unit 62 may be, for example, at least one of a speaker and a buzzer.

[0133] Communication system 70 transmits and receives prescribed communication information wirelessly. For example, communication system 70 can also transmit and receive communication signals with a V2X system located outside vehicle A. V2X type communication system 70 is, for example, at least one of DSRC (Dedicated Short Range Communications) communication equipment and cellular V2X (C-V2X) communication equipment. Through communication system 70, vehicle A can communicate with center C. Center C is a structure that at least has a server device for controlling the operation of the autonomously driven vehicle A. Communication system 70 is a structure that notifies the outside world by sending communication information to external entities such as center C.

[0134] The in-vehicle notification unit 61 and the out-of-vehicle notification unit 62, along with the information notification system 60 and the communication system 70, are examples of "notification devices".

[0135] In the seventh embodiment, the image processing apparatus 100 further includes a notification unit 150 as a functional unit. The notification unit 150 causes at least one of the in-vehicle notification unit 61, the external notification unit 62, and the communication system 70 to execute a notification (correction notification) associated with the execution of a correction mode. For example, the correction notification indicates a switch between a normal ranging mode and a correction mode. In other words, the correction notification indicates the start and end of a correction mode.

[0136] When the in-vehicle notification unit 61 and the external notification unit 62 execute correction notifications, the notification unit 150 may also execute messages indicating that correction mode is in progress and display icons, etc., during the execution of correction mode. Alternatively, the notification unit 150 may also execute flashing lights indicating that correction mode is in progress, etc., during the execution of correction mode. Alternatively, the notification unit 150 may also execute announcements indicating that correction mode is in progress and output notification sounds, etc., during the execution of correction mode. By executing the correction notification through the in-vehicle notification unit 61, the notification unit 150 implements correction notifications targeting the occupants of vehicle A. By executing the correction notification through the external notification unit 62, the notification unit 150 implements correction notifications targeting people in the vicinity of vehicle A.

[0137] When the communication system 70 performs a correction notification, the notification unit 150 sends information to the center C indicating that a correction mode is being executed. For example, the notification unit 150 performs the correction notification by switching the ID representing the current ranging mode contained in the data packet being transmitted to an ID representing the correction mode. Thus, the notification unit 150 implements correction notifications to either the server device of the center C or the operator of the center C.

[0138] Next, the following is based on Figure 13 The flowchart illustrates the ranging control method executed by the image processing apparatus 100 in the seventh embodiment.

[0139] If vehicle A is determined to be parked in S115, the process proceeds to S139. In S139, notification unit 150 executes a correction notification. That is, if the previous ranging mode was the normal ranging mode, notification unit 150 starts issuing a correction notification; if the previous ranging mode was the correction mode, notification unit 150 continues executing the correction notification. If the processing in S139 is completed, the process proceeds to S140.

[0140] Furthermore, if it is determined in S110 that the vehicle has not entered the calibration area, or in S115 that vehicle A has not stopped, the process proceeds to S129. In S129, the notification unit 150 performs the termination processing of the calibration notification. That is, if the previous ranging mode was the normal ranging mode, the notification unit 150 terminates the execution of the calibration notification. If the processing in S129 is completed, the process proceeds to S130. S129 and S139 above are examples of a "notification process".

[0141] According to the seventh embodiment described above, a notification associated with the execution of the calibration mode is performed. Therefore, the occupants of vehicle A, as well as surrounding individuals and operators, can be informed that the LiDAR device 1 is executing the calibration mode. Furthermore, this allows the recipients to understand both the calibration mode and the current ranging mode in the normal ranging mode.

[0142] <Other Implementation Methods>

[0143] The disclosure in this specification is not limited to the illustrated embodiments. The disclosure includes the illustrated embodiments and modifications based thereon by those skilled in the art. For example, the disclosure is not limited to combinations of components and / or elements shown in the embodiments. The disclosure can be implemented in various combinations. The disclosure may include additional portions that can be added to the embodiments. The disclosure includes omissions of components and / or elements of the embodiments. The disclosure includes substitutions or combinations of components and / or elements between one embodiment and other embodiments. The scope of the disclosed technology is not limited to the description of the embodiments. It should be understood that some of the scope of the disclosed technology is expressed by the description of the claims, and also includes all modifications within the meaning and scope equivalent to the description of the claims.

