Control device, sensing system, control method, and control program

Abstract

A processor of a control device for controlling an optical sensor that receives reflected light of irradiation light for each scanning line Ls switched along a scanning direction alpha in a scanning frame Fs. An integer of 2 or more is defined as N, and a region in which N rows of light-receiving elements are arranged in the scanning direction (alpha) in the optical sensor is defined as a region of interest (ROI) in which light-receiving data is read for each scanning line (Ls). The processor performs: shifting a region of interest (ROI) of each scan line (Ls) by an amount of a light-receiving element column (47) that is equal to or less than (N-1) columns in each of successive scan frames (Fs); and integrating the light reception data read out from the region of interest (ROI) of each scan line (Ls) for each scan frame (Fs) by the amount of scan frames (Fs) from the current to the past (N-1) frame, thereby outputting as sensing data.

Description

[0001] Related Application

[0002] This application is based on patent application No. 2022-105557 filed in Japan on June 30, 2022, and the contents of the basic application are incorporated herein by reference in their entirety. Technical Field

[0003] The present disclosure relates to a control technology for controlling an optical sensor that receives reflected light of irradiated light. Background Art

[0004] In the control technology disclosed in Patent Document 1, a first addition area and a second addition area that partially overlap each other are set as addition areas for adding light-receiving data for each scanning area. Thus, scanning in the first addition area and scanning in the second addition area are performed continuously for the same scanning area.

[0005] Prior Art Literature

[0006] Patent Literature

[0007] Patent Document 1: Japanese Patent Application Publication No. 2020-118570 Summary of the invention

[0008] In the control technology disclosed in Patent Document 1, for the same scanning area, the added data of the light receiving data are generated respectively according to two added areas that are partially shifted from each other, thereby being able to improve the resolution by increasing the resolution corresponding to the shift. However, in a scanning frame for scanning the entire scanning area, the scanning time until the scanning of each added area is completed increases, thus causing a new problem of reduced frame rate. Here, the higher the frame rate and resolution, the more helpful it is to improve the sensing accuracy.

[0009] The subject of the present disclosure is to provide a control device for an optical sensor capable of achieving high-precision sensing accuracy. Another subject of the present disclosure is to provide a sensing system including an optical sensor capable of achieving high-precision sensing accuracy. Still another subject of the present disclosure is to provide a control method for an optical sensor capable of achieving high-precision sensing accuracy. Still another subject of the present disclosure is to provide a control program for an optical sensor capable of achieving high-precision sensing accuracy.

[0010] Hereinafter, technical means of the present disclosure for solving the problems will be described.

[0011] A first aspect of the present disclosure relates to a control device having a processor for controlling an optical sensor that receives reflected light of irradiated light for each scanning line switched along a scanning direction in a scanning frame.

[0012] The control device is composed of:

[0013] When an integer greater than 2 is defined as N, and an area in which N rows of light receiving element rows are arranged along the scanning direction in the optical sensor is defined as a target area for reading light receiving data for each scanning line,

[0014] Processor execution:

[0015] Shifting the region of interest of each scanning line by an amount equal to or less than N-1 columns of light receiving elements in consecutive scanning frames; and

[0016] The light receiving data read out from the target area of ​​each scanning line for each scanning frame is integrated for scanning frames from the current frame to the past N-1 frames, and output as sensing data.

[0017] A second aspect of the present disclosure relates to a sensing system, comprising:

[0018] an optical sensor that receives reflected light of the irradiated light for each scanning line switched along the scanning direction in the scanning frame; and

[0019] A control device for controlling a first aspect of the optical sensor.

[0020] A third aspect of the present disclosure relates to a control method, which is executed by a processor to control an optical sensor, the optical sensor receiving reflected light of the irradiation light according to each scanning line switched along a scanning direction in a scanning frame,

[0021] When an integer greater than 2 is defined as N, and an area in which N rows of light receiving element rows are arranged along the scanning direction in the optical sensor is defined as a target area for reading light receiving data for each scanning line,

[0022] Control methods include:

[0023] Shifting the region of interest of each scanning line by an amount equal to or less than N-1 columns of light receiving elements in consecutive scanning frames; and

[0024] The light receiving data read out from the target area of ​​each scanning line for each scanning frame is integrated for scanning frames from the current frame to the past N-1 frames, and output as sensing data.

[0025] A fourth aspect of the present disclosure relates to a control program, which is stored in a storage medium and includes a command for causing a processor to execute in order to control an optical sensor, wherein the optical sensor receives reflected light of an irradiated light for each scanning line switched along a scanning direction in a scanning frame,

[0026] When an integer greater than 2 is defined as N, and an area in which N rows of light receiving element rows are arranged along the scanning direction in the optical sensor is defined as a target area for reading light receiving data for each scanning line,

[0027] The commands include:

[0028] Shifting the region of interest of each scanning line by an amount equal to or less than N-1 columns of light receiving elements in consecutive scanning frames; and

[0029] The light receiving data read out from the target area of ​​each scanning line for each scanning frame is integrated for scanning frames from the current frame to the past N-1 frames, and output as sensing data.

[0030] Thus, in the first to fourth schemes, light receiving data is read from the region of interest of each scanning line for each scanning frame in which the scanning line is switched along the scanning direction. Therefore, if an integer greater than 2 is defined, the region of interest for which the light receiving element columns of N columns are arranged along the scanning direction in the optical sensor and the light receiving data is read out for each scanning line is shifted by the number of light receiving element columns of N-1 columns or less in the preceding and following scanning frames. Thus, the scanning time required to shift the region of interest for each scanning line and read out the light receiving data becomes the time of each scanning frame alone, and can be shortened as much as possible.

[0031] Furthermore, according to the first to fourth schemes, the light receiving data read out from the focus area of ​​each scanning line for each scanning frame is integrated with the scanning frames from the current frame to the past N-1 frames, and is output as sensing data. Thus, in the sensing data output by integrating the light receiving data read out from the focus area of ​​each scanning line for each scanning frame, the resolution can be increased according to the shift of the focus area between the consecutive scanning frames.

[0032] As described above, the first to fourth aspects can simultaneously achieve an increase in frame rate by shortening the scanning time of each scanning frame and an increase in resolution by increasing the resolution of the output sensing data. Therefore, the sensing accuracy can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a block diagram showing the overall configuration of the sensing system according to the first embodiment.

[0034] Figure 2 It is a cross-sectional view showing the detailed structure of the optical sensor according to the first embodiment.

[0035] Figure 3 This is a timing chart for explaining control of the optical sensor according to the first embodiment.

[0036] Figure 4It is a plan view showing the structure of the light receiving unit according to the first embodiment.

[0037] Figure 5 It is a block diagram showing the functional structure of the control device according to the first embodiment.

[0038] Figure 6 This is a timing chart for explaining control of the optical sensor according to the first embodiment.

[0039] Figure 7 This is a timing chart for explaining control of the optical sensor according to the first embodiment.

[0040] Figure 8 This is a timing chart for explaining control of the optical sensor according to the first embodiment.

[0041] Fig. 9 This is a timing chart for explaining control of the optical sensor according to the first embodiment.

[0042] Fig.10 This is a timing chart for explaining control of the optical sensor according to the first embodiment.

[0043] Fig.11 It is a schematic diagram for explaining control of the optical sensor according to the first embodiment.

[0044] Fig.12 It is a schematic diagram for explaining control of the optical sensor according to the first embodiment.

[0045] Fig.13 It is a schematic diagram for explaining control of the optical sensor according to the first embodiment.

[0046] Fig.14 It is a schematic diagram for explaining control of the optical sensor according to the first embodiment.

[0047] Fig.15 It is a schematic diagram for explaining control of the optical sensor according to the first embodiment.

[0048] Fig.16 This is a flowchart showing a control flow of the optical sensor according to the first embodiment.

[0049] Fig.17 It is a cross-sectional view showing the detailed structure of the optical sensor according to the second embodiment.

[0050] Fig.18 It is a block diagram showing the functional structure of the control device according to the second embodiment.

[0051] Fig.19 It is a schematic diagram for explaining control of the optical sensor according to the second embodiment.

[0052] Fig. 20 It is a schematic diagram for explaining control of the optical sensor according to the second embodiment.

[0053] Fig.21 It is a schematic diagram for explaining control of the optical sensor according to the second embodiment.

[0054] Fig. 22 It is a timing chart for explaining control of the optical sensor according to the third embodiment.

[0055] Fig.23 It is a timing chart for explaining control of the optical sensor according to the third embodiment.

