Detector

Abstract

To provide a detector that can increase a measurable distance while reducing power consumption.SOLUTION: A detector has: a first distance measuring unit that includes a light source that can change irradiation intensity of irradiation light for each of a plurality of detection areas, irradiates the detection areas with light, and acquires first information on the distance to the detection areas by using reflected light from the detection areas; a second distance measuring unit that acquires second information on the distance to the detection areas by using image information; and a determination unit that determines the irradiation intensity on the basis of the second distance information.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a detection device that improves distance measurement accuracy by determining light emission parameters of a light emitting element based on information about an object to be measured. [Background technology]

[0002] LiDAR (Light Detection and Ranging) is known, which measures the distance to a detection target by detecting reflected light from the detection target irradiated with laser light. Patent Document 1 discloses a configuration that improves the accuracy of distance measurement for a distant detection target without increasing the laser intensity of the entire system by increasing the laser intensity of an area where distance measurement was not possible in the previous frame compared to an area where distance measurement was possible. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2022-141781 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, the configuration of Patent Document 1 may increase the laser intensity in areas where distance measurement is not possible, such as the sky. In this case, if the laser intensity of the entire system is kept constant, the laser intensity in areas other than the areas where distance measurement is not possible will be weakened, which may result in a deterioration in distance measurement accuracy and measurable distance.

[0005] An object of the present invention is to provide a detection device that can improve the measurable distance while suppressing power consumption. [Means for solving the problem]

[0006] A detection device as one aspect of the present invention is characterized in that it has a light source capable of switching the irradiation intensity of light irradiated to each of multiple detection areas, a first distance measuring unit that irradiates the detection areas with light and obtains first distance information to the detection areas using reflected light from the detection areas, a second distance measuring unit that obtains second distance information to the detection areas using image information, and a determination unit that determines the irradiation intensity based on the second distance information. Effect of the Invention

[0007] According to the present invention, it is possible to provide a detection device that can improve the measurable distance while suppressing power consumption. [Brief description of the drawings]

[0008] [Figure 1] 1 is a block diagram illustrating a configuration of a detection device according to a first embodiment. [Diagram 2] 2 is a schematic diagram showing an example of the arrangement of a pixel portion of an image sensor according to a first embodiment. FIG. [Diagram 3] 1 is a schematic diagram showing a structure of a pixel portion of an image sensor according to a first embodiment. [Figure 4] 2 is a schematic diagram showing a light-emitting section of the first embodiment. FIG. [Diagram 5] 1 is a flowchart showing a process of the first embodiment. [Figure 6] FIG. 2 is an image diagram showing an example of an image signal according to the first embodiment. [Figure 7] FIG. 2 is an image diagram showing an example of a distance map according to the first embodiment. [Figure 8] FIG. 2 is an image diagram showing the irradiation intensity of the laser light in Example 1. [Figure 9] FIG. 2 is an image diagram showing a state in which the detection device of the first embodiment is mounted on an automobile. [Figure 10] FIG. 11 is a block diagram illustrating a configuration of a detection device according to a second embodiment. [Figure 11] FIG. 13 is an image diagram showing an example of an image obtained by performing region determination in the second embodiment. [Figure 12] FIG. 11 is an image diagram showing an example of the irradiation intensity of the laser light in Example 2. [Figure 13] FIG. 11 is an image diagram showing an example of the irradiation intensity of the laser light in Example 2. [Figure 14] FIG. 11 is an image diagram showing an example of the irradiation intensity of the laser light in Example 2. [Figure 15] FIG. 11 is an image diagram showing an example of the irradiation intensity of the laser light in Example 2. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the drawings, the same reference numerals are used to refer to the same components, and duplicated descriptions will be omitted. EXAMPLES

[0010] In this embodiment, an example will be described in which the illumination intensity of a light-emitting unit for each of a plurality of illumination regions (detection regions) is determined using distance information based on a parallax image signal from an imaging element (imaging unit).

[0011] FIG. 1 is a block diagram showing the configuration of a detection device (range measuring device) 100 according to this embodiment.