[0144] In the above embodiment, the dedicated computer constituting the ranging control device is the image processing device 100. Alternatively, the dedicated computer constituting the ranging control device may also be the control circuit 14 of the LiDAR device 1 (see reference). Figure 14 Alternatively, the dedicated computer constituting the ranging control device may be an operation control ECU mounted on vehicle A, or an actuator ECU that independently controls the driving actuator of vehicle A. Alternatively, the dedicated computer constituting the image processing device 100 may be a locator ECU, or a navigation ECU. Alternatively, the dedicated computer constituting the image processing device 100 may be an HCU (HMI (Human Machine Interface) Control Unit) that controls the information display of the information display system. In addition, the dedicated computer constituting the ranging control device may also be a server device located outside vehicle A.

[0145] In the first to seventh embodiments described above, the execution conditions that the mode determination unit 120 determines whether or not are met were explained. As a variation of the embodiment, the mode determination unit 120 may also determine whether or not at least two of the plurality of execution conditions are met. In this case, the mode determination unit 130 may determine the execution of the correction mode if at least one of the plurality of execution conditions is met. Alternatively, the mode determination unit 130 may determine the execution of the correction mode if at least two of the plurality of execution conditions are met, or only if all the determined execution conditions are met.

[0146] In the first embodiment described above, the mode determination unit 120 issues an execution determination for the correction mode when vehicle A enters the correction area and has stopped. Alternatively, the mode determination unit 120 may issue an execution determination for the correction mode regardless of whether vehicle A is stopped, once it is determined that the vehicle has entered the correction area.

[0147] In the above-described embodiment, the calibration target CT is an object placed in a pre-defined calibration space. Alternatively, the calibration target CT can also be a specific ground feature existing in the driving environment. Ground features include, for example, road signs, road markings, buildings (pillars, etc.). In this case, the image processing device 100 can obtain feature point information of the calibration target CT detected by other sensors such as the vehicle-mounted camera. Alternatively, the image processing device 100 can also obtain feature point information related to the ground feature serving as the calibration target CT from a three-dimensional map.

[0148] In the seventh embodiment described above, the notification unit 150 provides a notification indicating the switch between the calibration mode and the normal ranging mode. However, the calibration notification may also include other notifications. For example, if the notification indicating the switch to the ranging mode is executed in the external notification unit 62, the notification unit 150 may also execute a notification indicating that the switching to the ranging mode has been communicated to people in the vicinity as a calibration notification executed by the internal notification unit 61. Thus, the occupant can be aware that the execution of the calibration mode has been communicated to people in the vicinity. Therefore, the occupant's anxiety regarding the execution of the calibration mode can be reduced.

[0149] The image processing apparatus 100 may also be configured as a dedicated computer that includes at least one of digital circuitry and analog circuitry as a processor 102. Here, the digital circuitry is particularly such as at least one of ASIC (Application Specific Integrated Circuit), FPGA (Field Programmable Gate Array), SOC (System on a Chip), PGA (Programmable Gate Array), and CPLD (Complex Programmable Logic Device). Furthermore, such digital circuitry may also include a memory for storing programs.

[0150] The image processing apparatus 100 can be provided by a computer or a group of computer resources linked by a data communication device. For example, some of the functions provided by the image processing apparatus 100 in the above embodiments can also be implemented by other ECUs or server devices.

Claims

1. A ranging control device, comprising a processor for controlling a ranging device mounted on a moving body, the ranging device determining the distance to a reflection point by detecting reflected light from a reflection point relative to illumination by scanning light. The ranging control device is characterized by having: The determination unit determines whether the execution conditions for performing the correction of the ranging device are met; The mode execution unit, when determining that the execution condition is met, causes the ranging device to execute a correction mode, in which the scanning speed of the scanning light is slowed down compared to the ranging mode executed in the ranging device when the execution condition is not met; and The calibration unit performs the calibration based on the ranging result of the ranging device in the calibration mode.

2. The ranging control device as described in claim 1, characterized in that, The determination unit determines that the execution condition is met when the moving body enters the correction region that allows the execution of the correction mode.

3. The ranging control device as described in claim 1, characterized in that, The determination unit determines that the execution condition is met if the pre-defined calibration target exists within the ranging area. The mode execution unit limits the ranging range of the correction mode to a specific range within the ranging area that includes the correction target.

4. The ranging control device as described in claim 3, characterized in that, The mode execution unit sets at least one of the size of the specific range and the scanning speed of the scanning light in such a way that the scanning cycle in the correction mode converges within an allowable cycle range including the scanning cycle in the ranging mode.

