Control device, optical sensor, control method, and control program

Abstract

The invention provides a control device, an optical sensor, a control method and a control program. In a control having a processor for controlling an optical sensor, the optical sensor receives a reflected light beam (RB) from a target with respect to a projection light beam projected to a detection region, and outputs detection data obtained by detecting a distance to the target. In a correction model (M) for correcting distance detection data depending on temperature, the processor is configured to execute the following processing: monitoring a fluctuation range ([delta] M) of a correction parameter (Mp) that defines a degree of dependency of a distance correction amount ([delta] L) on temperature; when the variation range ([delta] M) exceeds the allowable range, a stored parameter (Mpm) stored in the memory as a correction parameter is updated. And correcting the detection data by a correction amount ([Delta] L) adapted to the temperature at each detection distance according to a correction model (M) provided in accordance with the latest stored parameter (Mpm).

Description

Cross-reference of related applications

[0001] This application is based on Japanese Patent Application No. 2023-156249 filed on September 21, 2023, and Japanese Patent Application No. 2023-219876 filed on December 26, 2023, and incorporates the entire contents of those basic applications by reference. Technical Field

[0002] This disclosure relates to a technique for controlling an optical sensor. Background Technology

[0003] The optical sensor disclosed in Patent Document 1 is controlled to receive a reflected beam from a target and projected beams onto a detection area, thereby detecting the distance to the target. As a control technique, Patent Document 1 proposes using the delay time generated by the control unit's processing as a correction factor to correct for a measurement time equivalent to the detection distance.

[0004] Existing technical documents Patent documents Patent Document 1: Japanese Patent No. 6449545 Summary of the Invention

[0005] However, in the optical sensor disclosed in Patent Document 1, the temperature-corresponding delay time extracted by other optical sensors in the same moving body is extracted according to a pre-prepared mapping. However, the error in the measurement time equivalent to the detection distance originates not only from the delay time generated by the control unit's processing, but also from factors such as the time-dependent degradation of the sensor elements constituting the optical sensor and the resulting anomalies. Therefore, in the optical sensor disclosed in Patent Document 1, even if the error changes over time, there is a risk of a decrease in distance detection accuracy corresponding to the measurement time corrected according to a constant mapping.

[0006] The present disclosure addresses the problem of providing a control device capable of ensuring the accuracy of distance detection by an optical sensor. Another problem of the present disclosure is to provide an optical sensor equipped with a control device for ensuring accurate distance detection. Yet another problem of the present disclosure is to provide a control method capable of ensuring the accuracy of distance detection by an optical sensor. Still another problem of the present disclosure is to provide a control program capable of ensuring the accuracy of distance detection by an optical sensor.

[0007] The technical solution of this disclosure used to solve the problem is described below.

[0008] The first aspect of this disclosure is: A control device includes a processor for controlling an optical sensor. The optical sensor receives a reflected beam from a target relative to a projected beam projected onto a detection area and outputs detection data based on the distance to the detected target. The control device includes... The processor is configured to perform the following processes: In a calibration model used for temperature-dependent distance calibration of detection data, the variation of a calibration parameter that measures the temperature dependence of a specified distance calibration is monitored, and the stored parameter, which is the calibration parameter, is updated in the storage medium if the variation exceeds the allowable range; and The detection data is corrected using a correction amount adapted to the temperature at each detection distance, based on the correction model provided with the latest storage parameters.

[0009] The second aspect of this disclosure is: A control method is a control method executed by a processor for controlling an optical sensor, the optical sensor receiving a reflected beam from a target relative to a projected beam projected onto a detection area, and outputting detection data obtained by detecting the distance to the target. The control method includes: In a calibration model used for temperature-dependent distance calibration of detection data, the variation of a calibration parameter that measures the temperature dependence of a specified distance calibration is monitored, and the stored parameter, which is the calibration parameter, is updated in the storage medium if the variation exceeds the allowable range; and The detection data is corrected using a correction amount adapted to the temperature at each detection distance, based on the correction model provided with the latest storage parameters.

[0010] The third aspect of this disclosure is: A control program, stored in a storage medium for controlling an optical sensor, includes instructions for instructing a processor to perform control. The optical sensor receives a reflected beam from a target relative to a projected beam projected onto a detection area and outputs detection data based on the distance to the detected target. The control program includes instructions for performing the following processes: In a calibration model used for temperature-dependent distance calibration of detection data, the variation of a calibration parameter that measures the temperature dependence of a specified distance calibration is monitored, and the stored parameter, which is the calibration parameter, is updated in the storage medium if the variation exceeds the allowable range; and The detection data is corrected using a correction amount adapted to the temperature at each detection distance, based on the correction model provided with the latest storage parameters.

[0011] Thus, according to the first to third aspects, in the calibration model used for distance detection data that depends on temperature correction, the variation range of the calibration parameter, which monitors the dependence of the calibration amount for a specified distance on temperature, is monitored. Therefore, when the variation range of the calibration parameter exceeds the allowable range, the stored parameter, which is the calibration parameter, is updated in the storage medium. Thus, according to the calibration model provided based on the latest stored parameter, the detection data is corrected with a calibration amount adapted to the temperature at each distance detection, thereby enabling the output of detection data that ensures distance detection accuracy regardless of the passage of time.

[0012] The fourth aspect of this disclosure is: A control device includes a processor for controlling an optical sensor. The optical sensor receives a reflected beam from a target relative to a projected beam projected onto a detection area and outputs detection data based on the distance to the detected target. The control device includes... The processor is configured to perform the following processes: In a calibration model used for temperature-dependent distance correction, a fault indicator is associated with the magnitude of change in the calibration parameter that monitors the temperature dependence of the specified distance correction amount; and The state of an optical sensor whose fault indicators exceed the allowable range is taken as a fault state, and a fault notification message is output to indicate the fault state.

[0013] The fifth aspect of this disclosure is: A control method is a control method executed by a processor for controlling an optical sensor, the optical sensor receiving a reflected beam from a target relative to a projected beam projected onto a detection area, and outputting detection data obtained by detecting the distance to the target. The control method includes: In a calibration model used for temperature-dependent distance correction, a fault indicator is associated with the magnitude of change in the calibration parameter that monitors the temperature dependence of the specified distance correction amount; and The state of an optical sensor whose fault indicators exceed the allowable range is taken as a fault state, and a fault notification message is output to indicate the fault state.

[0014] The sixth aspect of this disclosure is: A control program, stored in a storage medium for controlling an optical sensor, includes instructions for instructing a processor to perform control. The optical sensor receives a reflected beam from a target relative to a projected beam projected onto a detection area and outputs detection data based on the distance to the detected target. The control program includes instructions for performing the following processes: In a calibration model used for temperature-dependent distance correction, a fault indicator is associated with the magnitude of change in the calibration parameter that monitors the temperature dependence of the specified distance correction amount; and The state of an optical sensor whose fault indicators exceed the allowable range is taken as a fault state, and a fault notification message is output to indicate the fault state.

[0015] Thus, according to aspects four through six, in the calibration model used for detection data dependent on temperature-corrected distance, a fault index is established, which monitors the variation of the calibration parameter related to the temperature dependence of the calibration amount for a specified distance. Therefore, the state of the optical sensor where the fault index exceeds the allowable range is designated as a fault state, and a fault notification message is output to indicate this fault state. In this way, in the optical sensor, the fault state can be accurately notified through the fault notification message; conversely, in the normal state without this notification, the detection data is corrected according to the calibration model and the temperature at each detection distance, thereby enabling the output of detection data that ensures distance detection accuracy.

[0016] The seventh aspect of this disclosure is: A control device includes a processor for controlling an optical sensor. The optical sensor receives a reflected beam from a target relative to a projected beam projected onto a detection area and outputs detection data based on the distance to the detected target. The control device includes... The processor is configured to perform the following processes: In a calibration model used for temperature-dependent distance correction, a fault indicator is associated with the magnitude of change in the calibration parameter that monitors the temperature dependence of the specified distance correction amount; and The state of an optical sensor whose fault indicators exceed the allowable range is defined as a fault state, and the control parameters used to control the optical sensor are adjusted to the recovery side of this fault state.

[0017] The eighth aspect of this disclosure is: A control method is a control method executed by a processor for controlling an optical sensor, the optical sensor receiving a reflected beam from a target relative to a projected beam projected onto a detection area, and outputting detection data obtained by detecting the distance to the target. The control method includes: In a calibration model used for temperature-dependent distance correction, a fault indicator is associated with the magnitude of change in the calibration parameter that monitors the temperature dependence of the specified distance correction amount; and The state of an optical sensor whose fault indicators exceed the allowable range is defined as a fault state, and the control parameters used to control the optical sensor are adjusted to the recovery side of this fault state.

[0018] The ninth aspect of this disclosure is: A control program, stored in a storage medium for controlling an optical sensor, includes instructions for instructing a processor to perform control. The optical sensor receives a reflected beam from a target relative to a projected beam projected onto a detection area and outputs detection data obtained by determining the distance to the detected target. The control program is characterized by including instructions for performing the following processes: In a calibration model used for temperature-dependent distance correction, a fault indicator is associated with the magnitude of change in the calibration parameter that monitors the temperature dependence of the specified distance correction amount; and The state of an optical sensor whose fault indicators exceed the allowable range is defined as a fault state, and the control parameters used to control the optical sensor are adjusted to the recovery side of this fault state.

[0019] Thus, according to aspects seven through nine, in the calibration model used for detection data dependent on temperature-corrected distances, a fault index is established that monitors the variation of the calibration parameter related to the temperature dependence of the calibration amount for a specified distance. Therefore, the state of the optical sensor where the fault index exceeds the allowable range is designated as a fault state, and the control parameters used to control the optical sensor are adjusted towards the recovery side of this fault state. In this way, by adjusting the control parameters, recovery from the fault state can be achieved in the optical sensor. Therefore, through this recovery, the detection data is corrected according to the calibration model and the temperature at each detection distance, thereby enabling the output of detection data that ensures distance detection accuracy.

[0020] The tenth aspect of this disclosure is: An optical sensor receives a reflected beam from a target relative to a projected beam projected onto a detection area, and outputs detection data obtained by measuring the distance to the detected target, wherein it comprises: The control unit is configured to include the control device of any one of the first, fourth, and seventh aspects, and generates detection data; The projection unit projects a beam of light under the control of the control unit; and The light-receiving part receives the reflected light beam under the control of the control part.

[0021] Such an optical sensor in the tenth aspect can achieve the same effect as the control devices in the first, fourth, or seventh aspects based on the same principle. Attached Figure Description

[0022] Figure 1 This is a cross-sectional view showing the overall configuration of the optical sensor according to the first embodiment.

[0023] Figure 2 This is a block diagram illustrating the functional configuration of the optical sensor in the first embodiment.

[0024] Figure 3This is a schematic diagram showing the projection light source unit of the first embodiment.

[0025] Figure 4 This is a schematic diagram showing the light-receiving detection unit of the first embodiment.

[0026] Figure 5 This is a flowchart illustrating the control flow of the first embodiment.

[0027] Figure 6 This is a timing diagram used to illustrate the control flow of the first embodiment.

[0028] Figure 7 This is a characteristic diagram used to illustrate the control flow of the first embodiment.