[0056] Fig.24 It is a timing chart for explaining control of the optical sensor according to the third embodiment.

[0057] Fig.25 It is a timing chart for explaining control of the optical sensor according to the third embodiment.

[0058] Fig.26 It is a timing chart for explaining control of the optical sensor according to the third embodiment.

[0059] Fig. 27 It is a timing chart for explaining control of the optical sensor according to the third embodiment.

[0060] Fig.28 It is a timing chart for explaining control of the optical sensor according to the third embodiment.

[0061] Fig.29 It is a cross-sectional view showing the detailed structure of the optical sensor according to the fourth embodiment.

[0062] Fig.30 It is a block diagram showing the functional structure of a control device according to a fourth embodiment.

[0063] Fig.31 It is a schematic diagram for explaining control of the optical sensor according to the fourth embodiment.

[0064] Fig.32 It is a schematic diagram for explaining control of the optical sensor according to the fourth embodiment.

[0065] Fig.33 It is a schematic diagram for explaining control of the optical sensor according to the fourth embodiment.

[0066] Fig.34 It is a schematic diagram for explaining control of the optical sensor according to the fourth embodiment. DETAILED DESCRIPTION

[0067] Hereinafter, multiple embodiments of the present disclosure are described based on the accompanying drawings. In addition, the same symbols are marked for corresponding constituent elements in each embodiment, and repeated descriptions are sometimes omitted. In addition, when only a part of the structure is described in each embodiment, the structure of other embodiments previously described can be applied to the other parts of the structure. In addition, not only the combination of structures explicitly stated in the description of each embodiment, but also the structures of multiple embodiments can be partially combined with each other even if it is not explicitly stated, as long as the combination does not particularly cause obstacles.

[0068] (First Embodiment)

[0069] like Figure 1 As shown, the first embodiment of the present disclosure relates to a sensing system 2 including an optical sensor 10 and a control device 1. The sensing system 2 is mounted on a vehicle 5. The vehicle 5 is a mobile body such as a car that can travel on a road with passengers on board.

[0070] The vehicle 5 can be driven automatically stably or temporarily in the automatic driving control mode. Here, the automatic driving control mode can be implemented by autonomous driving control in which the system performs all driving tasks when operating, such as conditional driving automation, high driving automation, or full driving automation. The automatic driving control mode can also be implemented in high driving assistance control in which the occupant performs part or all of the driving tasks, such as driving assistance or partial driving automation. The automatic driving control mode can also be implemented by any one, combination, or switching of the above-mentioned autonomous driving control and high driving assistance control.

[0071] In the following description, unless otherwise specified, the front, rear, up, down, left, and right directions are defined with reference to the vehicle 5 on the horizontal plane. The horizontal direction refers to a direction parallel to the horizontal plane that serves as a reference for the direction of the vehicle 5. The vertical direction refers to a direction perpendicular to the horizontal plane that serves as a reference for the direction of the vehicle 5, and is also an up-down direction.

[0072] The optical sensor 10 is used to obtain sensing data Ds that can be effectively used in the driving control of the vehicle 5 including the automatic control driving mode (see the following description). Figure 5 The optical sensor 10 is a so-called LiDAR (Light Detection and Ranging / Laser Imaging Detection and Ranging). The optical sensor 10 is disposed at at least one portion of the vehicle 5, such as the front portion, left and right side portions, the rear portion, and the upper roof.

[0073] The optical sensor 10 is directed toward a sensing area As corresponding to the arrangement position and the viewing angle in the external space of the vehicle 5 (see the following description). Figure 2 , Figure 5 ) irradiated light. The optical sensor 10 receives reflected light that is incident from the sensing area As by the irradiated light. Based on the reception of the reflected light for such irradiated light, the optical sensor 10 senses the target object that has reflected light in the sensing area As. Here, sensing in this embodiment in particular means measuring at least the former of the reflection point distance from the optical sensor 10 to the target object and the reflection intensity from the target object.

[0074] In the optical sensor 10 applied to the vehicle 5, a representative sensing target object may be, for example, at least one of moving objects such as pedestrians, cyclists, animals other than humans, and other vehicles. In the optical sensor 10 applied to the vehicle 5, a representative sensing target object may also be, for example, at least one of stationary objects such as guardrails, road signs, structures beside the road, and fallen objects on the road.

[0075] like Figure 2 As shown, the optical sensor 10 is composed of a housing module 11, an irradiation module 21 and a light receiving module 41. The housing module 11 includes a frame 12 and an optical window 13. The frame 12 is formed into a hollow box shape with a light-shielding member such as metal or synthetic resin as the main body. The frame 12 accommodates the irradiation module 21 and the light receiving module 41. The frame 12 holds the optical window 13 formed into a plate shape by a light-transmitting member such as glass or synthetic resin.

[0076] The irradiation module 21 includes a light emitting unit 22 and an irradiation optical system 28. Figure 2 , Figure 5 As shown, the light emitting unit 22 has a plurality of light sources 23 that use light in the infrared region to provide irradiation light to the sensing area As. The light sources 23 are arranged side by side in the vertical direction. Each light source 23 is mainly composed of at least one element such as a laser diode or a light emitting diode. Each light source 23 emits light according to the control from the control device 1.

[0077] Figure 2 The irradiation optical system 28 shown has an optical element such as a microlens array or a diffraction optical element. The irradiation optical system 28 plays a role in providing an angular dispersion of the irradiation light generated by the light emission of each light source 23 in the light emitting unit 22 with a specific irradiation direction. Therefore, by the sequential emission of each light source 23 in the light emitting unit 22, the irradiation light emitted from the irradiation optical system 28 through the optical window 13 scans the sensing area As in time and space. At this time, especially in the present embodiment, the light emission of each light source 23 that provides linear irradiation light along the horizontal direction is respectively Figure 3 Each scanning line Ls of each scanning frame Fs shown is switched in sequence in the vertical direction. Figure 3 The time lapse diagram of (A) shows the control signal of the control device 1 controlling the scanning frame Fs, Figure 3 (B) is a time-lapse diagram showing a control signal of the control device 1 that controls the scanning line Ls.

[0078] According to the sequential lighting of the light sources 23 in the light emitting unit 22, the direction of the scanning range scanned by the irradiated light in the sensing area As outside the optical sensor 10 changes as shown in FIG. Figure 2 As shown in FIG. 1 , the scanning direction α is substantially limited to the vertical direction. According to such scanning, the reflected light entering the sensing area As through the optical window 13 is guided to the light receiving module 41 .

[0079] The light receiving module 41 is arranged to be offset in the vertical direction relative to the irradiation module 21. The light receiving module 41 includes a light receiving optical system 42 and a light receiving unit 45. The light receiving optical system 42 includes, for example, a single lens or a lens system of a combination thereof, or an optical element such as a micro lens array. The light receiving optical system 42 performs a focusing function on the reflected light incident through the optical window 13 to focus it on the light receiving unit 45 side.

[0080] like Figure 4 As shown, the light receiving unit 45 has a plurality of light receiving elements 46 for receiving reflected light from the irradiated light generated by the light emitting unit 22. In particular, the light receiving elements 46 of this embodiment are arranged in a two-dimensional array in the vertical direction or the corresponding inclined direction and the horizontal direction. Each light receiving element 46 is mainly composed of a light sensing element such as a SPAD (Single Photon Avalanche Diode) as a single photon avalanche diode.

[0081] like Figure 2 As shown, the reflected light incident from the sensing area As through the optical window 13 and collected by the light receiving optical system 42 is received by the light receiving unit 45. At this time, especially in the present embodiment, as in Figure 4 As indicated by the oblique hatching line with the lower left and higher right, the row of light receiving elements 46 (hereinafter referred to as the light receiving element row) 47 that receives the linear reflected light along the horizontal direction following the irradiated light is arranged on the light receiving unit 45 inside the optical sensor 10 in the scanning direction α that is the vertical direction or the corresponding oblique direction for each scanning line Ls of each scanning frame Fs (refer to the aforementioned Figure 3 Therefore, in the light receiving element array 47 switched according to the scanning line Ls, a waveform signal corresponding to the reception of the reflected light is output from the light receiving element 46.