[0012] The light emitting unit 105 and the light receiving unit 104 function as a first distance measuring unit that detects the distance to a detection target (detection area, target object, object) using a TOF (Time of Flight) method. The light emitting unit 105 emits light from a two-dimensionally arranged light emitting element according to the light emission timing and light source parameters sent from the light receiving and emitting control means 107. The light receiving unit 104 measures distance data according to the light emission timing sent from the light receiving and emitting control means 107. The optical system 111 has a half mirror that transmits part of the light and reflects part of it, and a reflection suppression structure. The light emitted from the light emitting unit 105 passes through the optical system 111 and is irradiated to the detection target, and the light reflected by the detection target passes through the optical system 111 and enters the light receiving unit 104. The light source parameter generating means (determining unit) 114 determines the irradiation intensity of the light emitting unit 105 and generates light source parameters for the light emitting unit 105 to emit a predetermined light. The light receiving and emitting control means 107 outputs light source parameters and light emission timing to the light receiving unit 104 and the light emitting unit 105. The distance map correction means 106 performs various corrections such as error correction and optical correction on the distance data output from the light receiving unit 104.

[0013] CPU 108 is composed of a microcomputer or the like that controls the entire detection device 100, and issues operational instructions to each functional block and executes various control processes. CPU 108 also performs calculations required for various control processes. Furthermore, CPU 108 controls memory control unit 115, nonvolatile memory control unit 116, etc. via bus 112. Programs required to start CPU 108 are recorded in advance in nonvolatile memory 117. Programs required after start-up are also similarly recorded in nonvolatile memory 117.

[0014] The memory 109 is a memory for storing data, such as a DRAM, and has a storage capacity capable of storing intermediate image data in image processing, as well as constants and programs for the operation of the CPU 108. The memory control unit 115 writes data to and reads data from the memory 109 in response to instructions from the CPU 108.

[0015] The non-volatile memory control unit 116 writes data to and reads data from the non-volatile memory 117 in response to instructions from the CPU 108. The non-volatile memory 117 is an electrically erasable and recordable memory, and stores constants, programs, etc. for the operation of the CPU 108.

[0016] The bus 112 mainly transmits control signals from the CPU 108 etc. to each block, and transfers data such as distance maps.

[0017] The optical system 120 includes a group of lenses including a focusing lens and an aperture, and forms an image of the detection target on the image sensor 101 .

[0018] The image sensor 101 includes a plurality of photoelectric conversion elements, is configured as a CCD or a CMOS, and converts an image to be detected into an electrical signal by photoelectric conversion and outputs it as an image signal. The photoelectric conversion elements are configured to capture and receive light beams with different incident directions. The image sensor 101 can output a parallax image signal for each light beam with a different incident direction, and can also output image signals received by the plurality of photoelectric conversion elements and converted into electrical signals together as a single image signal.

[0019] 2 is a schematic diagram showing an example of the arrangement of pixels of the image sensor 101. In the light receiving section 201, photoelectric conversion elements, typically photodiodes, are arranged two-dimensionally, and a color filter is provided above each photoelectric conversion element to transmit a specific wavelength band of light from the detection target. Filters 202, 203, and 204 are color filters that transmit red, green, and blue light, respectively, and are arranged regularly. The light beams that have passed through filters 202, 203, and 204 are photoelectrically converted by photoelectric conversion sections arranged directly below each filter, and are output from the image sensor 101 as electrical signals.

[0020] 3 is a schematic diagram showing the structure of a pixel section 303 of the image sensor 101. The pixel section 303 includes two photoelectric conversion sections 301 and 302, and one microlens 304. A filter is formed on the upper part of the microlens 304 in a one-to-one correspondence with the pixel section 303. With this structure, it is possible to obtain image signals that receive light beams with different incident directions by individually extracting signals from the paired photoelectric conversion sections. In addition, it is possible to obtain image signals for display or recording in an image processing device or an image capturing device by simultaneously extracting signals from the paired photoelectric conversion sections.

[0021] Other pixel sections present on the image sensor 101 are also configured in the positional relationship shown in the figure, and are repeatedly arranged in the horizontal and vertical directions on the image sensor 101 .

[0022] In this embodiment, one microlens is provided in common to the two photoelectric conversion units, but the structure is not limited to the above as long as the phase difference can be detected. In addition, it is sufficient that some of the pixel units are capable of detecting the phase difference, and it is not necessary that all of the pixel units are capable of detecting the phase difference.

[0023] The image displacement map generating means 102 generates an image displacement map from the parallax image signal obtained by the image sensor 101. The distance map generating means 103 generates a distance map from the image displacement map generated by the image displacement map generating means 102. In this embodiment, the image sensor 101, the image displacement map generating means 102, and the distance map generating means 103 function as a second distance measuring unit. The distance map synthesis means (synthesizing unit) 110 synthesizes two distance maps output respectively from the distance map generating means 103 and the distance map correcting means 106 into one.