[0029] Figure 8 This is a characteristic diagram used to illustrate the control flow of the first embodiment.

[0030] Figure 9 This is a characteristic diagram used to illustrate the control flow of the first embodiment.

[0031] Figure 10 It means Figure 2 A cross-sectional view of a modified example.

[0032] Figure 11 This is a characteristic diagram used to illustrate the control flow of the first embodiment.

[0033] Figure 12 This is a characteristic diagram used to illustrate the control flow of the second embodiment.

[0034] Figure 13 This is a characteristic diagram used to illustrate the control flow of the third embodiment.

[0035] Figure 14 This is a characteristic diagram used to illustrate the control flow of the fourth embodiment. Detailed Implementation

[0036] Hereinafter, several embodiments of the present disclosure will be described based on the accompanying drawings. Furthermore, corresponding constituent elements in each embodiment will be given the same reference numerals, and repeated descriptions may be omitted. Additionally, when only a portion of the configuration is described in each embodiment, the configurations of other previously described embodiments can be applied to the other portions of that configuration. Moreover, not only combinations of configurations explicitly stated in the descriptions of each embodiment, but also configurations of multiple embodiments can be partially combined with each other, even if not explicitly stated, as long as it does not particularly create a combination obstacle.

[0037] (First Implementation) like Figure 1As shown, the optical sensor 10 of the first embodiment of this disclosure is configured to be mounted on a moving body 1 for optical detection of the external environment of the moving body 1, and is a LiDAR (Light Detection and Ranging / Laser Imaging Detection and Ranging) system. The moving body 1, to which the optical sensor 10 is applicable, is a vehicle capable of at least one of manual driving, autonomous driving, and remote driving. Furthermore, in the following description, unless otherwise stated, the directions of front, rear, up, down, left, and right are defined with reference to the moving body 1 on a horizontal plane. Additionally, in the following description, the horizontal direction and the vertical direction refer to the direction parallel to and perpendicular to the horizontal plane, respectively. However, Figure 1 The portion to the left of the single-dotted line along the vertical direction (the side of cover plate 12 described later) is actually illustrated as a vertical section relative to the portion to the right of the single-dotted line (the sides of parts 21 and 41 described later).

[0038] The optical sensor 10 is disposed at at least one location on the moving body 1, such as in the front, left and right sides, rear, and upper roof. Figure 1 , Figure 2 As shown, the optical sensor 10 projects a projection beam PB into a detection area DA corresponding to the configuration position of the moving body 1 in the outside world. The optical sensor 10 detects the return light of the projection beam PB after it is reflected by the target Xt in the detection area DA in the outside world, and uses it as the reflected beam RB. The projection beam PB, which thus becomes the reflected beam RB, selects light in the near-infrared region that is difficult for the human eye to perceive.

[0039] The optical sensor 10 detects a target Xt existing in the detection area DA by receiving a reflected beam RB that reflects the projected beam PB. This detection of the external target Xt refers to the detection of at least one or more of the following: distance L from the optical sensor 10 to the target Xt, the direction in which the target Xt exists, and the reflection intensity of the reflected beam RB from the target Xt. The target Xt, a typical object detected by the optical sensor 10 applied to the moving body 1, can also be at least one of moving objects such as pedestrians, cyclists, animals other than humans, and other vehicles. The target Xt, a typical object detected by the optical sensor 10 applied to the moving body 1, can also be at least one of stationary objects such as guardrails, road signs, roadside structures, and objects fallen on the road.

[0040] like Figure 1As shown, the optical sensor 10 includes a housing portion 11, a light-projecting portion 21, a scanning portion 31, a light-receiving portion 41, and a control portion 51. The light-shielding housing portion 11 is formed into a box shape, for example, from metal or resin. The housing portion 11 houses the light-projecting portion 21, the scanning portion 31, the light-receiving portion 41, and the control portion 51. An opening in the housing portion 11 that extends through the inside and outside is closed by a cover plate 12. The light-transmitting cover plate 12 is formed, for example, from resin or glass, and separates the inside and outside of the housing portion 11.

[0041] like Figure 1 , Figure 2 As shown, the projection unit 21 includes a projection light source unit 22 and a projection lens unit 26. Figure 3 As shown, the projection light source unit 22 is constructed by mounting multiple light source elements 24 in an array on a substrate. Each light source element 24 is arranged in a single row along the vertical direction. Figure 3 The laser diodes are arranged in a series (e.g., one or more rows, not shown in the figure). Each light source element 24 generates a laser beam that becomes part of the projected beam PB in a pulsed manner according to the control signal from the control unit 51. Each light source element 24 can be an edge-emitting laser or a vertical cavity surface-emitting laser (VCSEL).

[0042] The projection light source unit 22 has a light source window 25 formed on one side of the substrate. The light source window 25 is simulated as a rectangular outline with the longer side along the vertical direction and the shorter side along the horizontal direction. The light source window 25 is configured as an assembly of the laser oscillation openings of each light source element 24. The laser light projected from the laser oscillation openings of each light source element 24 is projected from the light source window 25 as a projection beam PB simulated as a line beam with the longer side along the vertical direction, at least in the external detection area DA.

[0043] like Figure 1 As shown, the projection lens unit 26 is configured such that at least one projection lens 27 is held by a lens barrel 28. The light-transmitting projection lens 27 is mainly made of a substrate such as resin or glass and is formed into a lens shape corresponding to the optical function it performs. The projection lens 27 performs at least one optical function such as focusing, collimation, and shaping on the projected beam PB from the projection light source unit 22. The projection lens 27 is positioned within a light-shielding lens barrel 28 made of, for example, metal or resin. The projection lens unit 26 configured in this way, by being aligned with the projection light source unit 22, forms a projection optical axis PO that guides the projected beam PB to the scanning section 31 side.

[0044] like Figure 1 , Figure 2As shown, the scanning unit 31 includes a scanning mirror 32 and a scanning motor 35. The scanning mirror 32 is configured as a plate formed by depositing a reflective film on one side of a substrate, namely the reflective surface 33. The scanning mirror 32 is supported by the housing 11 and can be driven to rotate about a rotation center line along the vertical direction. The scanning mirror 32 oscillates within a limited driving range defined by mechanical or electrical stops.

[0045] The scanning motor 35 is, for example, a voice coil motor, a brushed DC motor, or a stepper motor. The output shaft of the scanning motor 35 is directly connected to the scanning mirror 32, or indirectly via a drive mechanism such as a speed reducer. The scanning motor 35 is held in the housing 11 so as to drive the scanning mirror 32 to rotate together with the output shaft. The scanning motor 35 drives the scanning mirror 32 to rotate (i.e., oscillate) within a limited drive range according to the control signal from the control unit 51.

[0046] The scanning mirror 32 reflects the projected light beam PB incident from the projection section 21 through the reflecting surface 33 and projects it onto the detection area DA via the cover plate 12, thereby scanning the area DA according to the rotation angle of the scanning motor 35. At this time, the scanning of the detection area DA by the projected light beam PB is substantially limited to a horizontal scan in this embodiment as the scanning mirror 32 is driven to rotate.

[0047] The scanning mirror 32 reflects the reflected light beam RB incident on the target Xt in the detection area DA via the cover plate 12 through the reflecting surface 33 according to the rotation angle of the scanning motor 35 towards the light-receiving part 41. At this time, the speeds of the projected light beam PB and the reflected light beam RB are sufficiently high relative to the rotational speed of the scanning mirror 32. As a result, the reflected light beam RB receives the reflection from the scanning mirror 32, whose rotational angle relative to the projected light beam PB can be simulated to be substantially the same, and is thus guided to the light-receiving part 41 in a counter-current manner relative to the projected light beam PB.

[0048] The light-receiving unit 41 includes a light-receiving lens unit 42 and a light-receiving detection unit 45. For example... Figure 1 As shown, the light-receiving lens unit 42 is configured such that at least one light-receiving lens 43 is held by a lens barrel 44. The light-transmitting light-receiving lens 43 is mainly made of a substrate such as resin or glass and is formed into a lens shape corresponding to the optical function it performs. The light-receiving lens 43 performs an optical function, causing the reflected light beam RB from the scanning mirror 32 to be imaged on the light-receiving detection unit 45. The light-receiving lens 43 is positioned inside a light-shielding lens barrel 44 made of, for example, metal or resin. By aligning the light-receiving lens unit 42 with the light-receiving detection unit 45, the light-receiving lens unit 42 is offset in the vertical direction relative to the projection optical axis PO of the projection lens unit 26, thereby forming a light-receiving optical axis RO that guides the reflected light beam RB from the scanning unit 31 to the side of the unit 45.

[0049] like Figure 4 As shown, the light-receiving detection unit 45 is constructed by mounting a plurality of light-receiving pixels 46 in an array on a substrate. Each light-receiving pixel 46 is arranged at least along the vertical direction. The light-receiving detection unit 45 has a light-receiving surface 450 formed on one side of the substrate, which has a rectangular outline with a longer side along the vertical direction and a shorter side along the horizontal direction. The light-receiving surface 450 constitutes an assembly of the incident surfaces of each light-receiving pixel 46. Furthermore, each light-receiving pixel 46 is composed of a plurality of light-receiving elements 460, such as a single-photon avalanche diode. Figure 1 As shown, each of these light-receiving pixels 46 receives the reflected light beam RB incident from the light-receiving lens unit 42 onto the light-receiving surface 450.

[0050] like Figure 1 , Figure 2 As shown, the light-receiving detection unit 45 is provided with an output circuit 47. In each detection cycle, in accordance with the control signal from the control unit 51, the output circuit 47 performs sampling processing for each scan line, synchronized with the projection cycle of the projected beam PB of the projection light source unit 22 and corresponding to the rotation angle of the scanning mirror 32. At this time, the output circuit 47 synthesizes the response output from the light-receiving element 460 of each light-receiving pixel 46 in each detection cycle, thereby generating a detection signal. The detection signal thus generated is output from the output circuit 47 to the control unit 51 for each scan line.

[0051] The control unit 51 is formed by a control device that includes at least one dedicated computer and is mounted on a substrate. The dedicated computer constituting the control device of the control unit 51 may be a sensor ECU (Electronic Control Unit) specifically for controlling the optical sensor 10. In this case, the sensor ECU is housed within the housing 11. Figure 1 (Example). The dedicated computer constituting the control device of the control unit 51 may also be a driving control ECU dedicated to controlling the driving of the mobile body 1. In this case, the driving control ECU is disposed outside the housing 11 in the mobile body 1 (illustration omitted).

[0052] A dedicated computer that constitutes the control device of the control unit 51, such as Figure 1As shown, there is at least one memory 51a and a processor 51b. The memory 51a is a non-transitory tangible storage medium, such as semiconductor memory, magnetic media, and optical media, that non-transitorily stores computer-readable programs and data. The processor 51b includes at least one of the following as its core: CPU (Central Processing Unit), GPU (Graphics Processing Unit), RISC (Reduced Instruction Set Computer) CPU, DFP (Data Flow Processor), and GSP (Graph Streaming Processor).