[0082] like Figure 2, Figure 5 As shown, the light receiving unit 45 has an output circuit 48 for processing the pulse signal from each light receiving element 46. The output circuit 48 performs a readout process of reading out the light receiving data Dr for each scanning line Ls of each scanning frame Fs according to the control from the control device 1. At this time, the readout process of this embodiment in particular constructs the light receiving data Dr for each scanning line Ls by sampling and synthesizing the waveform signal from the light receiving element 46 in response to the reception of the reflected light in the light receiving element column 47 switched for each scanning line Ls. Therefore, the output circuit 48 outputs the light receiving data Dr constructed by the readout process to the control device 1.

[0083] Figure 1 , Figure 2 , Figure 5 The control device 1 shown in the figure generates sensing data Ds based on the light receiving data Dr outputted from the output circuit 48 for each scanning line Ls of each scanning frame Fs by controlling each light source 23 of the light emitting unit 22 and the output circuit 48 of the light receiving unit 45. To this end, the control device 1 is mainly composed of at least one dedicated computer, and is connected to the light emitting unit 22 and the light receiving unit 45 via at least one of a LAN (Local Area Network), a wiring harness, and an internal bus. The control device 1 can be housed as a whole inside the housing 12 ( Figure 1 The control device 1 may be configured as a whole in the vehicle 5 outside the housing 12. The control device 1 may also be configured in a distributed manner across the vehicle 5 inside and outside the housing 12.

[0084] The dedicated computer constituting the control device 1 may be a sensor ECU (Electronic Control Unit) dedicated to controlling the optical sensor 10. The dedicated computer constituting the control device 1 may also be a driving control ECU (Electronic Control Unit) for controlling the driving of the vehicle 5. The dedicated computer constituting the control device 1 may also be a navigation ECU for navigating the driving path of the vehicle 5. The dedicated computer constituting the control device 1 may also be a locator ECU for estimating the self-state quantity of the vehicle 5.

[0085] like Figure 1As shown, the dedicated computer constituting the control device 1 has at least one memory 1a and one processor 1b. The memory 1a is a non-transitory tangible storage medium such as at least one of a semiconductor memory, a magnetic medium, and an optical medium, which non-temporarily stores programs and data that can be read by the computer. The processor 1b includes at least one of a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), a RISC (Reduced Instruction Set Computer)-CPU, a DFP (Data Flow Processor), and a GSP (Graph Streaming Processor) as a core.

[0086] The processor 1b executes a plurality of commands included in the control program stored in the memory 1a. Thus, the control device 1 constructs a plurality of functional modules, which are used to control the optical sensor 10 that receives the reflected light relative to the irradiated light according to the scanning line Ls switched along the scanning direction α in the scanning frame Fs to output the sensing data Ds. In this way, in the control device 1, the control program stored in the memory 1a causes the processor 1b to execute a plurality of commands, thereby constructing a plurality of functional modules. The plurality of functional modules constructed by the control device 1 are as follows. Figure 5 The system shown includes a regional control module 100 and an output control module 110 .

[0087] The region control module 100 controls the output circuit 48 of the light receiving unit 45 so as to set the region of interest (ROI) of each scanning line Ls in each scanning frame Fs. Figure 6 to Figure 9 As shown in the bold frame in FIG. 1 , the region of interest ROI is defined as a region where a plurality of light receiving element columns 47 that are read out targets of light receiving data Dr for each scanning line Ls in each scanning frame Fs are arranged along the scanning direction α. ​​Here, if an integer greater than 2 is defined as N, the number of light receiving element columns 47 in the region of interest ROI is set to N columns so that the total number of light receiving element columns 47 arranged in the scanning direction α becomes a multiple of N or a sum of a multiple of N and a number less than or equal to N-1. In particular, in the region of interest ROI of the present embodiment, the number of light receiving element columns 47 is controlled to be 3 columns (N=3).

[0088] In the area control module 100, in each of two scanning frames Fs that are consecutive, the region of interest ROI of each scanning line Ls is shifted by the amount of the light receiving element columns 47 that are N-1 or less. Here, as described in detail later, the output control module 110 integrates the region of interest ROI of each scanning line Ls in a plurality of scanning frames Fs that are shifted forward and backward. Figure 6 to Figure 9 The N frames shown are set to correspond to the number N of light receiving element rows 47 in the region of interest ROI. From a temporal perspective, the integration unit of the scan frame Fs is defined as N frames from the current scan frame Fs to at least one scan frame Fs of the past N-1 frames.

[0089] As the scanning frame Fs of N frames that become such an integration unit, especially in the present embodiment where N=3, one reference frame Fsb and two shift frames Fss1 and Fss2 are defined. Therefore, in the area control module 100, the region of interest ROI in the reference frame Fsb is used as a reference, and the number of shifted columns of the shifted light receiving element column 47 in the region of interest ROI of each shift frame Fss1 and Fss2 is controlled to be less than N-1 columns.

[0090] Specifically, if Figure 6 , Figure 7 As shown, in the reference frame Fsb, the first region of interest ROI corresponding to the leading scanning line Ls is controlled to be the amount of the light receiving element columns 47 N columns from the light receiving element column 47 that is the first column relative to the reference point O in the scanning direction α. ​​Accordingly, in the reference frame Fsb, the second and subsequent regions of interest ROIs corresponding to the subsequent scanning lines Ls are sequentially controlled in a manner of shifting the region of interest ROI of the previous sequence number in the scanning direction α by the amount of the light receiving element columns 47 N columns so as not to overlap each other. Thus, the regions of interest ROIs of the respective sequences in the reference frame Fsb are controlled at the reference positions for shifting the regions of interest ROIs of the respective sequences in the shift frames Fss1 and Fss2 as described later.

[0091] like Figure 6 , Figure 8As shown, in the preceding shift frame Fss1 that is continuous with the reference frame Fsb, the first region of interest ROI corresponding to the leading scan line Ls is controlled to be the amount of the light receiving element column 47 of N columns starting from the light receiving element column 47 of the second column relative to the reference point O in the scanning direction α. ​​Correspondingly, in the shift frame Fss1, the second and subsequent regions of interest ROIs corresponding to the subsequent scan lines Ls are sequentially controlled in a manner of shifting the light receiving element column 47 of N columns from the region of interest ROI of the previous sequence number in the scanning direction α, so as not to overlap with each other. Thus, the regions of interest ROIs of each sequence number in the shift frame Fss1 are controlled at the reference position (refer to ) relative to the reference point O and the region of interest ROI of the same sequence number in the immediately preceding reference frame Fsb. Figure 6 , Figure 7 ) are positions each shifted in the scanning direction α by one row of light receiving element rows 47 which is equal to or smaller than N-1 rows.

[0092] like Figure 6 , Fig. 9 As shown, in the subsequent shift frame Fss2 that is continuous with the previous shift frame Fss1, the first region of interest ROI corresponding to the leading scan line Ls is controlled to be the amount of N columns of light-receiving element columns 47 starting from the third column of light-receiving element columns 47 relative to the reference point O in the scanning direction α. ​​Correspondingly, in the shift frame Fss2, the second and subsequent regions of interest ROIs corresponding to the subsequent scan lines Ls are sequentially controlled in a manner of shifting the region of interest ROI with the previous sequence number by the amount of N columns of light-receiving element columns 47 in the scanning direction α, so as not to overlap with each other. As a result, the regions of interest ROIs with the same sequence numbers in the shift frame Fss2 are controlled at the shifted position relative to the region of interest ROI with the same sequence number in the immediately preceding shift frame Fss1 (refer to Figure 6 , Figure 8 ) are positions each shifted in the scanning direction α by one row of light receiving element rows 47 which is equal to or smaller than N-1 rows.

[0093] At this point, it can be said Figure 6 , Fig. 9 The reference position of each ordinal region of interest ROI in the shift frame Fss2 relative to the reference point O and the reference position of the region of interest ROI with the same ordinal number in the reference frame Fsb two frames ago (refer to Figure 6 , Figure 7 ) is shifted in the scanning direction α by two light receiving element rows 47. In addition, as for the shifted shift frame Fss2, Fig.10As shown, a new reference frame Fsb is continued as the next scanning frame Fs. The ROIs of each sequence number in the new reference frame Fsb are shifted by two light receiving element rows 47 in the direction opposite to the scanning direction α relative to the shift position of the ROIs of the same sequence number in the immediately preceding shift frame Fss2.