[0024] 4 is a schematic diagram showing the light-emitting section 105. The light-emitting section 105 includes a light source unit 402, a light source control section 403, and a drive circuit 404.

[0025] The light source unit 402 includes a plurality of light emitting elements 401 arranged in a two-dimensional array on a substrate. The light emitting elements 401 are VCSELs (Vertical Cavity Surface Emitting Lasers). The light source unit 402 is capable of adjusting the light irradiation intensity for each region.

[0026] In FIG. 4, eight light emitting elements 401 are arranged in each of the horizontal and vertical directions, but the number of light emitting elements 401 arranged can be set arbitrarily.

[0027] In addition, the light emitting element 401 is a VCSEL in this embodiment, but the present invention is not limited thereto. However, it is preferable that it can be integrated in a one-dimensional or two-dimensional array, and for example, it may be an edge-emitting laser or an LED (light emitting diode). When an edge-emitting laser is used as the light emitting element 401, it is possible to use laser bars arranged one-dimensionally on a substrate, or a laser bar stack formed by stacking these to form a two-dimensional light emitting element array. When an LED is used as the light emitting element 401, it is possible to use LEDs arranged in a two-dimensional array on a substrate.

[0028] In order to suppress the influence of ambient light, it is preferable that the wavelength of the light emitted by the light emitting element 401 is in the near infrared band, but the present invention is not limited to this.

[0029] The light source control unit 403 controls the drive circuit 404 in accordance with the light emission timing and light source parameters sent from the light receiving and emitting control means 107. The drive circuit 404 drives the light source unit 402 and can switch the irradiation intensity of the laser light for each of the multiple irradiation regions.

[0030] The processing flow of this embodiment will be described below with reference to Fig. 5. Fig. 5 is a flowchart showing the processing of this embodiment.

[0031] In step S501, the image shift map generating means 102 acquires a parallax image signal in the visible region from the image sensor 101. In this step, the electric signals converted by the photoelectric conversion units included in the pixel unit shown in Fig. 3 are output as parallax image signals. Fig. 6 is a conceptual diagram showing an example of the image signal obtained from the image sensor 101.

[0032] In step S502, the image shift map generating means 102 first performs correlation calculation processing such as SAD (Sum of Absolute Difference) calculation between the parallax images using the parallax image signals acquired in step S501. Next, the image shift map generating means 102 calculates the image shift amount (image shift amount) between the two parallax images based on the degree of correlation, and generates an image shift map in which the image shift amount is two-dimensionally mapped. Note that the image shift amount may be calculated in units of one pixel constituting the parallax image, or may be calculated for each area defined by a predetermined number of pixels.

[0033] In step S503, the distance map generating means 103 generates a distance map from the image displacement map generated in step S502. Conversion parameters for converting the image displacement map into a distance map are stored in the memory 109, and the distance map generating means 103 reads the conversion parameters from the memory 109 to generate the distance map. Fig. 7 is an image showing an example of the distance map. Fig. 7 indicates that the lighter the shading, the closer the distance to the detection target, and the darker the shading, the farther the distance to the detection target.

[0034] In step S504, the light source parameter generating means 114 first uses the distance map generated in step S503 to determine the irradiation intensity of the laser light for each of the multiple irradiation regions of the light emitting unit 105. Next, the light source parameter generating means 114 generates light source parameters for the light emitting unit 105 to emit light with the determined irradiation intensity.

[0035] In this embodiment, the light source parameter generating means 114 determines the irradiation intensity so that the irradiation intensity is weak in an area where the distance to the detection target is close and the irradiation intensity is strong in an area where the distance to the detection target is far. Fig. 8 is an image diagram showing the irradiation intensity of the laser light for each of a plurality of irradiation areas. In Fig. 8, the lighter the shading, the stronger the irradiation intensity, and the darker the shading, the weaker the irradiation intensity.