[0053] The control unit 51, configured in this way, is connected to the projection light source unit 22, the scanning motor 35, and the light-receiving detection unit 45. The control unit 51 controls the projection light source unit 22 to generate a projected beam PB in each projection cycle. Furthermore, the control unit 51 controls the scanning motor 35 to control the scanning and reflection performed by the scanning mirror 32 in sync with the projection cycle of the projection light source unit 22. The control unit 51 then processes the detection signal output from the output circuit 47 of the light-receiving detection unit 45, which is controlled according to the projection of the projection light source unit 22 and the scanning and reflection of the scanning mirror 32. Thus, the control unit 51 generates detection data that at least detects the distance L to the target Xt in the detection area DA.

[0054] To implement this control, the processor 51b executes multiple instructions contained in the control program stored in the memory 51a. Thus, the control unit 51 constructs multiple functional blocks for controlling the optical sensor 10. These multiple functional blocks constructed by the control unit 51, such as... Figure 2 As shown, it includes update block 100 and detection block 120.

[0055] Through the cooperation of these blocks 100 and 120, the control unit 51 controls the optical sensor 10 according to the control method. Figure 5 The control flow shown is executed. This control flow is repeated during each detection cycle of the moving body 1 during startup. Furthermore, each "S" in the control flow represents multiple steps executed by multiple instructions contained in the control program.

[0056] exist Figure 5 In S10 shown, update block 100 (refer to...) Figure 2The determination is made as to whether the current detection cycle meets the condition of the monitoring period Pm. Here, the monitoring period Pm is the period used to monitor the variation amplitude δM of the correction parameter Mp in the correction model M (described later). The monitoring period Pm is set as the period during which at least the moving body 1 is at rest. Figure 6 The stopping period Ps is shown. The monitoring period Pm can also be set to a stopping period Ps with additional conditions, such as parking in a parking lot. The stopping of the moving body 1, which is triggered by setting such a stopping period Ps, can be identified based on the detection results of the travel speed by a speed sensor mounted on the moving body 1. The stopping of the moving body 1 can also be identified based on the detection results of the road surface by a device mounted on the moving body 1, such as an optical sensor 10, other LiDAR, or a camera. The stopping of the moving body 1 can also be identified by fusing these travel speed and road surface detection results. Furthermore, Figure 6 In the diagram, an example of the time progression of the operating state of the optical sensor 10 is schematically shown with temperature T℃ (especially temperature Ta, which will be described later) as a state indicator of the optical sensor 10 as the vertical axis.

[0057] During monitoring, Pm is preferably activated during the stationary period Ps of such a moving body 1 when the optical sensor 10 is activated. Figure 6 The startup monitoring condition is set when the startup monitoring condition is met during the startup period Pss. Here, the startup monitoring condition can be defined as being set whenever a set time has elapsed since the past startup period Pss was set as the monitoring period Pm. The startup monitoring condition can also be defined as being set whenever the number of occurrences of the startup period Pss since the past startup period Pss was set as the monitoring period Pm reaches a set number. Furthermore, the startup of the optical sensor 10 includes at least one of the following: simultaneous startup of the mobile body 1 and the optical sensor 10 corresponding to the user's startup command, or automatic startup of the optical sensor 10 by waking up the mobile body 1, which is in a dormant state according to the user's command, for example, at night.

[0058] The monitoring period Pm is preferably during the stopping period Ps of the moving body 1, after the starting period Pss when the operation of the optical sensor 10 is stable and the sensor 10 enters a steady state. Figure 6 The stable period Psr is set when the stable monitoring condition is met. Here, the stable monitoring condition can be specified as being met whenever a set time has elapsed since the past stable period Psr was set as the monitoring period Pm. The stable monitoring condition can also be specified as being met whenever the number of occurrences of the stable period Psr since the past stable period Psr was set as the monitoring period Pm reaches a set number.

[0059] like Figure 5As shown, when a positive decision is made in S10, S20 is executed. In S20, update block 100 monitors and calculates the correction model M (see detailed below) for the correction amount ΔL used for the detection data that depends on the temperature T and the correction distance L. Figure 7 , Figure 8 At this point, in S20, the variation magnitude δM of the correction parameter Mp, which measures the dependence of the correction amount ΔL, which specifies the distance L in the correction model M, on the temperature T, is monitored. Here, the correction amount ΔL is defined as the detection deviation based on the detected distance L, which depends on the sign of the temperature T. Furthermore, as for the temperature T, the individual temperatures Ta, Tb, and Tc of the specific plurality of sensor elements constituting the optical sensor 10 are considered (refer to numbers 1 and 5 described later).

[0060] Specifically, in S20, if the current detection cycle corresponds to the start period Pss of the monitoring period Pm set in the stop period Ps, then... Figure 7 As shown, the start-up parameter Mps is monitored as the correction parameter Mp, which provides the correction model M for Pss during the start-up period. In the start-up parameter Mps, it is assumed that the detection deviation of distance L depends on the individual temperatures Ta, Tb, and Tc of the specific plurality of sensor elements constituting the optical sensor 10, and coefficient parameters As, Bs, and Cs representing the dependence of these temperatures Ta, Tb, and Tc are envisioned according to number 1. Furthermore, in the start-up parameter Mps, a constant parameter Ds shared by temperatures Ta, Tb, and Tc is also envisioned according to number 1.

[0061] [Number 1] In the aforementioned number 1, functions Ga, Gb, and Gc are defined as polynomials or monomials of degree 1 or higher, relating to their respective temperatures Ta, Tb, and Tc, and without constant terms. Therefore, in each term or monomial constituting the polynomial of function Ga, the coefficient corresponding to the exponent of temperature Ta is defined as parameter As. Thus, particularly in the case of polynomials, an individual parameter As is defined for each exponent of temperature Ta in each term. The relationship between parameters Bs and Cs and their respective functions Gb and Gc is determined based on the relationship between parameter As and function Ga.

[0062] Thus, the parameters As, Bs, Cs, and Ds, which are envisioned as startup parameters Mps, are stored in memory 51a at their initial values ​​when the optical sensor 10 was manufactured, or at their updated values ​​(described later) during startup, Pss. Therefore, the stored values ​​of these parameters As, Bs, Cs, and Ds are as follows: Figure 7 As shown, the storage parameter Mpm is defined as being related to the startup parameter Mps.

[0063] Here, the sensor element corresponding to the temperature Ta is the projection light source unit 22. Therefore, the temperature Ta of the projection light source unit 22 is measured by the temperature sensor 29 (see reference 29) on the same substrate as each light source element 24. Figure 3 (Actual measurement). On the other hand, the sensor element corresponding to temperature Tb is the light-receiving detection unit 45. Therefore, since the temperature Tb of the light-receiving detection unit 45 is related to the temperature Ta of the projection light source unit 22, it is estimated according to the function Fb of number 2. Furthermore, the sensor element corresponding to temperature Tc is the control device or its mounting substrate, which serves as the control unit 51. Therefore, since the temperature Tc of the control device or its mounting substrate is related to the temperature Ta of the projection light source unit 22, it is estimated according to the function Fc of number 3.

[0064] [Number 2] [Number 3] In the case where the current detection cycle corresponds to the start-up period Pss set as the monitoring period Pm, in S20, update block 100 changes the temperatures Ta, Tb, and Tc of each sensor element to... Figure 9 The test temperature Tt is shown. At this time, the temperature variations Ta, Tb, and Tc, which serve as the test temperature Tt, are set at multiple points based on the correlation of numbers 2 and 3, ensuring a one-to-one correspondence between these temperatures Ta, Tb, and Tc. Therefore, the update block 100 can directly set multiple variation points of temperature Ta by controlling the light emission of each light source element 24 of the projection light source unit 22, and indirectly set multiple variation points of temperature Tb and Tc based on numbers 2 and 3. Alternatively, the update block 100 can adjust the light emission power by... Figure 10 As shown in the modified example, a temperature adjustment unit 61 is added to the control unit 51 to adjust the ambient temperature Ti inside the housing 11. This allows for the indirect setting of multiple temperature variation points Ta related to the ambient temperature Ti, and multiple temperature variation points Tb and Tc following numbers 2 and 3, based on a function Fa of number 4. Here, the temperature adjustment unit 61 is composed of at least one of, for example, a heater unit and a cooling unit.

[0065] [Number 4] In the case where the current detection cycle corresponds to the start-up period Pss set as the monitoring period Pm, in S20, the update block 100 will detect the distance L by the optical sensor 10 according to each change point (hereinafter referred to as each corresponding change point) corresponding to the temperature Ta, Tb, and Tc of the trial temperature Tt, such as... Figure 9The distance Lt shown is obtained as the trial distance. At this time, the trial distance Lt at each corresponding change point of temperature Ta, Tb, and Tc is preferably detected by the optical sensor 10 of the stationary moving body 1 by receiving the reflected beam RB from a stationary target Xt, such as a structure or a stopped vehicle. Here, the stationarity of the target Xt can be identified based on the detection results of the target Xt by, for example, the optical sensor 10, other LiDAR, or a camera mounted on the moving body 1.

[0066] Therefore, during startup, update block 100 in S20 of Pss will provide the startup parameters Mps of the calibration model M, for example, obtained as trial parameters Mpt through regression analysis, so that... Figure 7 As shown, relative to the trial distance Lt obtained at specific reference change points between temperatures Ta, Tb, and Tc, the detection deviation of the trial distance Lt obtained at each corresponding change point between temperatures Ta, Tb, and Tc is interpolated. At this time, the starting parameter Mps obtained as the trial parameter Mpt is assumed to be each parameter As, Bs, Cs, and Ds that conform to the number 1. Furthermore, in Figure 7 , Figure 9 In this paper, the temperature Ta corresponding to the numbers 2 and 3 and temperatures Tb and Tc is used as the horizontal axis for temperatures T and Tt, respectively. The paper illustrates an example of distance detection under the calibration model M with startup parameter Mps and under Pss during startup. Furthermore, in... Figure 7 , Figure 9 In the diagram, the corresponding change points of temperatures Ta, Tb, and Tc are represented by black circles, and the temperature Ta at the reference change point that serves as the reference for detecting the deviation is represented by the symbol T0s.

[0067] In the case where the current detection cycle corresponds to the startup period Pss, which is set as the monitoring period Pm, in S20, the update block 100 reads the latest stored parameter Mpm, i.e., each parameter As, Bs, and Cs, related to the startup parameter Mps from the memory 51a. Therefore, in S20 of the startup period Pss, the update block 100 focuses on the difference between the trial parameter Mpt obtained in this detection cycle regarding the startup parameter Mps and the latest stored parameter Mpm read regarding the startup parameter Mps, as the variation amplitude δM, and monitors it separately according to the coefficient parameters As, Bs, and Cs corresponding to each sensor element. At this time, in the function Ga of the aforementioned number 1, if it is a polynomial, the variation amplitude δM is monitored separately according to the coefficient parameters As of each term with a different exponent of temperature Ta; if it is a monomial, the variation amplitude δM is monitored separately according to the coefficient parameter As corresponding to the exponent of temperature Ta. Similarly, in the functions Gb and Gc of the above number 1, if they are polynomials, the coefficient parameters Bs and Cs of each term with different exponents of their respective temperatures Tb and Tc are used to monitor the variation amplitude δM. If they are monomials, the coefficient parameters Bs and Cs corresponding to the exponents of their respective temperatures Tb and Tc are used to monitor the variation amplitude δM individually.