[0094] like Figure 5 As shown, the region control module 100 generates a light control signal Cs for each scanning line Ls of each scanning frame Fs, so as to control the light emission of each light source 23 in the light emitting unit 22 in synchronization with the control of the region of interest ROI. Figure 11 to Figure 13 As shown, a plurality of light sources are arranged in the vertical direction corresponding to the scanning direction α in order to avoid duplication of light emitting positions for use in each scanning frame Fs. In particular, in the vertical direction of the present embodiment, the light source 230 as the light emitting object in the reference frame Fsb, the light source 231 as the light emitting object in the shift frame Fss1, and the light source 232 as the light emitting object in the shift frame Fss2 are arranged in a manner of being repeatedly arranged one by one in this order.

[0095] like Fig.14 As shown in FIG. 1 , the irradiation direction of the irradiation light generated by the sequential irradiation of these light sources 230, 231, and 232 is set to different directions through the irradiation optical system 28. As a result, the footprints of the irradiation light generated by the sequential irradiation of the light sources 230 and 231, the light sources 231 and 232, and the light sources 232 and 230 arranged in the vertical direction overlap in the sensing area As. In addition, as shown in FIG. Fig.15 As shown, the following structure is constructed in each light source 230, 231, 232 and the irradiation optical system 28, which is used to receive reflected light with a waveform Wr that extends roughly uniformly to both sides of the scanning direction α from a peak value corresponding to a representative position prr of a light-receiving pixel Pr described in detail later.

[0096] According to the structure of the light emitting unit 22, Fig.11 As shown, in the regions of interest ROI of each sequence shifted by the scanning line Ls in the reference frame Fsb, the reflected light is guided by the illumination light generated by each light source 230 according to the light control signal Cs. Fig.12 As shown, in the regions of interest ROI of each sequence number that are sequentially shifted according to the scan line Ls in the shift frame Fss1, the reflected light is guided by the illumination light generated by each light source 231 sequentially emitting light. Fig.13As shown, in the shift frame Fss2, in the regions of interest ROI of each sequence that are sequentially shifted according to the scan line Ls, the reflected light is guided for the illumination light generated by the sequential emission of each light source 232. In any of these frames Fsb, Fss1, and Fss2, in the regions of interest ROI of each sequence, as shown in FIG. Figure 11 to Figure 13 As indicated by the cross-hatching in the middle, the reflected light is received by all the N light receiving element rows 47. Based on such light reception, the output control module 110 reads the light reception data Dr from the region of interest ROI as described in detail later.

[0097] like Figure 5 As shown, the output control module 110 controls the output circuit 48 of the light receiving unit 45 so that the light receiving pixels Pr are formed by a set number of light receiving elements 46 in each light receiving element column 47 in the region of interest ROI. Fig.15 As shown by the oblique hatching lines marked on the upper left and lower right in the figure, the light-receiving pixel Pr is defined as a readout unit that reads out the light-receiving data Dr in sequence in the readout direction β along the horizontal direction perpendicular to the scanning direction α. ​​Therefore, a plurality of light-receiving pixels Pr are specified in the region of interest ROI in such a manner as to be arranged along the readout direction β. Here, if an integer greater than 2 is defined as M, the number of arrangements of the light-receiving elements 46 in the readout direction β in the light-receiving pixel Pr is set to M in such a manner that the total number of arrangements of the light-receiving elements 46 in the direction β becomes a multiple of M or becomes the sum of a multiple of M and a number less than M-1. In particular, in the region of interest ROI of the present embodiment, the set number of light-receiving elements 46 of each light-receiving element column 47 is controlled to be the same as the number of columns N of the light-receiving element column 47, that is, 3 (M=N=3) which is the same as the number of arrangements of the light-receiving elements 46 in the scanning direction α.

[0098] like Figure 5 As shown in FIG. 1 , the output control module 110 generates the sensing data Ds by integrating the light receiving data Dr read out from the region of interest ROI of each scanning line Ls for each scanning frame Fs of the integration unit. At this time, the light receiving data Dr is read out from the region of interest ROI in units of light receiving pixels Pr in the region ROI. Therefore, by Fig.15 In this way, the representative position prr is defined at the center position in each direction α, β, thereby establishing an association between the light receiving data Dr read from the light receiving pixel Pr and the representative position prr. Thus, the light receiving data Dr of the representative position prr read from the region of interest ROI in units of light receiving pixels Pr for each scanning frame Fs of the integration unit are integrated with each other to form sensing data Ds such as image data.

[0099] Here, in each region of interest ROI in the reference frame Fsb, each region of interest ROI in the shifted frame Fss1, and each region of interest ROI in the shifted frame Fss2, the representative positions prr of the light-receiving pixels Pr do not overlap with each other due to the shifting process in the area control module 100. As a result, the light-receiving data Dr read out in units of the light-receiving pixels Pr from each region of interest ROI in the reference frame Fsb, each region of interest ROI in the shifted frame Fss1, and each region of interest ROI in the shifted frame Fss2 are integrated to generate high-resolution sensing data Ds with an increased number of pixels and high resolution.

[0100] In the output control module 110, it is preferred that the light receiving data Dr read out from the region of interest ROI in units of light receiving pixels Pr for each scanning frame Fs of the integration unit is respectively outputted at a representative position prr (refer to the aforementioned Fig.15 ) is integrated after compensation. At this time, when the driving speed of the vehicle 5 exceeds zero speed or exceeds a slow speed that can be simulated as zero speed, the representative position prr associated with the light receiving data Dr read out in units of light receiving pixels Pr is compensated in a manner of aligning the sensing position by correcting the offset caused by the driving speed. In particular, in the present embodiment, among all the scanning frames Fs of the integration unit, compensation of the representative position prr is performed for the light receiving data Dr read out in the subsequent two scanning frames Fs that are time-shifted from the first scanning frame Fs.

[0101] Here, it is preferable to use an algorithm such as ICP (Iterative Closest Point) for compensating the representative position prr. In addition, the driving speed used in the alignment for compensating the representative position prr can be obtained based on at least one of the detection speed information of the sensor of the vehicle 5 and the movement amount information of the point group position between the light receiving data Dr (that is, equivalent to the representative position prr in this embodiment). In addition, in the alignment for compensating the representative position prr, in addition to the driving speed, various types of motion information of the vehicle 5 such as steering information can also be used.

[0102] When the vehicle 5 is traveling at a speed of zero or below a slow speed, the light receiving data Dr read out from the region of interest ROI in units of light receiving pixels Pr for each scanning frame Fs of the integration unit are integrated without performing compensation of the sensing position in the output control module 110. Thus, the power consumption required for the alignment processing for compensating the sensing position can be reduced when the vehicle 5 is stopped, for example, when starting.

[0103] like Figure 5As shown, the output control module 110 outputs the generated sensing data Ds. At this time, the sensing data Ds can also be effectively used for control in other control devices such as ECUs, which are different from the dedicated computers constituting the control device 1. The sensing data Ds can also be effectively used for control in other control devices by outputting them to the dedicated computers configured inside the optical sensor 10 ( Figure 5 example) or output to an external memory 1a and stored, thereby being effectively utilized in a timely manner.

[0104] Through the cooperation of such modules 100 and 110, according to Fig.16 The control flow shown is used to execute the control method of the control device 1 controlling the optical sensor 10. This control flow starts when the vehicle 5 is started and ends when the vehicle 5 is completely stopped. In addition, each "S" in this control flow means a plurality of steps executed by a plurality of commands included in the control program.

[0105] In S101, the area control module 100 initializes the index i to 0. Here, when i=0, the scanning frame Fs that is the object of reading the light receiving data Dr is selected as the reference frame Fsb. On the other hand, when i=1, the scanning frame Fs that is the object of reading the light receiving data Dr is selected as the previous shift frame Fss1. Furthermore, when i=2, the scanning frame Fs that is the object of reading the light receiving data Dr is selected as the subsequent shift frame Fss2.

[0106] In S102, the region control module 100 synchronously controls the sequential shift of the region of interest ROI and the sequential lighting of each light source 23 for each scanning line Ls of the scanning frame Fs corresponding to the index i. At this time, in the reference frame Fsb of i=0, the region control module 100 sequentially controls the respective light sources 230 for the frame Fsb to light up in a manner matching the respective ordinal region of interest ROIs sequentially controlled to their respective reference positions. On the other hand, in the shifted frame Fss1 of i=1, the region control module 100 sequentially controls the respective light sources 231 for the frame Fss1 to light up in a manner matching the respective ordinal region of interest ROIs sequentially controlled to positions shifted by one column of the light receiving element columns 47 from the reference frame Fsb. In addition, in the shift frame Fss2 with i=2, the area control module 100 causes the light sources 232 used for the frame Fss2 to emit light in sequence in a manner that matches the ordinal regions of interest ROIs whose positions are sequentially controlled to be obtained by shifting each light receiving element column 47 by 1 column from the shift frame Fss1.