5. The ranging control device as described in claim 1, characterized in that, If the number of reflection points within the allowable distance range from the moving body exceeds a predetermined amount, the determination unit determines that the execution condition is met.

6. The ranging control device as described in claim 1, characterized in that, The ranging device detects the reflected light using multiple light-receiving elements, enabling it to obtain a distance image where each pixel, composed of the multiple light-receiving elements, contains distance information. The mode execution unit sets the number of light-receiving elements used to obtain the distance information per pixel to be smaller in the correction mode than in the ranging mode.

7. The ranging control device as described in claim 1, characterized in that, The ranging control device further includes a notification unit that enables the notification device to execute a notification associated with the execution of the correction mode.

8. A ranging control device having a processor for controlling a ranging device mounted on a moving body, the ranging device determining the distance to a reflection point by detecting reflected light from a reflection point relative to the illumination of scanning light. The ranging control device is characterized by having: The determination unit determines whether the execution conditions for performing the correction of the ranging device are met; The mode execution unit, when determining that the execution condition is met, causes the ranging device to execute a correction mode, which improves the resolution of the distance to the reflection point compared to the ranging mode executed in the ranging device when the execution condition is not met; and The calibration unit performs the calibration based on the ranging result of the ranging device in the calibration mode.

9. The ranging control device as described in claim 8, characterized in that, The correction mode includes making the scanning speed of the scanning light slower than that of the ranging mode.

10. The ranging control device as described in claim 8, characterized in that, The determination unit determines that the execution condition is met when the moving body enters the correction region that allows the execution of the correction mode.

11. The ranging control device as described in claim 8, characterized in that, The determination unit determines that the execution condition is met if the pre-defined calibration target exists within the ranging area. The mode execution unit limits the ranging range of the correction mode to a specific range within the ranging area that includes the correction target.

12. The ranging control device as described in claim 11, characterized in that, The mode execution unit sets at least one of the size of the specific range and the scanning speed of the scanning light in such a way that the scanning cycle in the correction mode converges within an allowable cycle range including the scanning cycle in the ranging mode.

13. The ranging control device as described in claim 8, characterized in that, If the number of reflection points within the allowable distance range from the moving body exceeds a predetermined amount, the determination unit determines that the execution condition is met.

14. The ranging control device as described in claim 8, characterized in that, The ranging device detects the reflected light using multiple light-receiving elements, enabling it to obtain a distance image where each pixel, composed of the multiple light-receiving elements, contains distance information. The mode execution unit sets the number of light-receiving elements used to obtain the distance information per pixel to be smaller in the correction mode than in the ranging mode.

15. The ranging control device as described in claim 8, characterized in that, The ranging control device further includes a notification unit that enables the notification device to execute a notification associated with the execution of the correction mode.

16. A ranging control method, executed by a processor to control a ranging device mounted on a moving body, wherein the ranging device determines the distance to a reflection point by detecting reflected light from a reflection point relative to the illumination of scanning light. The ranging control method is characterized by including: The determination process involves determining whether the conditions for performing the calibration of the ranging device are met. In the mode execution process, if the execution condition is determined to be met, the ranging device executes a correction mode, in which the scanning speed of the scanning light is slowed down compared to the ranging mode executed in the ranging device when the execution condition is determined not to be met; and The calibration process is performed based on the ranging results of the ranging device in the calibration mode.

17. The ranging control method as described in claim 16, characterized in that, In the determination process, if the moving body enters the correction area that allows the execution of the correction mode, it is determined that the execution condition is met.

18. The ranging control method as described in claim 16, characterized in that, In the determination process, if the pre-defined calibration target exists within the ranging area, the execution condition is determined to be met. In the mode execution process, the ranging range of the correction mode is limited to a specific range within the ranging area that includes the correction target.

19. The ranging control method as described in claim 18, characterized in that, In the mode execution process, at least one of the size of the specific range and the scanning speed of the scanning light is set such that the scanning cycle in the correction mode converges within an allowable cycle range including the scanning cycle in the ranging mode.

20. The ranging control method as described in claim 16, characterized in that, In the determination process, if the number of reflection points within the allowable distance range from the moving body exceeds a predetermined amount, the execution condition is determined to be met.

21. The ranging control method as described in claim 16, characterized in that, The ranging device detects the reflected light using multiple light-receiving elements, enabling it to obtain a distance image where each pixel, composed of the multiple light-receiving elements, contains distance information. In the mode execution process, the number of light-receiving elements used to obtain the distance information for each pixel is smaller in the correction mode than in the ranging mode.