[0068] Through this monitoring, during the startup period Pss in S20, if the variation amplitude δM corresponding to at least one sensor element increases beyond the preset allowable range, and the stored parameter Mpm associated with the startup parameter Mps is as follows: Figure 5 The data shown is updated in memory 51a. In the update related to the current startup parameter Mps, the learning of the stored parameter Mpm based on the trial parameter Mpt is performed separately for the coefficient parameters As, Bs, and Cs of each sensor element. Furthermore, in the update related to the startup parameter Mps, the learning of the stored parameter Mpm based on the trial parameter Mpt is also performed simultaneously for the constant parameter Ds.

[0069] On the other hand, in S20, if the current detection cycle corresponds to the stable period Psr that is set as the monitoring period Pm during the stop period Ps, then... Figure 8 As shown, the calibration parameter Mp is used as the calibration model M that provides the stabilization period Psr, and the stabilization parameter Mpr is monitored. In the stabilization parameter Mpr, it is assumed that the detection deviation of distance L depends on the individual temperatures Ta, Tb, and Tc of multiple sensor elements, similar to the case of Pss during startup, and coefficient parameters Ar, Br, and Cr representing the dependence of these temperatures Ta, Tb, and Tc are envisioned according to number 5. In the stabilization parameter Mpr, a constant parameter Dr shared by temperatures Ta, Tb, and Tc is also envisioned according to number 5. Here, as... Figure 6As shown, since the optical sensor 10 in the moving body 1 that starts moving from the stop period Ps is also in a stable state during the driving period Pd, the stability parameter Mpr is also envisioned and monitored as the correction parameter Mp of the correction model M that provides the stable period Pdr in this stable state.

[0070] [Number 5] In number 5 above, functions Ha, Hb, and Hc are defined as polynomials or monomials of degree 1 or higher, relating to their respective temperatures Ta, Tb, and Tc, and without constant terms. Therefore, in each term or monomial of the polynomial constituting function Ha, the coefficient corresponding to the exponent of temperature Ta is defined as parameter Ar. Thus, particularly in the case of polynomials, an individual parameter Ar is defined for each exponent of temperature Ta in each term. The relationships between parameters Br and Cr and their respective functions Hb and Hc are defined based on the relationship between parameter Ar and function Ha.

[0071] Thus, the parameters Ar, Br, Cr, and Dr, which are envisioned for the stable parameter Mpr, are stored in the memory 51a at their initial values ​​when the optical sensor 10 is manufactured, or at their updated values ​​(described later) during the stabilization period. Therefore, the stored values ​​of these parameters Ar, Br, Cr, and Dr are as follows: Figure 8 The storage parameter Mpm is defined as being related to the stability parameter Mpr.

[0072] In the case where the current detection cycle corresponds to the stable period Psr set as the monitoring period Pm, in S20, the update block 100 changes the temperatures Ta, Tb, and Tc of each sensor element to... Figure 11 The trial temperature Tt is shown. At this time, the changes in temperatures Ta, Tb, and Tc, which are the trial temperature Tt, are the same as those during the startup period for Pss.

[0073] If the current detection cycle corresponds to the stable period Psr of the monitoring period Pm, in S20, the update block 100 will use the distance L detected by the optical sensor 10 according to the corresponding change points between the trial temperature Tt, i.e., temperatures Ta, Tb, and Tc. Figure 11 The distance Lt shown is used as the trial distance. At this time, the trial distance Lt at the corresponding change points of temperature Ta, Tb, and Tc is preferably the same as the distance L at which the stationary target Xt is detected during the start-up period, just like in the case of Pss. Here, the stationary state of the target Xt can be identified based on the detection results of the target Xt by a device mounted on the moving body 1, such as an optical sensor 10, other LiDAR, or camera.

[0074] Therefore, during the stabilization period, update block 100 in S20 of Psr will provide the stabilization parameter Mpr of the calibration model M, for example, obtained as the trial parameter Mpt through regression analysis, so that... Figure 8 As shown, the detection deviation of the trial distance Lt obtained at each corresponding change point between temperatures Ta, Tb, and Tc is interpolated relative to the trial distance Lt obtained at each corresponding change point between temperatures Ta, Tb, and Tc. At this time, the stable parameter Mpr obtained as the trial parameter Mpt is assumed to be each of the parameters Ar, Br, Cr, and Dr, which have a coincidence number of 5. Furthermore, in Figure 8 , Figure 11 In this paper, the temperature Ta corresponding to the numbers 2 and 3 and temperatures Tb and Tc is used as the horizontal axis for temperatures T and Tt, respectively. The paper illustrates an example of distance detection under the calibration model M with the stability parameter Mpr and under the stability period Psr. Furthermore, in... Figure 8 , Figure 11 In, with Figure 7 , Figure 9 During the startup period, Pss is also represented by black circles, with the reference point being represented by the symbol T0r, indicating a temperature Ta that is different from Pss during the startup period.

[0075] In the case where the current detection cycle corresponds to the stable period Psr set as the monitoring period Pm, in S20, the update block 100 reads the latest stored parameter Mpm related to the stable parameter Mpr, i.e., each parameter Ar, Br, and Cr, from the memory 51a. Therefore, in S20 of the stable period Psr, the update block 100 focuses on the difference between the trial parameter Mpt obtained in the current detection cycle regarding the stable parameter Mpr and the latest stored parameter Mpm read regarding the stable parameter Mpr, as the variation amplitude δM, and monitors it separately according to the coefficient parameters Ar, Br, and Cr corresponding to each sensor element. At this time, in the function Ha of the aforementioned number 5, if it is a polynomial, the variation amplitude δM is monitored separately according to the coefficient parameter Ar of each term with a different exponent of temperature Ta; if it is a monomial, the variation amplitude δM is monitored separately according to the coefficient parameter Ar corresponding to the exponent of temperature Ta. Similarly, in the functions Hb and Hc of the above number 5, if they are polynomials, the coefficient parameters Br and Cr of each term with different exponents of their respective temperatures Tb and Tc are used to monitor the variation amplitude δM. If they are monomials, the coefficient parameters Br and Cr corresponding to the exponents of their respective temperatures Tb and Tc are used to monitor the variation amplitude δM individually.

[0076] Through this monitoring, during the stable period of Psr in S20, when the variation amplitude δM corresponding to at least one sensor element increases beyond the preset allowable range, the stored parameter Mpm associated with the stable parameter Mpr is as follows: Figure 5 The data shown is updated in memory 51a. In the update related to the current stable parameter Mpr, the learning of the stored parameter Mpm based on the trial parameter Mpt is performed separately for the coefficient parameters Ar, Br, and Cr of each sensor element. Furthermore, in the update related to the stable parameter Mpr, the learning of the stored parameter Mpm based on the trial parameter Mpt is also performed simultaneously for the constant parameter Dr.

[0077] like Figure 5 As shown, the execution of the control flow in the case of a positive decision in S10 ends upon completion of S20. On the other hand, when a negative decision is made in S10, S30 and S40 are executed sequentially. First, in S30, the detection block 120 (refer to...) Figure 2 The system controls the projection light source unit 22, the scanning motor 35, and the light-receiving detection unit 45 to generate the detection data for this detection cycle.

[0078] Next, in S40, the detection block 120 corrects the distance L of the detection data to be output using a correction amount ΔL that matches the current temperature Tp, which is the temperature T of the current detection cycle, based on the correction model M provided according to the latest stored parameters Mpm. Specifically, the temperatures Ta, Tb, and Tc of each sensor element are obtained as the current temperature Tp. Therefore, the temperature Ta can be measured by the temperature sensor 29, and the temperatures Tb and Tc can be estimated based on numbers 2 and 3.

[0079] Therefore, in S40, if the current detection cycle corresponds to the start-up period Pss, which is not set as the monitoring period Pm within the stop period Ps, the detection block 120 reads the stored parameter Mpm associated with the start-up parameter Mps of number 1 from the memory 51a. Thus, during the start-up period Pss, as the input to the current temperature Tp, a correction model M including the start-up parameter Mps is selected, and detection data corrected according to this correction model M is output.

[0080] On the other hand, in S40, if the current detection cycle corresponds to a stable period Psr that is not set as a monitoring period Pm during the stop period Ps, the detection block 120 reads the stored parameter Mpm related to the stable parameter Mpr of number 5 from the memory 51a. Therefore, during the stable period Psr, as input to the current temperature Tp, a correction model M including the stable parameter Mpr is selected, and detection data corrected according to this correction model M is output. In this embodiment, the output of this corrected detection data corresponding to the stable period Psr during the stop period Ps is equivalent to the stable period Pdr (refer to...) during the current detection cycle, which is substantially the same as the travel period Pd of the moving body 1 after leaving the stop period Ps. Figure 6 It is also executed in S40.

[0081] Here, regardless of the period, the output of the detection data in S40 can be the storage of the detection data in the memory 51a. The output of the detection data in S40 can also be the provision of the detection data to, for example, a driving control ECU. The output of the detection data in S40 can also be the transmission of the detection data to an external center via the communication unit of the mobile body 1.

[0082] With the completion of S40 above, this execution of the control flow ends. Therefore, by repeatedly executing the control flow outside of the monitoring period Pm, the detection data is corrected for each detection cycle at a distance L by a correction amount ΔL adapted to the temperature T.

[0083] (Effects) The effects of the first embodiment described above will be explained below.

[0084] According to the first embodiment, in the calibration model M used to correct detection data that depends on temperature T to correct distance L, the variation range δM of the calibration parameter Mp, which monitors the dependence of the calibration amount ΔL of the specified distance L on temperature T, is monitored. Therefore, when the variation range δM of the calibration parameter Mp exceeds the allowable range, the stored parameter Mpm, which is the calibration parameter Mp stored in the memory 51a, is updated. Thus, according to the calibration model M provided based on the latest stored parameter Mpm, the detection data is corrected with a calibration amount ΔL that is adapted to the current temperature Tp at each detection distance L, thereby enabling the output of detection data that ensures the detection accuracy of distance L regardless of the passage of time.

[0085] According to the first embodiment, during the monitoring period Pm of the variation amplitude δM of the correction parameter Mp, the trial temperature Tt is changed. During the monitoring period Pm, the variation amplitude δM is monitored as the difference between the trial parameter Mpt (which provides the correction parameter Mp based on the trial distance Lt detected by the optical sensor 10 at each change point of the trial temperature Tt) and the stored parameter Mpm. Accordingly, based on the trial distance Lt at multiple temperature points, it is possible to accurately determine the trial parameter Mpt when the monitored variation amplitude δM exceeds the allowable range and use it to update the stored parameter Mpm. Therefore, by correcting the detection data according to the correction model M provided based on the updated stored parameter Mpm, detection data with improved detection accuracy of distance L can be output.

[0086] According to the first embodiment, during a monitoring period Pm set while the moving body 1 is stationary, the optical sensor 10 detects the trial distance Lt of the stationary target Xt at each point of change of the trial temperature Tt by varying the trial temperature Tt. Accordingly, it is possible to effectively utilize the stationary target Xt, whose distance L remains substantially constant for the stationary moving body 1, and accurately monitor the variation amplitude δM generated in the correction parameter Mp of the correction model M based on the trial distance Lt at multiple temperature points. Therefore, by correcting the detection data according to the correction model M, which includes the correction parameter Mp when the monitored variation amplitude δM exceeds the allowable range as the latest stored parameter Mpm, detection data with high detection accuracy of distance L can be output.