[0036] The intensity of light including laser light is attenuated as the flight distance increases. Since the light receiving unit 104 receives not only reflected light from the detection target but also environmental light, if the intensity of the reflected light from the detection target received by the light receiving unit 104 is weak, the distance measurement accuracy decreases due to the influence of noise such as environmental light. Therefore, the distance measurement for a detection target located at a close distance is relatively accurate, and the distance measurement for a detection target located at a long distance is relatively low or impossible. The distance measurement accuracy also depends on the irradiation intensity of the laser light, and the stronger the irradiation intensity, the better the distance measurement accuracy and the measurable distance. In this embodiment, the irradiation intensity of the laser light irradiated to a detection target located at a long distance is increased, thereby improving the distance measurement accuracy and the measurable distance for a detection target located at a long distance. On the other hand, the irradiation intensity of the laser light irradiated to a detection target located at a close distance and having a relatively high distance measurement accuracy is decreased. This reduces the power consumption required for the light receiving unit 104 and the light emitting unit 105, and improves the measurable distance.

[0037] In step S505, the light emitter 105 emits pulsed light in accordance with the light source parameters generated in step S504. The driving circuit 404 drives the light source unit 402 and adjusts each irradiation area to have a predetermined irradiation intensity.

[0038] In step S506, the light receiving unit 104 detects the distance to the detection target by the TOF method and obtains a distance map. In the TOF method, the distance to the detection target is measured based on the time from the emission timing in step S505 to the timing of receiving the reflected light from the detection target.

[0039] Specifically, light receiving and emitting control means 107 outputs light emitting timing to light emitting unit 105 and light receiving unit 104. Light irradiated from light emitting unit 105 passes through optical system 111 and is irradiated onto the detection target. A part of the light irradiated onto the detection target is reflected, passes through optical system 111, and enters light receiving unit 104. Light receiving unit 104 measures distance data based on the difference between the timing at which the reflected light is detected and the light emitting timing notified by light receiving and emitting control means 107. Light receiving unit 104 acquires the distance data measured for each light receiving element as a distance map.

[0040] In step S507, the distance map synthesis means 110 synthesizes the distance map generated from the image shift map in step S503 and the distance map acquired using the TOF method in step S506, and outputs the synthesized distance map.

[0041] 8, in the area where the irradiation intensity of the laser light is weakened, the distance measurement accuracy may decrease or distance measurement may become impossible. For the area where the irradiation intensity of the laser light is weakened, by synthesizing the distance map generated from the image shift map in step S503 instead of the distance map acquired in step S506, it is possible to suppress the decrease in distance measurement accuracy caused by weakening the irradiation intensity of the laser light.

[0042] When detecting the distance to a detection target from a parallax image, the accuracy of distance measurement and the measurable distance depend on the magnitude of the parallax of the parallax image. When a distance map is generated from the parallax image output from the image sensor 101, the accuracy of distance measurement for a distant detection target is low and the measurable distance is relatively short. On the other hand, in the TOF method, the measurable distance is relatively long.

[0043] Therefore, in this embodiment, the distance map generated from the image shift map in step S503 is synthesized with the area of ​​the distance map generated in step S506 where the irradiation intensity of the laser light is weakened. This makes it possible to improve the distance measurement accuracy over the entire field of view while reducing the power consumption of the light receiving unit 104 and the light emitting unit 105.

[0044] 8, the light emitting unit 105 may not irradiate the detection target at a distance that can be measured using the parallax image with laser light. In this case, it is possible to further reduce the power consumption of the light receiving unit 104 and the light emitting unit 105. The distance map generated in step S503 may be synthesized for the area not irradiated with laser light.

[0045] An example in which the detection device 100 of the present embodiment is used in an electronic device will be described below. FIG. 9 is an image diagram showing a state in which the detection device 100 is mounted on an automobile 901. In FIG. 9, the detection device 100 is installed in the front of the automobile 901, but may be installed in the rear. In FIG. 9, a driving support system such as an automatic brake or a collision warning is operated based on the detection result (distance measurement result) of the detection device 100. The driving support system is equipped with various detection devices such as a visible light sensor, a distance measurement device using a TOF method, and a millimeter wave radar. In a driving support system equipped with a distance measurement device using a visible light sensor or a parallax image and a distance measurement device using a TOF method, when the detection device 100 is applied, there is no need to additionally mount a visible light sensor or the like, and it is possible to improve the distance that can be measured. In addition, the detection device 100 can be applied to an autonomous driving vehicle. EXAMPLES

[0046] In this embodiment, an example will be described in which area determination is performed using image information obtained by an image sensor, and the irradiation intensity of a light-emitting unit is determined.

[0047] Fig. 10 is a block diagram showing the configuration of a detection device (range measuring device) 100 of this embodiment. In Fig. 10, the same members as those in Fig. 1 are given the same reference numerals and their explanation will be omitted.