22. The ranging control method as described in claim 16, characterized in that, The ranging control method further includes a notification process that causes the notification device to execute a notification associated with the execution of the correction mode.

23. A ranging control method, executed by a processor to control a ranging device mounted on a moving body, wherein the ranging device determines the distance to a reflection point by detecting reflected light from a reflection point relative to the illumination of scanning light. The ranging control method is characterized by including: The determination process involves determining whether the conditions for performing the calibration of the ranging device are met. In the mode execution process, if the execution condition is determined to be met, the ranging device executes a correction mode, which improves the resolution of the distance up to the reflection point compared to the ranging mode executed in the ranging device if the execution condition is determined not to be met. as well as The calibration process is performed based on the ranging results of the ranging device in the calibration mode.

24. The ranging control method as described in claim 23, characterized in that, The correction mode includes making the scanning speed of the scanning light slower than that of the ranging mode.

25. The ranging control method as described in claim 23, characterized in that, In the determination process, if the moving body enters the correction area that allows the execution of the correction mode, it is determined that the execution condition is met.

26. The ranging control method as described in claim 23, characterized in that, In the determination process, if the pre-defined calibration target exists within the ranging area, the execution condition is determined to be met. In the mode execution process, the ranging range of the correction mode is limited to a specific range within the ranging area that includes the correction target.

27. The ranging control method as described in claim 26, characterized in that, In the mode execution process, at least one of the size of the specific range and the scanning speed of the scanning light is set such that the scanning cycle in the correction mode converges within an allowable cycle range including the scanning cycle in the ranging mode.

28. The ranging control method as described in claim 23, characterized in that, In the determination process, if the number of reflection points within the allowable distance range from the moving body exceeds a predetermined amount, the execution condition is determined to be met.

29. The ranging control method as described in claim 23, characterized in that, The ranging device detects the reflected light using multiple light-receiving elements, enabling it to obtain a distance image where each pixel, composed of the multiple light-receiving elements, contains distance information. In the mode execution process, the number of light-receiving elements used to obtain the distance information for each pixel is smaller in the correction mode than in the ranging mode.

30. The ranging control method as described in claim 23, characterized in that, The ranging control method further includes a notification process that causes the notification device to execute a notification associated with the execution of the correction mode.

31. A ranging control program product comprising commands executed by a processor for controlling a ranging device mounted on a moving body, the ranging device determining the distance to a reflection point by detecting reflected light from a reflection point relative to illumination by scanning light, characterized in that... The commands include: The determination process involves determining whether the conditions for performing the calibration of the ranging device are met. In the mode execution process, if the execution condition is determined to be met, the ranging device executes a correction mode, in which the scanning speed of the scanning light is slowed down compared to the ranging mode executed in the ranging device when the execution condition is determined not to be met; and The calibration process is performed based on the ranging results of the ranging device in the calibration mode.

32. A ranging control program product comprising commands executed by a processor for controlling a ranging device mounted on a moving body, the ranging device determining the distance to a reflection point by detecting reflected light from a reflection point relative to illumination by scanning light, characterized in that... The commands include: The determination process involves determining whether the conditions for performing the calibration of the ranging device are met. In the mode execution process, if the execution condition is determined to be met, the ranging device executes a correction mode, which improves the resolution of the distance up to the reflection point compared to the ranging mode executed in the ranging device if the execution condition is determined not to be met. as well as The calibration process is performed based on the ranging results of the ranging device in the calibration mode.

33. A ranging device having a processor and configured to be mounted on a moving body, wherein the ranging device measures the distance to a reflection point by detecting reflected light from a reflection point relative to the illumination of a scanning light, characterized in that, have: The determination unit determines whether the execution conditions for performing the correction are met; The mode execution unit executes a correction mode when the execution condition is determined to be met. In this correction mode, the scanning speed of the scanning light is slowed down compared to the ranging mode executed when the execution condition is determined not to be met. as well as The calibration unit performs the calibration based on the ranging results in the calibration mode.

34. A ranging device having a processor and configured to be mounted on a moving body, wherein the ranging device measures the distance to a reflection point by detecting reflected light from a reflection point relative to illumination by a scanning light, characterized in that, have: The determination unit determines whether the execution conditions for performing the correction are met; The mode execution unit executes a correction mode when the execution condition is determined to be met. In this correction mode, the resolution of the distance up to the reflection point is improved compared with the ranging mode executed when the execution condition is determined not to be met. as well as The calibration unit performs the calibration based on the ranging results in the calibration mode.

Images