[0087] According to the first embodiment, the temperatures Ta, Tb, and Tc of each sensor element constituting the optical sensor 10 change as a trial temperature Tt during the monitoring period Pm. Therefore, during the monitoring period Pm, the difference, i.e., the variation amplitude δM, between the trial parameter Mpt (which provides a correction model M based on the trial distance Lt detected by the optical sensor 10 at each change point of the trial temperature Tt) and the stored parameter Mpm is monitored for each sensor element. Therefore, when the variation amplitude δM corresponding to at least one sensor element exceeds the allowable range, by learning the stored parameter Mpm based on the trial parameter Mpt for each sensor element, the detection data can be accurately corrected according to the correction model M including the learned stored parameter Mpm. Therefore, detection data that ensures high detection accuracy of the distance L can be output.

[0088] According to the first embodiment, during the startup period Pss after the optical sensor 10 is activated, and during the stable period Psr after it reaches a stable state, the variation magnitude δM of the stable parameter Mpr, which serves as the correction parameter Mp providing the correction model M, is monitored. Therefore, when the variation magnitude δM monitored during the stable period Psr exceeds the allowable range, the stored parameter Mpm is updated for the stable parameter Mpr. Thus, by selecting the correction model M provided based on the latest stored parameter Mpm related to the stable parameter Mpr, corrections suitable for the stable periods Psr and Pdr, where the state of the optical sensor 10 tends to stabilize, can be applied to the detection data, thereby improving the detection accuracy of the distance L.

[0089] Furthermore, according to the first embodiment, during the startup period Pss when the optical sensor 10 is activated, the variation magnitude δM of the startup parameter Mps, which serves as the correction parameter Mp providing the correction model M, is monitored. Therefore, when the variation magnitude δM monitored during the startup period Pss exceeds the allowable range, the stored parameter Mpm is updated for the startup parameter Mps. Thus, by selecting the correction model M provided based on the latest stored parameter Mpm related to the startup parameter Mps during the startup period Pss, correction of the detection data specifically for the startup period Pss, which is a time-varying state change of the optical sensor 10, can be achieved, thereby improving the detection accuracy of the distance L.

[0090] (Second Implementation) The second embodiment is a variation of the first embodiment.

[0091] like Figure 12 As shown, in the control flow of the second embodiment, S2020, which replaces S20, is executed. Specifically, in S2020, when the current detection cycle corresponds to the start period Pss, which is set as the monitoring period Pm, the update block 100 updates the stored parameter Mpm associated with the start parameter Mps, which is the correction parameter Mp, until the variation amplitude δM of each coefficient parameter As, Bs, and Cs corresponding to at least one sensor element exceeds the preset allowable range, which is the same as in S20. However, in the update of the start parameter Mps in S2020, any index of the parameter corresponding to the temperature among the temperatures Ta, Tb, and Tc that corresponds to the sensor element whose variation amplitude δM exceeds the allowable range is forcibly set to zero (0) as a fault parameter.

[0092] Therefore, in S2020, for the normal parameters (excluding fault parameters that have been updated to zero) among the coefficient parameters As, Bs, and Cs, the acquisition of the trial parameter Mpt, for example through regression analysis, is re-executed, and the stored parameter Mpm is learned using the result of this re-execution. At the same time, for the constant parameter Ds, the stored parameter Mpm is also learned by re-executing the acquired trial parameter Mpt. Furthermore, for fault parameters where the startup parameter Mps is forcibly set to zero, the zero value is maintained until the optical sensor 10 is maintained, and the acquisition of the trial parameter Mpt, the monitoring of the variation amplitude δM, and the update of the stored parameter Mpm are skipped.

[0093] Similarly, in S2020, when the current detection cycle corresponds to the stable period Psr set as the monitoring period Pm, the update block 100 updates the stored parameter Mpm associated with the stable parameter Mpr, which is the correction parameter Mp, until the variation δM of each coefficient parameter Ar, Br, and Cr corresponding to at least one sensor element exceeds the preset allowable range, as in S20. However, in the update of the stable parameter Mpr in S2020, any index of the parameter corresponding to the sensor element whose variation δM exceeds the allowable range in the coefficient parameters Ar, Br, and Cr, for the temperature among the temperatures Ta, Tb, and Tc, is forcibly set to zero (0) as a fault parameter.

[0094] Therefore, in S2020, for the normal parameters of the coefficient parameters Ar, Br, and Cr, excluding the fault parameters that have been updated to zero, the acquisition of the trial parameter Mpt, such as based on regression analysis, is re-executed, and the stored parameter Mpm is learned using the result of this re-execution. At this time, for the constant parameter Dr, the stored parameter Mpm is also learned by re-executing the acquired trial parameter Mpt. Furthermore, for the fault parameters whose stability parameter Mpr is forcibly set to zero, the zero value is maintained until the optical sensor 10 is maintained, and the acquisition of the trial parameter Mpt, the monitoring of the variation amplitude δM, and the update of the stored parameter Mpm are skipped.

[0095] According to the second embodiment described above, the fault parameter Mpm of the sensor element whose variation amplitude δM exceeds the allowable range is updated to zero. Therefore, the correction model M can be updated along with the zero-valued fault parameter in a manner specified by the stored parameter Mpm of a normal sensor element. Thus, by correcting the detection data according to the updated correction model M, detection data that suppresses the decrease in detection accuracy of distance L can be output.

[0096] (Third Implementation) The third embodiment is a variation of the first embodiment.

[0097] like Figure 13 As shown, in the control flow of the third embodiment, S3010 and S3020, which replace S10 and S20, are executed. Specifically, in S3010, update block 100 skips the determination of whether the start monitoring condition is met in the start period Pss, and only sets the stable period Psr to the monitoring period Pm when the stable monitoring condition is met. In the corresponding S3020, update block 100 skips the acquisition of the trial parameter Mpt, the monitoring of the variation range δM, and the update of the stored parameter Mpm regarding the start parameter Mps, which is the correction parameter M.

[0098] Furthermore, in S3020, when the current detection cycle corresponds to the stable period Psr of the monitoring period Pm, the update block 100 focuses on the variation amplitude δM of the stable parameter Mpr, which is the correction parameter M, according to the coefficient parameters Ar, Br, and Cr corresponding to each sensor element, as in S20. However, in S3020, the update block 100 monitors the fault index Ir related to the variation amplitude δM for the stable parameter Mpr according to the coefficient parameters Ar, Br, and Cr corresponding to each sensor element. That is, during the stable period Psr of the monitoring period Pm in the third embodiment, the fault index Ir related to the variation amplitude δM of the stable parameter Mpr, which is the correction parameter Mp, is monitored for each sensor element.

[0099] At this point, in S3020, in the function Ha of number 5 described in the first embodiment, if it is a polynomial, the coefficient parameter Ar of each term with different exponents n (n: index of the identification exponent) of temperature Ta is used to estimate the failure probability related to the variation amplitude δM according to the function I_n of number 6. If it is a monomial, the coefficient parameter Ar corresponding to the exponent n of temperature Ta is used to estimate the failure probability related to the variation amplitude δM separately according to the function I_n of number 6. Here, the failure probability function I_n is defined as representing the state that the greater the variation amplitude δM of the coefficient parameter Ar, the higher the probability of the corresponding sensor element failing, for example, due to time-related degradation.

[0100] [Number 6] Therefore, in S3020, when the function Ha of number 5 is a polynomial, the calculated values ​​of the fault probability function I_n under each coefficient parameter Ar with different exponents n of temperature Ta are used as multiple variables in the index function I_N of number 6 (e.g., a weighted average function). The fault index Ir of the sensor element corresponding to the coefficient parameters Ar of these exponents n is monitored according to this index function I_N. Alternatively, when the function Ha of number 5 is a monomial, the calculated value of the individual fault probability function I_n of the coefficient parameter Ar corresponding to the exponent n of temperature Ta is used as a variable in the index function I_N of number 6 (e.g., a proportional function with a proportionality coefficient of 1). The fault index Ir of the sensor element corresponding to this individual coefficient parameter Ar is monitored according to this index function I_N. In either case, the index function I_N providing the fault index Ir is defined as increasing in value as the fault probability of function I_n increases. Similarly, in the functions Hb and Hc of number 5 described in the first embodiment, if they are polynomials, the coefficient parameters Br and Cr of each term with different exponents n of their respective temperatures Tb and Tc are used to monitor the fault index Ir according to the fault probability related to the variation range δM. If they are monomials, the coefficient parameters Br and Cr corresponding to the exponents n of their respective temperatures Tb and Tc are used to monitor the fault index Ir separately according to the fault probability related to the variation range δM.

[0101] Through this monitoring, in S3020, when the fault index Ir corresponding to at least one sensor element under each coefficient parameter Ar, Br, Cr increases to exceed the preset allowable range, the update block 100 performs safety processing. The safety processing in S3020 specifically includes notification processing and control adjustment processing. In the notification processing of S3020, data representing fault notification information is output from the control unit 51. This fault notification information notifies the mobile body 1, the mounted object, of the state of the sensor element in the optical sensor 10 whose fault index Ir exceeds the allowable range.

[0102] Along with this notification processing, in the control adjustment processing of S3020, the control parameters for controlling sensor elements in the optical sensor 10 whose fault index Ir exceeds the allowable range are adjusted in the direction of restoring the fault state of the sensor element that exceeds the allowable range (recovery side). At this time, when the fault index Ir corresponding to a different index n or a separate coefficient parameter Ar exceeds the allowable range, for the projection light source unit 22 of the light-emitting section 21 of the sensor element judged to be in a fault state, as the control parameters of each light source element 24, adjustments such as increasing or decreasing the light emission power towards the recovery side of the fault state can also be performed.

[0103] Furthermore, when the fault index Ir, which is different from the exponent n or corresponds to the individual coefficient parameter Br, exceeds the allowable range, the light-receiving detection unit 45 of the light-receiving section 41 of the sensor element judged to be in a faulty state can also perform adjustments, such as increasing or decreasing the light-receiving sensitivity of the light-receiving element 460 towards the recovery side of the fault state, as a control parameter of each light-receiving pixel 46 in the output circuit 47. When the fault index Ir, which is different from the exponent n or corresponds to the individual coefficient parameter Br, exceeds the allowable range, the light-receiving detection unit 45 of the light-receiving section 41 of the sensor element judged to be in a faulty state, under the control that a portion of the light-receiving pixels 46 are allocated to the light-receiving area of ​​each scan line, can also perform adjustments, such as increasing or decreasing the sensitivity of the overall light-receiving area towards the recovery side of the fault state, by increasing the number of these allocated pixels 46 (i.e., increasing the light-receiving area of ​​each scan line) or shifting the range of these allocations. Furthermore, if the fault index Ir corresponding to the coefficient parameter Cr is different from the exponent n or exceeds the allowable range, and the sensor element is judged to be in a fault state by the control unit 51, the control adjustment process can be skipped and only the notification process can be executed.