[0048] The imaging element 802 outputs an image signal. Unlike the first embodiment, the image signal output by the imaging element 802 does not have to be a parallax image signal. The image signal obtained by the imaging element 802 is corrected by an image correction means 803 and output to an area determination means (determination unit) 801.

[0049] The area determination means 801 performs area determination using the image signal corrected by the image correction means 803. Specifically, the area determination means 801 performs detection target determination and semantic segmentation on the image signal, divides it into a plurality of areas, and assigns a label to each area. FIG. 11 is an image diagram showing an example of an image in which the area determination means 801 performs area determination on the image signal of FIG. 6. FIG. 11 shows that the image signal of FIG. 6 is divided into areas by shading, and a label is assigned to each area. For example, areas 1101, 1102, 1103, 1104, and 1105 are assigned the labels of sky, ground, tree, human body, and building, respectively.

[0050] The light source parameter generating means 114 uses the divided areas output by the area determining means 801 and the labels assigned to each area to determine the irradiation intensity of the laser light for each of the multiple irradiation areas of the light emitting unit 105. The light source parameter generating means 114 also generates light source parameters for the light emitting unit 105 to emit light with the determined irradiation intensity.

[0051] Fig. 12 is an image diagram showing an example of the irradiation intensity of the laser light for each irradiation area. In Fig. 12, the irradiation intensity is set to be strong for the area determined to be the main subject by the area determination means 801, and weak for the other areas.

[0052] In the following description, in the diagram showing the irradiation intensity for each irradiation area, the lighter the shade, the stronger the irradiation intensity, and the darker the shade, the weaker the irradiation intensity. When the irradiation intensity of the laser light is strong, the intensity of the reflected light from the detection target that enters the light receiving unit 104 is also strong. Since the light receiving unit 104 also receives environmental light that becomes noise, the stronger the reflected light intensity from the detection target is, the easier it is to detect the reflected light, and the higher the distance measurement accuracy is. Therefore, by increasing the irradiation intensity of the laser light for the attention area where distance measurement is to be performed, such as the main subject, the distance measurement accuracy for the attention area can be improved. In FIG. 12, the human body is the attention area, but the attention area may be an animal, a car, an object, or the like, depending on the shooting scene. In addition, the irradiation intensity of the irradiation area corresponding to the area focused on by the optical system 120 may be increased.

[0053] FIG. 13 is an image diagram showing an example of the irradiation intensity of the laser light for each irradiation area. In FIG. 13, the irradiation intensity of the area determined to be the sky is set to be weak. In a driving assistance system, etc., it is not necessary to measure the distance to the sky. It is only necessary to determine the area that does not require distance measurement (area not requiring distance measurement) according to the shooting scene, and the irradiation intensity is weakened for the area determined not requiring distance measurement such as the sky, and the irradiation intensity is strengthened for the other areas, thereby improving the distance measurement accuracy and the measurable distance. Also, if there is no need to improve the distance measurement accuracy or the measurable distance, there is no need to strengthen the irradiation intensity for areas other than the area not requiring distance measurement. In this case, the power consumption of the detection device 100 can be reduced.

[0054] FIG. 14 is an image diagram showing an example of the irradiation intensity of the laser light for each irradiation area. In FIG. 14, the irradiation intensity of the area determined to be a human body is set to be weak. When laser light is irradiated to a human eye, the eye may be damaged depending on the intensity and wavelength of the laser light. Therefore, by weakening the irradiation intensity of the area determined to be a human body, the effect of the laser light on the human body can be reduced. Note that, although the irradiation intensity of the area of ​​the human body is set to be weak in FIG. 11, the irradiation intensity of the area including the head and eyes may be set to be weak instead of the entire area determined to be a human body. In addition, the irradiation intensity of objects that may deteriorate due to irradiation with laser light, such as artworks, may be set to be weak.

[0055] Furthermore, when the human body region is moving, a delay occurs due to processing by the image correction means 803, the region determination means 801, and the light source parameter generation means 114 after the image signal is acquired by the image sensor 802. The light emitting unit 105 emits light at the emission timing output by the light reception / emission control means 107 at a predetermined timing, but the timing at which the light source parameters are generated by the light source parameter generation means 114 and the emission timing are not necessarily simultaneous. Therefore, a delay may occur in the period from the generation of the light source parameters to the next emission timing. If the human body is moving during the delay, the laser light in the region correctly determined to be the human body may not be weakened. The greater the amount of movement of the human body, the larger the region of the human body irradiated with the laser light with a high irradiation intensity becomes.