[0107] In S102, the output control module 110 also synchronously controls the reading of the light receiving data Dr from the region of interest ROI controlled by the region control module 100 for each scanning line Ls in the scanning frame Fs corresponding to the index i. At this time, the light receiving data Dr is temporarily stored in the light receiving storage area 1ar of the memory 1a in association with the representative position prr for each light receiving pixel Pr of the region of interest ROI controlled by position (refer to Figure 5 Here, in the light receiving storage area 1ar of the memory 1a disposed inside and / or outside the optical sensor 10, a storage capacity capable of temporarily storing and maintaining the light receiving data Dr is ensured for the scanning frames Fs of N frames which are the integration units. As the memory 1a of the light receiving storage area 1ar for ensuring such a storage capacity, for example, DDRSDRAM (Double Data Rate Synchronous Dynamic Random Access Memory) or the like can be used.

[0108] In the next step S103, the output control module 110 determines whether the current driving speed of the vehicle 5 exceeds zero speed or exceeds a slow speed ( Fig.16 (The control flow is an example of using the speed exceeding zero as the determination criterion). As a result, if an affirmative determination is made, the control flow moves to S104.

[0109] In S104, the output control module 110 uses the scanning frame Fs of all N frames from the current to the past N-1 frames as the current integration unit, and compensates the sensing position of the light receiving data Dr read out by the current and past S102 for the scanning frame Fs of the current integration unit. At this time, for the light receiving data Dr related to the frames Fsb, Fss1, and Fss2 of i=0, 1, and 2 constituting the current integration unit, the representative position prr of each light receiving pixel Pr is compensated according to the current driving speed of the vehicle 5.

[0110] In the following S105, the output control module 110 integrates the light receiving data Dr of the frames Fsb, Fss1, and Fss2 of i=0, 1, and 2 compensated in the immediately preceding S104, as the current integration unit of the scanning frame Fs from the current to the past N-1 frames. Thus, the output control module 110 in S105 generates and outputs the sensing data Ds.

[0111] In the case where a negative determination is made in S103 in relation to the execution of S104 and S105, the control flow moves to S106. In S106, the output control module 110 directly integrates the light receiving data Dr read out in the current and past S102 with respect to the frames Fsb, Fss1, and Fss2 of i=0, 1, and 2, without compensating the sensing positions. Thus, the output control module 110 in S106 generates and outputs the sensing data Ds.

[0112] After either S105 or S106 is executed, the control flow moves to S107. In S107, the area control module 100 determines whether the index i is 2. As a result, if a negative determination is made, the control flow moves to S108, whereby the area control module 100 increments the index i by 1 (i=i+1), and then the control flow returns to S102. On the other hand, if a positive determination is made, the control flow returns to S101.

[0113] (Effect)

[0114] Hereinafter, the effects of the first embodiment described above will be described.

[0115] In the first embodiment, light receiving data Dr is read from the region of interest ROI of each scanning line Ls for each scanning frame Fs switched along the scanning direction α. ​​Therefore, if an integer greater than 2 is defined, the light receiving element columns 47 of N columns are arranged along the scanning direction α in the optical sensor 10, and the region of interest ROI for reading the light receiving data Dr for each scanning line Ls is shifted by the amount of the light receiving element columns 47 of N-1 columns or less in the scanning frames Fs that are consecutive before and after. As a result, the scanning time required to shift the region of interest ROI for each scanning line Ls and read the light receiving data Dr becomes the time of each scanning frame Fs alone, and can be shortened as much as possible.

[0116] Furthermore, according to the first embodiment, the light receiving data Dr read out from the region of interest ROI of each scanning line Ls for each scanning frame Fs is integrated with the scanning frames Fs from the current frame to the past N-1 frames, and is output as the sensing data Ds. Thus, in the sensing data Ds output by integrating the light receiving data Dr read out from the region of interest ROI of each scanning line Ls for each scanning frame Fs, the resolution can be increased according to the shift of the region of interest ROI in the scanning frames Fs that are consecutive before and after.

[0117] As described above, the first embodiment can simultaneously achieve an increase in frame rate by shortening the scanning time of each scanning frame Fs and an increase in resolution by increasing the resolution of the output sensing data Ds. Therefore, the sensing accuracy can be improved.

[0118] According to the first embodiment, the light receiving data Dr read from the region of interest ROI of each scanning line Ls for each scanning frame Fs are integrated after compensating the sensing position according to the travel speed of the vehicle 5 equipped with the optical sensor 10. As a result, the light receiving data Dr read from the region of interest ROI of each scanning line Ls for each scanning frame Fs can be integrated after suppressing the deviation of the sensing position, which is more worrying as the travel speed increases. Therefore, the reliability of the high-resolution sensing data Ds achieved at the same time as the high frame rate can be ensured, thereby achieving high-precision sensing accuracy.

[0119] According to the first embodiment, in the region of interest ROI, the light receiving pixels Pr that are the readout units of the light receiving data Dr are formed by the light receiving elements 46 of each set number of light receiving element columns 47. Therefore, in the sensing data Ds obtained based on the integration of the light receiving data Dr read out from the light receiving pixels Pr in the region of interest ROI of each scanning line Ls for each scanning frame Fs, the resolution can be increased by increasing the number of pixels corresponding to the shift of the region of interest ROI. Therefore, it is possible to ensure a high resolution that is achieved at the same time as the time limit of a high frame rate, thereby achieving high precision of sensing accuracy.

[0120] In each scanning frame Fs of the first embodiment, the light receiving data Dr read out by receiving light by all the N columns of light receiving element columns 47 for each scanning line Ls are integrated. Thus, the light receiving data Dr read out from the region of interest ROI of each scanning line Ls for each scanning frame Fs can be integrated after being generated with a high SN ratio using all the columns of the light receiving element columns 47 in the region ROI. Therefore, in addition to the high resolution achieved at the same time as the realization of the high frame rate, the high precision of the sensing accuracy can be achieved by the output of the high-sensitivity sensing data Ds.

[0121] (Second Embodiment)

[0122] The second embodiment is a modification of the first embodiment.

[0123] like Fig.17 As shown, the irradiation module 2021 of the second embodiment includes a light emitting unit 2022 having a single light source 2023 , a collimator 2024 , and a scanning unit 2025 in addition to the irradiation optical system 28 similar to the first embodiment.

[0124] Specifically, the collimator 2024 is mainly composed of a collimating lens that performs a collimating effect on the irradiation light generated by the light emitted by the single light source 2023. The collimator 2024 collimates the irradiation light into a linear shape along the horizontal direction. The scanning unit 2025 is mainly composed of a scanning mechanism equipped with a reflector such as a single-sided mirror or a multi-sided mirror that gives a variable irradiation direction to the irradiation light collimated by the collimator 2024. According to the control from the control device 1, the scanning unit 2025 variably adjusts the projection point of the irradiation light relative to the irradiation optical system 28 in the vertical direction along the scanning direction α.

[0125] By variable adjustment of the projection point relative to the irradiation optical system 28, the irradiation light irradiated from the system 28 through the optical window 13 scans the sensing area As in time and space. At this time, especially in the present embodiment, the irradiation direction of the irradiation light irradiated in a linear shape along the horizontal direction by the light emission of the single light source 2023 is sequentially switched for each scanning line Ls of each scanning frame Fs. As a result, outside the optical sensor 10, the scanning direction α in which the scanning range scanned by the irradiation light in the sensing area As changes is substantially limited to the vertical direction.

[0126] Therefore, if Fig.18 As shown, the area control module 2100 of the second embodiment generates a light emission control signal Cs for each scanning line Ls of each scanning frame Fs, so as to control the light emitting unit 2022 and the scanning unit 2025 synchronously with the control of the region of interest ROI. At this time, the control of the light emission control signal Cs on the light emitting unit 2022 and the scanning unit 2025 becomes the switching control of the irradiation direction of the irradiation light generated by the light emission of the light source 2023 by the scanning unit 2025.