[0104] (Effects) The effects of the third embodiment described above will be explained below.

[0105] According to the third embodiment, in the calibration model M used to correct the detection data that depends on temperature T for distance L, a fault index Ir is monitored, which is related to the variation δM of the calibration parameter Mp, which is the dependence of the correction amount ΔL of the specified distance L on temperature T. Therefore, the state of the optical sensor 10 where the fault index Ir exceeds the allowable range is taken as a fault state, and a fault notification message is output to notify of this fault state. Thus, in the optical sensor 10, since the fault state can be accurately notified through the fault notification message, conversely, in the normal state without this notification, the detection data is adaptively corrected according to the calibration model M and the current temperature Tp at each detection of distance L, thereby enabling the output of detection data that ensures the detection accuracy of distance L.

[0106] Furthermore, according to the third embodiment, the state of the optical sensor 10 where the fault index Ir exceeds the allowable range is taken as a fault state, and the control parameters used to control the optical sensor 10 are adjusted towards the recovery side of this fault state. In this way, the optical sensor 10 can be restored to its fault state by adjusting the control parameters. Therefore, in this restored state, the detection data is adjusted according to the correction model M and the current temperature Tp at each detection of distance L, so it can be said that detection data that ensures the detection accuracy of distance L can be output.

[0107] According to the third embodiment, during the monitoring period Pm of the fault index Ir, which is related to the variation amplitude δM of the monitoring and correction parameter Mp, the trial temperature Tt is changed. The variation amplitude δM is then taken as the difference between the trial parameter Mpt, which provides the correction parameter Mp of the correction model M based on the trial distance Lt detected by the optical sensor 10 at each change point of the trial temperature Tt during the monitoring period Pm, and the stored parameter Mpm. Accordingly, when the fault index Ir, which is monitored in relation to the variation amplitude δM, exceeds the allowable range, the variation of the trial parameter Mpt based on the trial distance Lt at multiple temperature points can be considered, and it can be appropriately determined whether fault notification information needs to be output. Therefore, since the fault state can be accurately notified through fault notification information, conversely, under normal conditions, the detection data is corrected according to the correction model M, thereby enabling the output of detection data that ensures the detection accuracy of the distance L.

[0108] According to the third embodiment, during a monitoring period Pm set during the period when the moving body 1 is stationary, the test temperature Tt is varied, and the optical sensor 10 detects the test distance Lt of the stationary target Xt at each point of change of the test temperature Tt. Accordingly, by effectively utilizing the stationary target Xt, whose distance L remains substantially unchanged for the stationary moving body 1, the variation amplitude δM generated in the correction parameter Mp of the correction model M can be accurately grasped based on the test distance Lt at multiple temperature points, and reflected in the fault index Ir. Therefore, when the monitored fault index Ir is within the allowable range, the detection data is corrected according to the correction model M which includes the normal correction parameter Mp, thereby enabling the output of detection data that ensures the detection accuracy of the distance L.

[0109] According to the third embodiment, the temperatures Ta, Tb, and Tc of each sensor element constituting the optical sensor 10 change as a trial temperature Tt during the monitoring period Pm. Therefore, during the monitoring period Pm, a fault index Ir is monitored for each sensor element, and the difference δM between the trial parameter Mpt (which provides a correction model M based on the trial distance Lt detected by the optical sensor 10 at each change point of the trial temperature Tt) and the stored parameter Mpm. Therefore, when the fault index Ir corresponding to at least one sensor element exceeds the allowable range, it is possible to accurately determine whether a fault notification message needs to be output based on the change of the trial parameter Mpt (based on multiple temperature points) for each sensor element. Thus, sensor elements in a fault state can be accurately notified via fault notification information; conversely, in the normal state, the detection data is corrected according to the correction model M, thereby enabling the output of detection data that ensures the detection accuracy of the distance L.

[0110] (Fourth Implementation) The fourth embodiment is a variation that combines the second and third embodiments.

[0111] like Figure 14 As shown, in the control flow of the fourth embodiment, S4020 is executed instead of S3020. Specifically, in S4020, if the update block 100, in the current detection cycle, meets the stable period Psr set during the monitoring period Pm, and if the fault index Ir of each coefficient parameter Ar, Br, Cr that corresponds to at least one sensor element exceeds the preset allowable range, then a notification process is executed as a safety process, which is the same as S3020. However, in the safety process in S4020, the update process of the stability parameter Mpr, which is a part of the changes in the second embodiment, is executed together with the notification process. That is, in the update process of S4020, the parameters of the sensor elements whose fault index Ir related to the variation amplitude δM exceeds the allowable range, for any index of the temperature corresponding to the temperature Ta, Tb, Tc, are forcibly set to zero (0) as fault parameters.

[0112] Therefore, in the update process of S4020, for normal parameters other than fault parameters that have been updated to zero among the coefficient parameters Ar, Br, and Cr, the acquisition of the trial parameter Mpt is re-executed, for example through regression analysis, and the stored parameter Mpm is learned using the result of this re-execution. At the same time, for the constant parameter Dr, the stored parameter Mpm is also learned by re-executing the acquired trial parameter Mpt. In addition, for fault parameters whose stability parameter Mpr is forcibly set to zero, the zero value is maintained until the optical sensor 10 is maintained, and the acquisition of the trial parameter Mpt, the monitoring of the fault index Ir, and the update of the stored parameter Mpm are skipped.

[0113] According to the fourth embodiment described above, the fault parameter Mpm of the sensor element whose fault index Ir exceeds the allowable range is updated to zero. Therefore, the correction model M can be updated along with the zero-valued fault parameter in accordance with the storage parameter Mpm of a normal sensor element. Thus, even after a faulty sensor element is temporarily notified via fault notification information, by correcting the detection data according to the updated correction model M, detection data that suppresses the decrease in detection accuracy of distance L can be output.

[0114] (Other implementation methods) The above describes several embodiments, but this disclosure should not be construed as limiting it to these embodiments. It can be applied to various embodiments without departing from the spirit of this disclosure.

[0115] In variations relating to the first to fourth embodiments, the dedicated computer constituting the control device as the control unit 51 may have at least one of digital circuitry and analog circuitry as a processor. Here, digital circuitry refers to at least one of, for example, 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 have a memory storing programs.

[0116] In S10 of the control flow relating to the variations of the first and second embodiments, the update performed in S20 and S2020 by monitoring the startup parameter Mps can be omitted by omitting the determination of whether it corresponds to the startup period Pss set as the monitoring period Pm. For the first and second embodiments, in S40 of the control flow applying this variation that omits the startup period determination and update, the correction itself performed by reading the stored parameter Mpm related to the startup parameter Mps can also be omitted. For the first and second embodiments, in S40 of the control flow applying the variation that omits the startup period determination and update, the correction performed by reading the stored parameter Mpm related to the stability parameter Mpr can be performed instead of the correction performed by reading the stored parameter Mpm related to the startup parameter Mps.

[0117] In S10 of the control flow relating to the variations of the first and second embodiments, the update performed in S20 and S2020 by monitoring the stability parameter Mpr can be omitted by omitting the determination of whether it corresponds to the stable period Psr set as the monitoring period Pm. For the first and second embodiments, in S40 of the control flow applying this variation that omits the determination and update of the stable period, the correction itself performed by reading the stored parameter Mpm related to the stability parameter Mpr can also be omitted.

[0118] In S20 and S2020 of the control flow relating to the variations of the first and second embodiments, during the startup period Pss, which is set as the monitoring period Pm, one or two of the coefficient parameters As, Bs, and Cs may not be considered as startup parameters Mps. For the first and second embodiments, in S20 and S2020 of the control flow applying such a variation with a non-considered startup parameter Mps, the stored parameter Mpm may be updated based on the difference, i.e., the variation amplitude δM, with respect to at least one of the coefficient parameters As, Bs, and Cs considered as startup parameters Mps. Furthermore, in S40 of the control flow applying the variation with a non-considered startup parameter Mps, at least one of the temperatures Ta, Tb, and Tc may be obtained as the current temperature Tp corresponding to at least one of the coefficient parameters As, Bs, and Cs considered as startup parameters Mps, to perform a correction by reading the stored parameter Mpm associated with that startup parameter Mps.

[0119] In S20, S2020, S3020, and S4020 of the control flow relating to the variations of the first to fourth embodiments, during the stable period Psr set as the monitoring period Pm, one or two of the coefficient parameters Ar, Br, and Cr may not be considered as stable parameters Mpr. For the first to fourth embodiments, in S20, S2020, S3020, and S4020 of the control flow applying such a variation with a non-considered stable parameter Mpr, the stored parameter Mpm may be updated based on the difference, i.e., the variation amplitude δM, with respect to at least one of the coefficient parameters Ar, Br, and Cr considered as stable parameters Mpr. Furthermore, in S40 of the control flow applying the variation with a non-considered stable parameter Mpr, as the current temperature Tp corresponding to at least one of the coefficient parameters Ar, Br, and Cr considered as stable parameters Mpr, correction may be performed by reading the stored parameter Mpm associated with that stable parameter Mpr by acquiring at least one of the temperatures Ta, Tb, and Tc.

[0120] In the control flows S20 and S2020 of the modified examples relating to the first and second embodiments, during the start-up period Pss, which is set to the monitoring period Pm, the distance L to a specific reflector within the housing 11 can be detected as the trial distance Lt, instead of the distance L to the stationary target Xt. In the control flows S20, S2020, S3020, and S4020 of the modified examples relating to the first to fourth embodiments, during the stabilization period Psr, which is set to the monitoring period Pm, the distance L to a specific reflector within the housing 11 can be detected as the trial distance Lt, instead of the distance L to the stationary target Xt.

[0121] In the variations relating to the first to fourth embodiments, the mobile body 1, which is the target of the control device of the control unit 51 that executes the above-described control method and control program, and the optical sensor 10 equipped with it, may be, for example, an autonomous driving robot capable of carrying goods or collecting information through autonomous or remote driving. In the variations relating to the first to fourth embodiments, the target of the control device of the control unit 51 that executes the above-described control method and control program, and the optical sensor 10 equipped with it, may be, in addition to the mobile body 1, infrastructure equipment such as smart poles.

[0122] In the first and second embodiments, during the control flow S20 and S2020 of the optical sensor 10 applied to the infrastructure equipment described above, in the start-up period Pss, which is set to the monitoring period Pm, the distance L to a specific location on the ground can be detected as the trial distance Lt instead of the distance L to the stationary target Xt. In the first to fourth embodiments, during the control flow S20, S2020, S3020, and S4020 of the optical sensor 10 applied to the infrastructure equipment, in the stabilization period Psr, which is set to the monitoring period Pm, the distance L to a specific location on the ground can be detected as the trial distance Lt instead of the distance L to the stationary target Xt.