[0056] Therefore, in this embodiment, the divided regions output from the region determination means 801 are written to the memory 109 for the image information acquired by the image sensor 802 in the previous frame. In the current frame, the divided regions of the previous frame are read from the memory 109 and compared with the divided regions of the current frame, thereby calculating the amount of movement of the region determined to be a human body. If the amount of movement of the region determined to be a human body is greater than a predetermined amount, the irradiation intensity of the laser light in the region determined to be a human body and its surroundings is weakened as shown in FIG. 15. In other words, this corresponds to weakening the irradiation intensity of the laser light and widening the region determined to be a human body. If the amount of movement of the region determined to be a human body is smaller than a predetermined amount, the irradiation intensity of the laser light is weakened only in the region determined to be a human body as shown in FIG. 11. In other words, this corresponds to maintaining the region determined to be a human body and weakening the irradiation intensity of the laser light. In addition, the size of the region with weak irradiation intensity provided around the human body may be changed according to the amount of movement. In this way, by estimating the amount of movement of the region determined to be a human body using multiple frames, the irradiation intensity of the laser light can be weakened even for a moving human body.

[0057] The disclosure of this embodiment includes the following configuration. (Configuration 1) a first distance measuring unit including a light source capable of switching the irradiation intensity of light irradiated to each of a plurality of detection regions, irradiating the detection regions with light and acquiring first distance information to the detection regions using reflected light from the detection regions; a second distance measuring unit that obtains second distance information to the detection area using image information; a determination unit that determines the irradiation intensity based on the second distance information. (Configuration 2) the plurality of detection regions include a first detection region and a second detection region located farther away than the first detection region, The detection device described in configuration 1, characterized in that the determination unit determines the irradiation intensity so that the irradiation intensity of the light irradiated to the first detection area is weaker than the irradiation intensity of the light irradiated to the second detection area. (Configuration 3) a synthesis unit that synthesizes the first distance information and the second distance information, The detection device according to configuration 1 or 2, wherein the synthesis unit uses the second distance information as distance information to the detection area for which the first distance information has not been acquired. (Configuration 4) the plurality of detection areas include a third detection area from which the second distance information has been acquired and a fourth detection area from which the second distance information has not been acquired, The detection device described in any one of configurations 1 to 3, characterized in that the determination unit determines the irradiation intensity so that the irradiation intensity of the light irradiated to the third detection area is weaker than the irradiation intensity of the light irradiated to the fourth detection area. (Configuration 5) The detection device according to any one of configurations 1 to 4, wherein the second distance measuring unit acquires the image information. (Configuration 6) a first distance measuring unit including a light source capable of switching the irradiation intensity of light irradiated to each of a plurality of detection regions, irradiating the detection regions with light and acquiring first distance information to the detection regions using reflected light from the detection regions; an imaging unit for acquiring image information of the detection area; a determination unit that determines the irradiation intensity based on the image information. (Configuration 7) A determination unit that determines a specific detection target using the image information, The detection device described in configuration 6, characterized in that the determination unit determines the irradiation intensity so that the irradiation intensity of light irradiated to a first detection area including the specific detection target is weaker than the irradiation intensity of light irradiated to a second detection area not including the specific detection target. (Configuration 8) The detection device described in configuration 7, characterized in that the determination unit expands the size of the first detection area when the amount of movement of the specific detection target estimated using the image information of multiple frames is greater than a predetermined amount, and maintains the size of the first detection area when the amount of movement is smaller than the predetermined amount. (Configuration 9) 9. The detection device according to configuration 7 or 8, wherein the specific detection target is a human body. (Configuration 10) 9. The detection device according to configuration 7 or 8, wherein the specific detection target is a head. (Configuration 11) 9. The detection device according to configuration 7 or 8, wherein the specific detection target is an eye. (Configuration 12) The detection device according to configuration 7 or 8, wherein the specific detection object is a work of art. (Configuration 13) a determination unit that determines a main subject using the image information, The detection device described in any one of configurations 6 to 12, characterized in that the determination unit determines the irradiation intensity so that the irradiation intensity of light irradiated to a third detection area including the main subject is stronger than the irradiation intensity of light irradiated to a fourth detection area not including the main subject. (Configuration 14) a determination unit that determines a distance measurement unnecessary area using the image information, The detection device described in any one of configurations 6 to 13, characterized in that the determination unit determines the irradiation intensity so that the irradiation intensity of light irradiated to a fifth detection area, which is the area where distance measurement is not required, is weaker than the irradiation intensity of light irradiated to a sixth detection area, which is not the area where distance measurement is not required. (Configuration 15) 15. The detection device according to configuration 14, wherein the area not requiring distance measurement is an area determined to be sky. (Configuration 16) The detection device according to any one of configurations 7 to 15, wherein the determination unit performs semantic segmentation on the image information.