[0127] Specifically, in the reference frame Fsb, in each ordinal region of interest ROI that is sequentially shifted according to the scanning line Ls, as shown in FIG. Fig.19 As shown, the scanning unit 2025 switches the irradiation direction of the irradiation light generated by the light source 2023 to guide the reflected light. Similarly, in the region of interest ROI of each sequence shifted in sequence according to the scanning line Ls in the shift frame Fss1, as shown in FIG. Fig. 20 As shown, the scanning unit 2025 switches the irradiation direction of the irradiation light generated by the light source 2023 to guide the reflected light. In the shift frame Fss2, in the region of interest ROI of each sequence shifted in sequence according to the scanning line Ls, as shown in FIG. Fig.21 As shown, the scanning unit 2025 switches the irradiation direction of the irradiation light generated by the light source 2023 to guide the reflected light. In any of the above frames Fsb, Fss1, and Fss2, in each region of interest ROI of each scanning line Ls, as in Figures 19 to 21As indicated by the cross-hatching in the middle, all the N light receiving element rows 47 receive the reflected light.

[0128] In such a second embodiment, in S102 of the control flow, the region control module 2100 synchronously controls the sequential shift of the region of interest ROI, the light emission of the light emitting unit 2022, and the sequential switching of the irradiation direction by the scanning unit 2025 for each scanning line Ls of the scanning frame Fs corresponding to the index i. At this time, in the reference frame Fsb of i=0, the region control module 2100 causes the scanning unit 2025 to sequentially switch the irradiation direction of the irradiation light in a manner that matches the respective numbered region of interest ROIs that are sequentially controlled to their respective reference positions. On the other hand, in the shifted frame Fss1 of i=1, the region control module 2100 causes the scanning unit 2025 to sequentially switch the irradiation direction of the irradiation light in a manner that matches the respective numbered region of interest ROIs that are sequentially controlled to positions obtained by shifting the light receiving element columns 47 by one column from the reference frame Fsb. Furthermore, in the shift frame Fss2 with i=2, the area control module 2100 causes the scanning unit 2025 to sequentially switch the irradiation direction of the irradiation light in a manner that matches the ordinal regions of interest ROIs whose positions are sequentially controlled to the positions obtained by shifting each column of light-receiving elements 47 by 1 column from the shift frame Fss1.

[0129] In S102 of such a control flow, the reading of the light reception data Dr corresponding to the light reception is controlled by the output control module 110 in the same manner as in the first embodiment. As described above, in the second embodiment, the same effects as in the first embodiment can be achieved.

[0130] (Third Embodiment)

[0131] The third embodiment is a modification of the second embodiment.

[0132] like Fig. 22 , 23 As shown in the third embodiment, the higher the running speed of the vehicle 5 is, the more the number of light receiving element rows 47 shifted between the consecutive scanning frames Fs is increased. Specifically, in the reference frame Fsb, Figure 22 to Figure 24As shown, regardless of whether the driving speed of the vehicle 5 is on the low speed side (Vl) within the determination speed range or the high speed side (Vh) outside the determination speed, the region of interest ROI of each ordinal number is controlled to the same reference position as the first embodiment. Here, the determination speed range is defined as a range below or below the threshold speed, for example, using a slow speed or a low speed such as 30 km / h as a threshold speed. In addition, in the present embodiment, when any of the shift frames Fss1 and Fss2 is executed as the current scanning frame Fs, in the case where the driving speed changes from one side to the other side within or outside the determination speed, the determination result of the driving speed is still simulated in this way until the next reference frame Fsb.

[0133] like Fig. 22 , Fig.25 As shown in FIG. 1 , in the shift frame Fss1 when the traveling speed of the vehicle 5 is within the determination speed range, the ROI of each ordinal number is controlled in the same manner as in the first embodiment. That is, in the shift frame Fss1, the ROI of each ordinal number is controlled relative to the reference point O and the ROI of the same ordinal number in the immediately preceding reference frame Fsb (refer to FIG. 1 ), according to the traveling speed within the determination speed range. Fig. 22 , 24 ) are shifted in the scanning direction α by an amount corresponding to one row of light receiving element rows 47 that is smaller than or equal to N-1 rows.

[0134] like Fig.23 , Fig.26 As shown, in the shift frame Fss1 in which the driving speed of the vehicle 5 is outside the determination speed range, the first region of interest ROI corresponding to the leading scan line Ls is controlled to be the amount of the light receiving element column 47 of N columns starting from the light receiving element column 47 of the third column relative to the reference point O in the scanning direction α. ​​Correspondingly, in the shift frame Fss1 in which the driving speed is outside the determination speed range, the second and subsequent regions of interest ROIs corresponding to the subsequent scan lines Ls are sequentially controlled in a manner of shifting the light receiving element column 47 of N columns from the previous ordinal region of interest ROI in the scanning direction α so as not to overlap with each other. Thus, according to the driving speed outside the determination speed range, in the shift frame Fss1, the regions of interest ROI of each ordinal number are shifted relative to the reference point O and the region of interest ROI of the same ordinal number in the immediately preceding reference frame Fsb (refer to Fig.23 , Fig.24 ) are shifted in the scanning direction α by two light receiving element rows 47 which are equal to or smaller than N-1 rows.

[0135] like Fig. 22 , Fig. 27As shown in FIG. 1 , in the shift frame Fss2 when the traveling speed of the vehicle 5 is within the determination speed range, the ROI of each ordinal number is controlled in the same manner as in the first embodiment. That is, in the shift frame Fss2, the ROI of each ordinal number is controlled relative to the ROI of the same ordinal number in the shift frame Fss1 immediately before (refer to FIG. 1 ). Fig. 22 , Fig.25 ) are shifted in the scanning direction α by the amount of one light receiving element row 47 that is less than N-1 rows. At this time, the ROIs of interest with the same number in the shift frame Fss2 are shifted relative to the reference point O and the ROIs of interest with the same number in the reference frame Fsb two frames ago (refer to Fig. 22 , Fig.24 ) are shifted in the scanning direction α by 2 columns of light receiving element columns 47. In addition, in the new reference frame Fsb continuous with the shifted shift frame Fss2, the regions of interest ROI of each sequence are shifted in the direction opposite to the scanning direction α by 2 columns of light receiving element columns 47 relative to the regions of interest ROI of the same sequence in the immediately preceding frame Fss2.

[0136] like Fig.23 , Fig.28 As shown, in the shift frame Fss2 when the driving speed of the vehicle 5 is outside the determination speed range, the first region of interest ROI corresponding to the leading scan line Ls is controlled to be the amount of the light receiving element column 47 of N columns starting from the light receiving element column 47 of the fifth column relative to the reference point O in the scanning direction α. ​​Correspondingly, in the shift frame Fss2 when the driving speed is outside the determination speed range, the second and subsequent regions of interest ROIs corresponding to the subsequent scan lines Ls are sequentially controlled in a manner of shifting the light receiving element column 47 of N columns from the previous ordinal region of interest ROI so as not to overlap with each other. Thus, according to the driving speed outside the determination speed range, in the shift frame Fss2, the region of interest ROI of each ordinal number is shifted relative to the region of interest ROI of the same ordinal number in the immediately preceding shift frame Fss1 (refer to Fig.23 , Fig.26 ) are shifted in the scanning direction α by two light receiving element rows 47 which are equal to or smaller than N-1 rows.

[0137] At this point, it can be said that Fig.23 , Fig.28 In the shift frame Fss2, according to the driving speed outside the judgment speed range, the ROI of each sequence number is relative to the reference point O and the ROI of the same sequence number in the reference frame Fsb two frames ago (refer to Fig.23 , Fig.24) are shifted in the scanning direction α by 4 light receiving element columns 47. By increasing the number of shifted columns, it is possible to reduce memory access and power consumption for temporarily storing the light receiving data Dr at a traveling speed outside the determination speed range. In addition, in a new reference frame Fsb that is continuous with the shifted shift frame Fss2, the region of interest ROI of each sequence is shifted in the direction opposite to the scanning direction α by 4 light receiving element columns 47 relative to the shift position of the region of interest ROI with the same sequence in the immediately preceding frame Fss2.

[0138] In such a third embodiment, in S102 of the control flow, the region control module 2100 synchronously controls the sequential shifting of the region of interest ROI, the light emission, and the sequential switching of the irradiation direction corresponding to the travel speed of the vehicle 5 for each scanning line Ls of the scanning frame Fs corresponding to the index i. At this time, regardless of the travel speed, in the reference frame Fsb of i=0, the region control module 2100 sequentially switches the irradiation direction in a manner matching the region of interest ROIs of respective numbers that are sequentially controlled to their respective reference positions.