[0123] In the variations relating to the third and fourth embodiments, the fault indicator Ir related to the variation amplitude δM, which is of interest in S3020 and S4020, can also be monitored as the variation amplitude δM itself. In the variation relating to the fourth embodiment, in the update process when the fault indicator Ir exceeds the allowable range in S4020, the update of the stored parameter Mpm can also be performed according to the first embodiment. In the variations relating to the third and fourth embodiments, the notification process in S3020 and S4020 can also be skipped. In the variation relating to the third embodiment, the control adjustment process in S3020 can also be skipped. In the variations relating to the third and fourth embodiments, in addition to the stabilization period Psr, the same control as described above can be performed during the startup period Pss, or the same control as described above can be performed during the startup period Pss instead of the stabilization period Psr. In addition to the described methods above, the first to fourth embodiments and the above-described variations can also implement the control device as the control unit 51 as a semiconductor device (e.g., a semiconductor chip).

[0124] (Postscript) This specification discloses several technical ideas and their various combinations, as listed below. Furthermore, the symbols in parentheses in this appendix indicate a correspondence with the specific means described in the foregoing detailed embodiments, and do not limit the technical scope of this disclosure.

[0125] (Technical Idea 1) A control device includes a processor (51b) for controlling an optical sensor (10), which receives a reflected beam (RB) from a target (Xt) in relation to a projected beam (PB) projected onto a detection area (DA), and outputs detection data obtained by detecting the distance (L) to the target. In the control device, The processor is configured to perform the following processes: In the correction model (M) used to correct the detection data that depends on temperature (T), the variation (δM) of the correction parameter (Mp) specifying the dependence of the correction amount (ΔL) of the distance on the temperature is monitored, and the stored parameter (Mpm) stored as the correction parameter in the storage medium (51a) is updated if the variation exceeds the allowable range; and The detection data is corrected according to the correction model provided based on the latest stored parameters, by a correction amount adapted to the temperature at each detection of the distance.

[0126] (Technical Idea 2) According to the control device described in technical concept 1, wherein, The process of updating the stored parameters by monitoring the magnitude of the change includes: If the variation of the startup parameter (Mps), which is monitored as a correction parameter of the correction model provided during startup (Pss) of the optical sensor, exceeds the allowable range, the stored parameter associated with the startup parameter is updated; and If the fluctuation of the stability parameter (Mpr), which is monitored as the correction parameter of the correction model providing a stable period (Psr, Pdr) after the optical sensor becomes stable following the startup period, exceeds the allowable range, the stored parameter associated with the stability parameter is updated. The processing of the detection data includes: The detection data during startup is corrected by selecting the correction model provided based on the latest stored parameters related to the startup parameters; and The detection data during the stabilization period is corrected by selecting the correction model provided based on the latest stored parameters related to the stabilization parameters.

[0127] (Technical Idea 3) According to the control device described in technical concept 1 or 2, wherein, The process of updating the stored parameters by monitoring the magnitude of the change includes: The temperature during the monitoring period (Pm) during which the variation is monitored is changed, i.e., the trial temperature (Tt). The monitoring provides the difference between the correction parameter (Mpt) of the correction model and the stored parameter, i.e., the variation amplitude, based on the distance detected by the optical sensor at each point of change of the trial temperature during the monitoring period; and If the change exceeds the allowable range, the stored parameters are updated using the trial parameters.

[0128] (Technical Idea 4) According to the control device described in technical concept 3, wherein... The optical sensor is configured to be mounted on a mobile body (1). The process of updating the stored parameters by monitoring the magnitude of the change includes: The trial temperature is changed during the monitoring period set when the moving body is stationary; and The optical sensor detects the distance to the stationary target at each point of change in the trial temperature during the monitoring period in the stopped state.

[0129] (Technical Idea 5) According to the control device described in technical concept 3 or 4, wherein... The process of updating the stored parameters by monitoring the magnitude of the change includes: The temperature of each sensor element constituting the optical sensor is varied during the monitoring period as the trial temperature; Each of the sensor elements monitors the difference between the trial parameters and the stored parameters of the calibration model, i.e., the variation amplitude, based on the distance detected by the optical sensor at each point of change of the trial temperature during the monitoring period; and If the variation magnitude corresponding to at least one of the sensor elements exceeds the allowable range, the stored parameters based on the trial parameters are learned separately for each of the sensor elements.

[0130] (Technical Idea 6) According to the control device described in technical concept 5, wherein... The process of updating the stored parameters by monitoring the magnitude of the change includes: The stored parameters of the sensor element whose fluctuation exceeds the allowable range are updated to zero.

[0131] (Technical Idea 7) A control device includes a processor (51b) for controlling an optical sensor (10), which receives a reflected beam (RB) from a target (Xt) in relation to a projected beam (PB) projected onto a detection area (DA), and outputs detection data obtained by detecting the distance (L) to the target. In the control device, The processor is configured to perform the following processes: In the correction model (M) used to correct the detection data for distance in dependence on temperature (T), a fault index (Ir) is monitored related to the magnitude (δM) of the variation of the correction parameter (Mp) specifying the dependence of the correction amount (ΔL) of the distance on the temperature; and The state of the optical sensor when the fault index exceeds the allowable range is taken as a fault state, and a fault notification message is output to notify the fault state.

[0132] (Technical Idea 8) According to the control device described in technical concept 7, wherein... The process of monitoring the fault indicators includes: The temperature during the monitoring period (Pm) of the fault indicator is changed, i.e., the trial temperature (Tt); and The monitoring provides the fault index related to the difference between the calibration parameter (Mpt) of the calibration model, i.e., the trial parameter (Mpt), and the storage parameter (Mpm) stored in the storage medium (51a) as the calibration parameter, based on the distance detected by the optical sensor at each change point of the trial temperature during the monitoring period.

[0133] (Technical Idea 9) According to the control device described in technical concept 8, wherein... The process of monitoring the fault indicators includes: The temperature of each sensor element constituting the optical sensor is varied during the monitoring period as the trial temperature; and Each of the sensor elements monitors the fault index related to the difference between the trial parameters and the stored parameters of the calibration model, i.e., the magnitude of the variation, based on the distance detected by the optical sensor at each point of change of the trial temperature during the monitoring period. The process of outputting the fault notification information includes: The system outputs a fault notification message that notifies the sensor element of a fault state when the fault indicator exceeds the allowable range.

[0134] (Technical Idea 10) According to the control device described in technical concept 9, wherein... The processor is configured to also perform the following processes: The stored parameters of the sensor element whose fault indicators exceed the allowable range are updated to zero.

[0135] (Technical Idea 11) According to any one of technical concepts 7 to 9, the control device wherein... The processor is configured to also perform the following processes: Adjust the control parameters used to control the optical sensor on the recovery side of the fault state of the optical sensor when the fault index exceeds the allowable range.

[0136] (Technical Idea 12) A control device includes a processor (51b) for controlling an optical sensor (10), which receives a reflected beam (RB) from a target (Xt) in relation to a projected beam (PB) projected onto a detection area (DA), and outputs detection data obtained by detecting the distance (L) to the target. In the control device, The processor is configured to perform the following processes: In the correction model (M) used to correct the detection data for distance in dependence on temperature (T), a fault index (Ir) is monitored related to the magnitude (δM) of the variation of the correction parameter (Mp) specifying the dependence of the correction amount (ΔL) of the distance on the temperature; and The state of the optical sensor when the fault index exceeds the allowable range is taken as a fault state, and the control parameters used to control the optical sensor are adjusted to the recovery side of the fault state.

[0137] (Technical Idea 13) According to the control device described in technical concept 12, wherein, The process of monitoring the fault indicators includes: The temperature during the monitoring period (Pm) of the fault indicator is changed, i.e., the trial temperature (Tt); and The monitoring provides the fault index related to the difference between the calibration parameter (Mpt) of the calibration model, i.e., the trial parameter (Mpt), and the storage parameter (Mpm) stored in the storage medium (51a) as the calibration parameter, based on the distance detected by the optical sensor at each change point of the trial temperature during the monitoring period.

[0138] (Technical Idea 14) According to the control device described in technical concept 13, wherein... The process of monitoring the fault indicators includes: The temperature of each sensor element constituting the optical sensor is varied during the monitoring period as the trial temperature; and Each of the sensor elements monitors the fault index related to the difference between the trial parameters and the stored parameters of the calibration model, i.e., the magnitude of the variation, based on the distance detected by the optical sensor at each point of change of the trial temperature during the monitoring period. The process of adjusting the control parameters includes: Adjust the control parameters of the sensor element used to control the fault index from exceeding the allowable range on the recovery side of the fault state.

[0139] (Technical Idea 15) According to the control device described in technical concept 14, wherein... The process of adjusting the control parameters includes: The control parameters for controlling the projection section (21) that projects the projection beam, which is the sensor element whose fault indicator exceeds the allowable range, are adjusted towards the recovery side of the fault state.

[0140] (Technical Idea 16) According to the control device described in technical concept 14 or 15, wherein, The process of adjusting the control parameters includes: The control parameters for controlling the light-receiving part (41) of the sensor element that receives the reflected beam, which is the fault indicator, are adjusted to the recovery side of the fault state.

[0141] (Technical Idea 17) The control device according to any one of technical concepts 8 to 11 and 13 to 16, wherein, The optical sensor is configured to be mounted on a mobile body (1). The process of monitoring the fault indicators includes: The trial temperature is changed during the monitoring period set when the moving body is stationary; and The optical sensor detects the distance to the stationary target at each point of change in the trial temperature during the monitoring period in the stopped state.

[0142] (Technical Idea 18) An optical sensor receives a reflected beam (RB) from a target (Xt) relative to a projected beam (PB) projected onto a detection area (DA), and outputs detection data obtained by measuring the distance (L) to the detected target, wherein the sensor comprises: The control unit (51) includes the control device described in any one of technical concepts 1 to 17, and generates the detection data; The projection unit (21) projects the projection beam according to the control of the control unit; and The light-receiving part (41) receives the reflected light beam according to the control of the control part.

[0143] Furthermore, the aforementioned technical ideas 1 to 17 can also be understood as various technical ideas of methods and procedures.

Claims

1. A control device having a processor (51b) for controlling an optical sensor (10), the optical sensor receiving a reflected beam (RB) from a target (Xt) for a projected beam (PB) projected toward a detection area (DA), and outputting detection data obtained by detecting the distance (L) of the target, the control device being characterized in that, The processor is configured to perform the following processes: In the correction model (M) used to correct the detection data that depends on temperature (T), the variation (δM) of the correction parameter (Mp) specifying the dependence of the correction amount (ΔL) of the distance on the temperature is monitored, and the stored parameter (Mpm) stored as the correction parameter in the storage medium (51a) is updated if the variation exceeds the allowable range; and The detection data is corrected according to the correction model provided based on the latest stored parameters, by a correction amount adapted to the temperature at each detection of the distance.

2. The control device according to claim 1, characterized in that, The process of updating the stored parameters by monitoring the magnitude of the change includes: If the variation of the startup parameter (Mps), which is monitored as the correction parameter of the correction model provided during startup (Pss) of the optical sensor startup, exceeds the allowable range, the stored parameter associated with the startup parameter is updated; as well as If the fluctuation of the stability parameter (Mpr), which is monitored as the correction parameter of the correction model providing a stable period (Psr, Pdr) after the optical sensor becomes stable following the startup period, exceeds the allowable range, the stored parameter associated with the stability parameter is updated. The processing of the detection data includes: The detection data during startup is corrected by selecting the correction model provided based on the latest stored parameters related to the startup parameters; and The detection data during the stabilization period is corrected by selecting the correction model provided based on the latest stored parameters related to the stabilization parameters.