[0058] Although the preferred embodiments of the present invention have been described above, the present invention is not limited to these embodiments, and various combinations, modifications, and alterations are possible within the scope of the gist of the present invention. [Explanation of symbols]

[0059] 100 Detection device 102 Image shift map generating means (second distance measuring unit) 103 Distance map generating means (second distance measuring unit) 104 Light receiving unit (first distance measuring unit) 105 Light emitting unit (first distance measuring unit) 114 Light source parameter generating means (determining unit)

Claims

1. a first distance measuring unit including a light source capable of switching the irradiation intensity of light irradiated to each of a plurality of detection regions, irradiating the detection regions with light and acquiring first distance information to the detection regions using reflected light from the detection regions; a second distance measuring unit that obtains second distance information to the detection area using image information; a determination unit that determines the irradiation intensity based on the second distance information.

2. the plurality of detection regions include a first detection region and a second detection region located farther away than the first detection region, The detection device according to claim 1 , wherein the determination unit determines the irradiation intensity so that the irradiation intensity of the light irradiated to the first detection area is weaker than the irradiation intensity of the light irradiated to the second detection area.

3. a synthesis unit that synthesizes the first distance information and the second distance information, 3 . The detection device according to claim 1 , wherein the synthesis unit uses the second distance information as distance information to the detection region for which the first distance information has not been acquired.

4. the plurality of detection areas include a third detection area from which the second distance information has been acquired and a fourth detection area from which the second distance information has not been acquired, The detection device according to claim 1 or 2, characterized in that the determination unit determines the irradiation intensity so that the irradiation intensity of the light irradiated to the third detection area is weaker than the irradiation intensity of the light irradiated to the fourth detection area.

5. The detection device according to claim 1 or 2, wherein the second distance measuring unit acquires the image information.

6. a first distance measuring unit including a light source capable of switching the irradiation intensity of light irradiated to each of a plurality of detection regions, irradiating the detection regions with light and acquiring first distance information to the detection regions using reflected light from the detection regions; an imaging unit for acquiring image information of the detection area; a determination unit that determines the irradiation intensity based on the image information.

7. A determination unit that determines a specific detection target using the image information, The detection device according to claim 6, characterized in that the determination unit determines the irradiation intensity so that the irradiation intensity of light irradiated to a first detection area including the specific detection target is weaker than the irradiation intensity of light irradiated to a second detection area not including the specific detection target.

8. The detection device according to claim 7, characterized in that the determination unit expands the size of the first detection area when the amount of movement of the specific detection target estimated using the image information of multiple frames is greater than a predetermined amount, and maintains the size of the first detection area when the amount of movement is smaller than the predetermined amount.

9. 9. The detection device according to claim 7, wherein the specific detection target is a human body.

10. 9. The detection device according to claim 7, wherein the specific detection target is a head.

11. 9. The detection device according to claim 7, wherein the specific detection target is an eye.

12. 9. The detection device according to claim 7, wherein the specific detection target is a work of art.

13. a determination unit that determines a main subject using the image information, The detection device according to claim 6, characterized in that the determination unit determines the irradiation intensity so that the irradiation intensity of light irradiated to a third detection area including the main subject is stronger than the irradiation intensity of light irradiated to a fourth detection area not including the main subject.

14. a determination unit that determines a distance measurement unnecessary area using the image information, The detection device according to claim 6, characterized in that the determination unit determines the irradiation intensity so that the irradiation intensity of light irradiated to the fifth detection area, which is the area where distance measurement is not required, is weaker than the irradiation intensity of light irradiated to the sixth detection area, which is not the area where distance measurement is not required.

15. 15. The detection device according to claim 14, wherein the area not requiring distance measurement is an area determined to be sky.

16. The detection device according to claim 7 , 13 , or 14 , wherein the determination unit performs semantic segmentation on the image information.

Images