[0139] In the shift frame Fss1 where i=1, the region control module 2100 sequentially switches the irradiation direction so as to match the regions of interest ROI of each order whose positions are sequentially controlled to be obtained by shifting the light receiving element rows 47 by one row from the reference frame Fsb at a travel speed within the determination speed range. On the other hand, at a travel speed outside the determination speed range, the region control module 2100 in the shift frame Fss1 sequentially switches the irradiation direction so as to match the regions of interest ROI of each order whose positions are sequentially controlled to be obtained by shifting the light receiving element rows 47 by two rows from the reference frame Fsb.

[0140] In the shift frame Fss2 where i=2, the area control module 2100 sequentially switches the irradiation direction so as to match the ordinal regions of interest ROI whose positions are sequentially controlled to be obtained by shifting the light receiving element rows 47 by one row from the shift frame Fss1 at a travel speed within the determination speed range. On the other hand, at a travel speed outside the determination speed range, the area control module 2100 in the shift frame Fss2 sequentially switches the irradiation direction so as to match the ordinal regions of interest ROI whose positions are sequentially controlled to be obtained by shifting the light receiving element rows 47 by two rows from the shift frame Fss1.

[0141] As described above, according to the third embodiment, the higher the running speed of the vehicle 5 equipped with the optical sensor 10, the more the number of light receiving element rows 47 shifted between the consecutive scanning frames Fs increases. As a result, for the light receiving data Dr read from the region of interest ROI of each scanning line Ls for each scanning frame Fs, the shift of the sensing position, which is more concerned as the running speed increases, can be absorbed as much as possible according to the shift of the region ROI and then integrated. Therefore, the reliability of the high-resolution sensing data Ds achieved at the same time as the high frame rate can be ensured, thereby achieving high-precision sensing accuracy.

[0142] (Fourth Embodiment)

[0143] The fourth embodiment is a modification of the first embodiment.

[0144] like Fig.29 As shown, the irradiation module 4021 of the fourth embodiment includes, in addition to the irradiation optical system 28 similar to that of the first embodiment, a light emitting unit 4022 in which a plurality of light sources 4023 are arranged in a different manner from that of the first embodiment.

[0145] Correspondingly, Fig.30 The region control module 4100 of the fourth embodiment shown generates a light control signal Cs for each scanning line Ls of each scanning frame Fs, so as to control the sequential light emission of each light source 4023 in the light emitting unit 4022 in synchronization with the control of the region of interest ROI. At this time, the light sources 4023 that become the light emission targets for the scanning line Ls are arranged in a plurality along the vertical direction corresponding to the scanning direction α, so that the shared light source 4023 emits light for the region of interest ROI with the same sequence number in each scanning frame Fs. In addition, as Fig.31 As shown, a structure for receiving reflected light in the form of an uneven waveform Wr is constructed in each light source 4023 and the irradiation optical system 28, wherein the uneven waveform Wr is a waveform whose bottom is more extended on the shift side in the scanning direction α than on the opposite side starting from the peak value corresponding to the representative position prr of the light-receiving pixel Pr in the reference frame Fsb.

[0146] Therefore, if Fig.32 As shown, in the ROI of each sequence number shifted in sequence according to the scanning line Ls in the reference frame Fsb, the reflected light is guided for the illumination light generated by each light source 4023. Fig.32 As indicated by the cross-hatching in the middle, all the N light receiving element rows 47 receive the reflected light.

[0147] like Fig.33As shown, in the respective ordinal regions of interest ROI shifted sequentially by the scan line Ls in the shift frame Fss1, the reflected light is guided for the illumination light generated by the respective light sources 4023 sequentially emitting light. Fig.33 As indicated by the cross-hatching in the middle, the reflected light is received by two light receiving element rows 47 which are equal to or less than N-1 row.

[0148] like Fig.34 As shown, in the respective ordinal regions of interest ROI shifted sequentially by the scan line Ls in the shift frame Fss2, the reflected light is guided for the illumination light generated by the respective light sources 4023 sequentially emitting light. Fig.34 As indicated by the cross-hatching in the middle, the reflected light is received by each of the light receiving element rows 47 which is one row smaller than or equal to N-1.

[0149] In such a fourth embodiment, in S102 of the control flow, the region control module 4100 synchronously controls the sequential shift of the region of interest ROI and the sequential switching of each light source 4023 for each scanning line Ls of the scanning frame Fs corresponding to the index i. At this time, in the reference frame Fsb of i=0, the region control module 4100 sequentially controls each light source 4023 to emit light in a manner matching the region of interest ROI of each sequence controlled to each reference position. On the other hand, in the shifted frame Fss1 of i=1, the region control module 4100 sequentially controls each light source 4023 to emit light in a manner matching the region of interest ROI of each sequence controlled to a position obtained by shifting one column of the light receiving element column 47 from the reference frame Fsb. Furthermore, in the shift frame Fss2 where i=2, the area control module 4100 sequentially controls the light sources 4023 to emit light in order to match the ordinal regions of interest ROIs sequentially controlled to positions shifted by one light receiving element row 47 from the shift frame Fss1.

[0150] In S102 of such a control flow, the reading of the light receiving data Dr corresponding to the light receiving is controlled by the output control module 110 in the same manner as in the first embodiment. As described above, according to the fourth embodiment, the number of shifted columns of the light receiving element columns 47 in the region of interest ROI of the shifted frames Fss1 and Fss2 is controlled to be less than N-1 columns, based on the region of interest ROI in the reference frame Fsb. Therefore, the light receiving data Dr read out by receiving light by all the light receiving element columns 47 of N columns according to the scanning line Ls in the reference frame Fsb is integrated with the light receiving data Dr read out by receiving light by the light receiving element columns 47 of less than N-1 columns according to the scanning line Ls in the shifted frames Fss1 and Fss2. As a result, the light receiving data Dr read out from the region of interest ROI of each scanning line for each scanning frame Fs can be integrated while suppressing the light receiving saturation of the light receiving element columns 47 in the region ROI. Therefore, in addition to the improvement of sensing accuracy due to the high frame rate and high resolution, the dynamic range of the sensing data Ds can also be expanded.

[0151] (Other Embodiments)

[0152] Although a plurality of embodiments have been described above, the present disclosure should not be construed as being limited to these embodiments, and the present disclosure can be applied to various embodiments and combinations within a scope not departing from the gist of the present disclosure.

[0153] In the modified examples of the first to fourth embodiments, the dedicated computer constituting the control device 1 may have at least one of a digital circuit and an analog circuit as a processor. Here, the digital circuit is, for example, at least one of an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), a SOC (System on a Chip), a PGA (Programmable Gate Array), and a CPLD (Complex Programmable Logic Device). In addition, such a digital circuit may also have a memory storing a program.

[0154] In the modified examples of the first to fourth embodiments, the number of columns N of the light receiving element columns 47 constituting the region of interest ROI and the number of frames that become the integration unit of the scanning frame Fs may also be 2 or 4 or more. Here, when the number of frames of the integration unit is the same as N, which is 2, the shift frame Fss2 may be omitted. In addition, when the number of frames of the integration unit is the same as N, which is 4 or more, the scanning frames Fs whose number of shift columns of the region of interest ROI relative to the reference frame Fsb is different from the shift frames Fss1 and Fss2 may be integrated.

[0155] In the modified examples of the first to fourth embodiments, especially the modified example of the third embodiment in which the offset of the sensing position can be absorbed and integrated by the shift corresponding to the driving speed, the compensation of the sensing position corresponding to the driving speed based on S103 to S105 can be omitted. In the modified example of the third embodiment, the driving speed judgment result can be switched according to the driving speed changing from one to the other of the inner and outer judgment speeds at the timing of executing one of the shift frames Fss1 and Fss2.

[0156] In a modified example of the third embodiment, the light emitting unit 2022 of the second embodiment may be replaced with the light emitting unit 22 of the first embodiment, thereby corresponding each light source 23 to a region of interest ROI whose number of shift columns is increased according to the driving speed outside the determination speed range. In a modified example of the third embodiment, the light emitting unit 2022 of the second embodiment may be replaced with the light emitting unit 4022 of the fourth embodiment, thereby the light sources 4023 shared by the regions of interest ROI with the same sequence number may be different or shared between the case where the driving speed is within the determination speed range and the case where the driving speed is outside the determination speed range.

[0157] In the modified examples of the first to fourth embodiments, the scanning direction α can be set to a horizontal direction outside and inside the optical sensor 10. In this case, the readout direction β in the light receiving unit 45 can be set to a vertical direction or a corresponding inclined direction inside the optical sensor 10. In the modified examples of the first to fourth embodiments, a scanning device such as a liquid crystal scanner, which can control the irradiation direction of the irradiation light by the control device 1, can be used as a main body to constitute the irradiation optical system 28.