3. The control device according to claim 1 or 2, characterized in that, The process of updating the stored parameters by monitoring the magnitude of the change includes: The temperature during the monitoring period (Pm) during which the variation is monitored is changed, i.e., the trial temperature (Tt). The monitoring provides the difference between the correction parameter (Mpt) of the correction model and the stored parameter, i.e., the variation amplitude, based on the distance detected by the optical sensor at each point of change of the trial temperature during the monitoring period; and If the change exceeds the allowable range, the stored parameters are updated using the trial parameters.

4. The control device according to claim 3, characterized in that, The optical sensor is configured to be mounted on a mobile body (1). The process of updating the stored parameters by monitoring the magnitude of the change includes: The trial temperature is changed during the monitoring period set when the moving body is stationary; and The optical sensor detects the distance to the stationary target at each point of change in the trial temperature during the monitoring period in the stopped state.

5. The control device according to claim 3, characterized in that, The process of updating the stored parameters by monitoring the magnitude of the change includes: The temperature of each sensor element constituting the optical sensor is varied during the monitoring period as the trial temperature; Each of the sensor elements monitors the difference between the trial parameters and the stored parameters of the calibration model based on the distance detected by the optical sensor at each point of change of the trial temperature during the monitoring period, i.e., the variation amplitude; as well as If the variation magnitude corresponding to at least one of the sensor elements exceeds the allowable range, the stored parameters based on the trial parameters are learned separately for each of the sensor elements.

6. The control device according to claim 5, characterized in that, The process of updating the stored parameters by monitoring the magnitude of the change includes: The stored parameters of the sensor element whose fluctuation exceeds the allowable range are updated to zero.

7. A control device having a processor (51b) for controlling an optical sensor (10), the optical sensor receiving a reflected beam (RB) from a target (Xt) for a projected beam (PB) projected toward a detection area (DA), and outputting detection data obtained by detecting the distance (L) of the target, the control device being characterized in that, The processor is configured to perform the following processes: In the correction model (M) used to correct the detection data for distance in dependence on temperature (T), a fault index (Ir) is monitored related to the magnitude (δM) of the variation of the correction parameter (Mp) specifying the dependence of the correction amount (ΔL) of the distance on the temperature; and The state of the optical sensor when the fault index exceeds the allowable range is taken as a fault state, and a fault notification message is output to notify the fault state.

8. The control device according to claim 7, characterized in that, The process of monitoring the fault indicators includes: The temperature during the monitoring period (Pm) of the fault indicator is changed, i.e., the trial temperature (Tt); and The monitoring provides the fault index related to the difference between the calibration parameter (Mpt) of the calibration model, i.e., the trial parameter (Mpt), and the storage parameter (Mpm) stored in the storage medium (51a) as the calibration parameter, based on the distance detected by the optical sensor at each change point of the trial temperature during the monitoring period.

9. The control device according to claim 8, characterized in that, The process of monitoring the fault indicators includes: The temperature of each sensor element constituting the optical sensor is varied during the monitoring period as the trial temperature; and Each of the sensor elements monitors the fault index related to the difference between the trial parameters and the stored parameters of the calibration model, i.e., the magnitude of the variation, based on the distance detected by the optical sensor at each point of change of the trial temperature during the monitoring period. The process of outputting the fault notification information includes: The system outputs a fault notification message that notifies the sensor element of a fault state when the fault indicator exceeds the allowable range.

10. The control device according to claim 9, characterized in that, The processor is configured to also perform the following processes: The stored parameters of the sensor element whose fault indicators exceed the allowable range are updated to zero.

11. The control device according to claim 7, characterized in that, The processor is configured to also perform the following processes: Adjust the control parameters used to control the optical sensor on the recovery side of the fault state of the optical sensor when the fault index exceeds the allowable range.

12. A control device having a processor (51b) for controlling an optical sensor (10), the optical sensor receiving a reflected beam (RB) from a target (Xt) for a projected beam (PB) projected toward a detection area (DA), and outputting detection data obtained by detecting the distance (L) of the target, the control device being characterized in that, The processor is configured to perform the following processes: In the correction model (M) used to correct the detection data for distance in dependence on temperature (T), a fault index (Ir) is monitored related to the magnitude (δM) of the variation of the correction parameter (Mp) specifying the dependence of the correction amount (ΔL) of the distance on the temperature; and The state of the optical sensor when the fault index exceeds the allowable range is taken as a fault state, and the control parameters used to control the optical sensor are adjusted to the recovery side of the fault state.

13. The control device according to claim 12, characterized in that, The process of monitoring the fault indicators includes: The temperature during the monitoring period (Pm) of the fault indicator is changed, i.e., the trial temperature (Tt); and The monitoring provides the fault index related to the difference between the calibration parameter (Mpt) of the calibration model, i.e., the trial parameter (Mpt), and the storage parameter (Mpm) stored in the storage medium (51a) as the calibration parameter, based on the distance detected by the optical sensor at each change point of the trial temperature during the monitoring period.

14. The control device according to claim 13, characterized in that, The process of monitoring the fault indicators includes: The temperature of each sensor element constituting the optical sensor is varied during the monitoring period as the trial temperature; and Each of the sensor elements monitors the fault index related to the difference between the trial parameters and the stored parameters of the calibration model, i.e., the magnitude of the variation, based on the distance detected by the optical sensor at each point of change of the trial temperature during the monitoring period. The process of adjusting the control parameters includes: Adjust the control parameters of the sensor element used to control the fault index from exceeding the allowable range on the recovery side of the fault state.

15. The control device according to claim 14, characterized in that, The process of adjusting the control parameters includes: The control parameters for controlling the projection section (21) that projects the projection beam, which is the sensor element whose fault indicator exceeds the allowable range, are adjusted towards the recovery side of the fault state.

16. The control device according to claim 14, characterized in that, The process of adjusting the control parameters includes: The control parameters for controlling the light-receiving part (41) of the sensor element that receives the reflected beam, which is the fault indicator, are adjusted to the recovery side of the fault state.

17. The control device according to claim 8 or 13, characterized in that, The optical sensor is configured to be mounted on a mobile body (1). The process of monitoring the fault indicators includes: The trial temperature is changed during the monitoring period set when the moving body is stationary; and The optical sensor detects the distance to the stationary target at each point of change in the trial temperature during the monitoring period in the stopped state.

18. An optical sensor that receives a reflected beam (RB) from a target (Xt) relative to a projected beam (PB) projected toward a detection area (DA), and outputs detection data obtained by measuring the distance (L) at which the target is detected, characterized in that, have: The control unit (51) is configured to include the control device according to any one of claims 1, 2, 7, and 12, and generates the detection data; The projection unit (21) projects the projection beam according to the control of the control unit; and The light-receiving part (41) receives the reflected light beam according to the control of the control part.

19. A control method executed by a processor (51b) for controlling an optical sensor (10), the optical sensor receiving a reflected beam (RB) from a target (Xt) for a projected beam (PB) projected toward a detection area (DA), and outputting detection data obtained by detecting the distance (L) of the target, the control method being characterized in that it comprises: In the correction model (M) used to correct the detection data that depends on temperature (T), the variation (δM) of the correction parameter (Mp) specifying the dependence of the correction amount (ΔL) of the distance on the temperature is monitored, and the stored parameter (Mpm) stored as the correction parameter in the storage medium (51a) is updated if the variation exceeds the allowable range; and The detection data is corrected according to the correction model provided based on the latest stored parameters, by a correction amount adapted to the temperature at each detection of the distance.

20. A control method executed by a processor (51b) for controlling an optical sensor (10), the optical sensor receiving a reflected beam (RB) from a target (Xt) for a projected beam (PB) projected toward a detection area (DA), and outputting detection data obtained by detecting the distance (L) of the target, the control method being characterized in that it comprises: In the correction model (M) used to correct the detection data for distance in dependence on temperature (T), a fault index (Ir) is monitored related to the magnitude (δM) of the variation of the correction parameter (Mp) specifying the dependence of the correction amount (ΔL) of the distance on the temperature; and The state of the optical sensor when the fault index exceeds the allowable range is taken as a fault state, and a fault notification message is output to notify the fault state.

21. A control method executed by a processor (51b) for controlling an optical sensor (10), the optical sensor receiving a reflected beam (RB) from a target (Xt) relative to a projected beam (PB) projected onto a detection area (DA), and outputting detection data obtained by detecting the distance (L) of the target, the control method being characterized in that it comprises: In the correction model (M) used to correct the detection data for distance in dependence on temperature (T), a fault index (Ir) is monitored related to the magnitude (δM) of the variation of the correction parameter (Mp) specifying the dependence of the correction amount (ΔL) of the distance on the temperature; and The state of the optical sensor when the fault index exceeds the allowable range is taken as a fault state, and the control parameters used to control the optical sensor are adjusted to the recovery side of the fault state.

22. A control program stored in a storage medium (51a) for controlling an optical sensor (10), and comprising instructions for causing a processor (51b) to perform the control, the optical sensor receiving a reflected beam (RB) from a target (Xt) for a projected beam (PB) projected toward a detection area (DA), and outputting detection data obtained by detecting the distance (L) of the target, the control program being characterized in that it comprises the instructions for performing the following processing: In the correction model (M) used to correct the detection data that depends on temperature (T), the variation (δM) of the correction parameter (Mp) specifying the dependence of the correction amount (ΔL) of the distance on the temperature is monitored, and the stored parameter (Mpm) stored as the correction parameter in the storage medium (51a) is updated if the variation exceeds the allowable range; and The detection data is corrected according to the correction model provided based on the latest stored parameters, by a correction amount adapted to the temperature at each detection of the distance.

23. A control program stored in a storage medium (51a) for controlling an optical sensor (10), and comprising instructions for causing a processor (51b) to perform the control, the optical sensor receiving a reflected beam (RB) from a target (Xt) for a projected beam (PB) projected toward a detection area (DA), and outputting detection data obtained by detecting the distance (L) of the target, the control program being characterized in that it comprises the instructions for performing the following processing: In the correction model (M) used to correct the detection data for distance in dependence on temperature (T), a fault index (Ir) is monitored related to the magnitude (δM) of the variation of the correction parameter (Mp) specifying the dependence of the correction amount (ΔL) of the distance on the temperature; and The state of the optical sensor when the fault index exceeds the allowable range is taken as a fault state, and a fault notification message is output to notify the fault state.

24. A control program stored in a storage medium (51a) for controlling an optical sensor (10), and comprising instructions for causing a processor (51b) to perform the control, the optical sensor receiving a reflected beam (RB) from a target (Xt) for a projected beam (PB) projected toward a detection area (DA), and outputting detection data obtained by detecting the distance (L) of the target, the control program being characterized in that it comprises the instructions for performing the following processing: In the correction model (M) used to correct the detection data for distance in dependence on temperature (T), a fault index (Ir) is monitored related to the magnitude (δM) of the variation of the correction parameter (Mp) specifying the dependence of the correction amount (ΔL) of the distance on the temperature; and The state of the optical sensor when the fault index exceeds the allowable range is taken as a fault state, and the control parameters used to control the optical sensor are adjusted to the recovery side of the fault state.

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