[0158] In the modified examples of the first to fourth embodiments, the vehicle 5 to which the sensing system 2 is applied may also be, for example, an autonomous driving robot capable of carrying goods or collecting information by autonomous driving or remote control driving. In addition to the description so far, the control device 1 of the above-mentioned embodiments and modified examples may also be implemented in the form of a semiconductor device (e.g., a semiconductor chip, etc.) that can be mounted on the vehicle 5 and has at least one processor 1b and one memory 1a.

[0159] (P.S.)

[0160] In this specification, a plurality of technical ideas listed below and a plurality of combinations thereof are disclosed.

[0161] (Technical Thought 1)

[0162] A control device comprises a processor (1b) for controlling an optical sensor (10) for receiving reflected light of irradiated light for each scanning line (Ls) switched along a scanning direction (α) in a scanning frame (Fs).

[0163] The control device is configured as follows:

[0164] When an integer greater than 2 is defined as N, and an area in which N rows of light receiving element rows (47) in the optical sensor are arranged along the scanning direction is defined as a region of interest (ROI) for reading light receiving data (Dr) for each scanning line,

[0165] The processor performs:

[0166] shifting the region of interest of each of the scanning lines by an amount equal to or less than N-1 columns of the light receiving element in the scanning frames that are consecutive to each other; and

[0167] The light receiving data read out from the target area of ​​each scanning line for each scanning frame is integrated for the scanning frames from the present to the past N-1 frames, and output as sensing data (Ds).

[0168] Furthermore, the technical idea 1 and the technical ideas 2 to 7 described later can also be realized in the form of a control method and a control program.

[0169] (Technical Thought 2)

[0170] According to the control device described in technical idea 1,

[0171] Outputting the sensing data includes integrating the light receiving data read out from the focus area of ​​each scanning line for each scanning frame after compensating the sensing position according to the driving speed of the vehicle (5) equipped with the optical sensor.

[0172] (Technical Thought 3)

[0173] According to the control device described in technical idea 1 or 2,

[0174] The shifting of the target region includes increasing the number of light receiving element rows shifted between the consecutive scanning frames as the traveling speed of the vehicle (5) equipped with the optical sensor increases.

[0175] (Technical Thought 4)

[0176] A control device according to any one of technical ideas 1 to 3, wherein:

[0177] Outputting the sensing data includes integrating the light receiving data read out in each of the scanning frames based on light received by all of the N columns of the light receiving elements for each of the scanning lines.

[0178] (Technical Thought 5)

[0179] A control device according to any one of technical ideas 1 to 3, wherein:

[0180] Shifting the region of interest includes: taking the region of interest in the reference frame (Fsb) as the scanning frame as a reference, controlling the number of shifted columns of the light receiving element columns shifted in the region of interest in other shifted frames (Fss1, Fss2) as the scanning frames to be less than N-1 columns,

[0181] Outputting the sensing data includes integrating the light receiving data read out in the reference frame based on light reception by all the N columns of the light receiving element columns for each of the scanning lines and the light receiving data read out in the shift frame based on light reception by the N-1 columns or less of the light receiving element columns for each of the scanning lines.

[0182] (Technical Thought 6)

[0183] A control device according to any one of technical ideas 1 to 5, wherein:

[0184] In the target area, a light receiving pixel (Pr) serving as a readout unit of the light receiving data is formed by a set number of light receiving elements (46) in each of the light receiving element columns,

[0185] Outputting the sensing data includes integrating the light receiving data read out from the light receiving pixels in the target area of ​​each scanning line for each scanning frame.

[0186] (Technical Thought 7)

[0187] A control device according to any one of technical ideas 1 to 6, wherein:

[0188] Outputting the sensed data includes: outputting the sensed data to a storage medium (1a) for storage.

[0189] (Technical Thought 8)

[0190] A sensing system comprising:

[0191] An optical sensor (10) receives reflected light of the irradiated light for each scanning line switched along a scanning direction (α) in a scanning frame (Fs); and

[0192] A control device (1) according to any one of technical concepts 1 to 7 for controlling the optical sensor.

Claims

1. A control device comprising a processor (1b) for controlling an optical sensor (10) for receiving reflected light of an irradiated light for each scanning line (Ls) switched along a scanning direction (α) in a scanning frame (Fs), wherein: The control device is configured as follows: When an integer greater than 2 is defined as N, and an area in which N rows of light receiving element rows (47) in the optical sensor are arranged along the scanning direction is defined as a region of interest (ROI) for reading light receiving data (Dr) for each scanning line, The processor performs: shifting the region of interest of each of the scanning lines by an amount equal to or less than N-1 columns of the light receiving element in the scanning frames that are consecutive to each other; and The light receiving data read out from the target area of ​​each scanning line for each scanning frame is integrated for the scanning frames from the present to the past N-1 frames, and output as sensing data (Ds).

2. The control device according to claim 1, characterized in that: Outputting the sensing data includes integrating the light receiving data read out from the focus area of ​​each scanning line for each scanning frame after compensating the sensing position according to the driving speed of the vehicle (5) equipped with the optical sensor.

3. The control device according to claim 1 or 2, characterized in that: The shifting of the target region includes increasing the number of light receiving element rows shifted between the consecutive scanning frames as the traveling speed of the vehicle (5) equipped with the optical sensor increases.

4. The control device according to claim 1 or 2, characterized in that: Outputting the sensing data includes integrating the light receiving data read out in each of the scanning frames based on light received by all of the N columns of the light receiving elements for each of the scanning lines.

5. The control device according to claim 1 or 2, characterized in that: Shifting the region of interest includes: taking the region of interest in the reference frame (Fsb) as the scanning frame as a reference, controlling the number of shifted columns of the light receiving element columns shifted in the region of interest in other shifted frames (Fss1, Fss2) as the scanning frames to be less than N-1 columns, Outputting the sensing data includes integrating the light receiving data read out in the reference frame based on light reception by all the N columns of the light receiving element columns for each of the scanning lines and the light receiving data read out in the shift frame based on light reception by the N-1 columns or less of the light receiving element columns for each of the scanning lines.

6. The control device according to claim 1 or 2, characterized in that: In the target area, a light receiving pixel (Pr) serving as a readout unit of the light receiving data is formed by a set number of light receiving elements (46) in each of the light receiving element columns, Outputting the sensing data includes integrating the light receiving data read out from the light receiving pixels in the target area of ​​each scanning line for each scanning frame.

7. The control device according to claim 1 or 2, characterized in that: Outputting the sensed data includes: outputting the sensed data to a storage medium (1a) for storage.

8. A sensing system, characterized in that: include: An optical sensor (10) receives reflected light of the irradiated light according to each scanning line switched along a scanning direction (α) in a scanning frame (Fs); as well as A control device (1) as claimed in claim 1 or 2 for controlling the optical sensor.

9. A control method, executed by a processor (1b), for controlling an optical sensor (10) that receives reflected light of an irradiated light for each scanning line (Ls) switched along a scanning direction (α) in a scanning frame (Fs), wherein: When an integer greater than 2 is defined as N, and an area in which N rows of light receiving element rows (47) in the optical sensor are arranged along the scanning direction is defined as a region of interest (ROI) for reading light receiving data (Dr) for each scanning line, The control method comprises: shifting the region of interest of each of the scanning lines by an amount equal to or less than N-1 columns of the light receiving element in the scanning frames that are consecutive to each other; as well as The light receiving data read out from the target area of ​​each scanning line for each scanning frame is integrated for the scanning frames from the present to the past N-1 frames, and output as sensing data (Ds).

10. A control program stored in a storage medium (1a), comprising instructions for causing a processor (1b) to execute in order to control an optical sensor (10), wherein the optical sensor receives reflected light of an irradiated light for each scanning line (Ls) switched along a scanning direction (α) in a scanning frame (Fs), wherein the control program is characterized in that: When an integer greater than 2 is defined as N, and an area in which N rows of light receiving element rows (47) in the optical sensor are arranged along the scanning direction is defined as a region of interest (ROI) for reading light receiving data (Dr) for each scanning line, The commands include: shifting the region of interest of each of the scanning lines by an amount equal to or less than N-1 columns of the light receiving element in the scanning frames that are consecutive to each other; as well as The light receiving data read out from the target area of ​​each scanning line for each scanning frame is integrated for the scanning frames from the present to the past N-1 frames, and output as sensing data (Ds).

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