Laser irradiation device and control method thereof

Abstract

To provide a laser irradiation device which can appropriately perform lighting-off of a laser light source, when a human enters a laser beam irradiation range.SOLUTION: A laser irradiation device comprises a light source unit which includes a laser light source that applies a laser beam L toward a specific irradiation range E1, a lighting control unit which performs lighting control of the laser light source, and a human detection unit which detects presence of a person H in the irradiation range E1 of the laser beam L. The human detection unit includes a photo sensor and a sound wave sensor, and the lighting control unit performs control to switch off the laser light source when either the photo sensor or the sound wave sensor reacts.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present invention relates to a laser irradiation device and a control method thereof. [Background technology]

[0002] In recent years, illumination light has been obtained using a laser light source such as a laser diode (LD) that can obtain high-brightness and high-power light. Also, drawing is performed on road surfaces and the like while scanning the laser light emitted from the laser light source (for example, see Patent Document 1 below). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2020-122365 A Summary of the Invention [Problem to be solved by the invention]

[0004] Incidentally, in order to improve the visibility of images in bright environments such as daytime, it is necessary to perform drawing by increasing the output of the laser light.

[0005] On the other hand, when the output of the laser light is increased, in order to prevent the laser light from directly entering the human eye, for example, a human sensor is used to detect that a human has entered the irradiation range of the laser light and turn off the laser light source. This makes it possible to prevent people from looking directly at the laser light.

[0006] However, some motion sensors are prone to false detection due to the influence of external light in bright environments, and some lose sensitivity in rainy weather, strong winds, etc. On the other hand, motion sensors that are less affected by the external environment (TOF, camera, LiDAR, millimeter wave radar, etc.) are relatively expensive, which increases costs.

[0007] The present invention has been proposed in consideration of the above-mentioned conventional circumstances, and has an object to provide a laser irradiation device and a control method thereof that are capable of appropriately turning off a laser light source when a human being enters the irradiation range of the laser light. [Means for solving the problem]

[0008] In order to achieve the above object, the present invention provides the following means. [1] A light source unit including a laser light source that irradiates a laser beam toward a specific irradiation range; A lighting control unit that controls lighting of the laser light source; a human presence detection unit that detects the presence of a human within the irradiation range of the laser light, The human detection unit includes an optical sensor and an acoustic sensor. The laser irradiation device is characterized in that the lighting control unit controls the laser light source to be turned off when either the optical sensor or the sonic sensor reacts. [2] The laser irradiation device described in [1], wherein the human presence detection unit stops detection by the optical sensor when the external light illuminance in the irradiation range of the laser light exceeds a threshold value. [3] The laser irradiation device described in [1], wherein the optical sensor and the sonic sensor react within a detection range surrounding the irradiation range of the laser light. [4] The laser irradiation device according to [3], wherein the optical sensor and the sonic sensor react within a detection range surrounding the scanning range of the laser light. [5] The laser irradiation device described in [4], wherein the acoustic sensor reacts within a detection range surrounding the detection range of the optical sensor. [6] The laser irradiation device according to [1], characterized in that the optical sensor is an IR sensor and the acoustic sensor is a sonar sensor. [7] The laser irradiation device according to [1], wherein the light source unit includes a MEMS mirror that performs drawing in the irradiation range while scanning the laser light emitted from the laser light source. [8] A device mounted on a vehicle, The laser irradiation device described in [1], wherein the light source unit irradiates the laser light emitted from the laser light source toward the road surface. [9] A light source unit including a laser light source that irradiates a laser beam toward a specific irradiation range; A lighting control unit that controls lighting of the laser light source; an optical sensor and an acoustic sensor for detecting the presence of a human within the irradiation range of the laser light; An external light illuminance unit that detects the surrounding environment; A laser irradiation device including a driver position detection unit that detects whether a driver is in a vehicle, The first step is to turn on the MEMS mirror. a second step of detecting whether an ambient light illuminance threshold is exceeded; a third step in which the lighting control unit turns off the laser light source and stops drawing on the road surface when either the optical sensor or the sonic wave sensor reacts; A fourth step detects that the driver is in the vehicle; and A method for controlling a laser irradiation device, comprising a fifth step of turning off the MEMS mirror drive after determining that the driver is inside the vehicle.

[10] The method for controlling a laser irradiation device described in [9], wherein in the third step, the human presence detection unit stops detection by the optical sensor when the illuminance of external light in the irradiation range of the laser light exceeds a threshold value. Effect of the Invention

[0009] As described above, according to the present invention, a laser irradiation device and a control method thereof are provided that are capable of appropriately turning off a laser light source when a human being enters the irradiation range of a laser light. [Brief description of the drawings]

[0010] [Figure 1]FIG. 2 is a schematic diagram showing an example of road surface drawing by a laser irradiation device according to an embodiment of the present invention. [Diagram 2] FIG. 2 is a block diagram showing a configuration of a laser irradiation device. [Diagram 3] FIG. 2 is a schematic diagram showing a configuration of a light source unit included in the laser irradiation device. [Figure 4] 1 is a schematic diagram showing an irradiation range and a detection range of a laser irradiation device installed on a door mirror of a vehicle as viewed from the side. [Diagram 5] 1 is a schematic diagram showing an irradiation range and a detection range of a laser irradiation device installed on a door mirror of a vehicle, as viewed from above. [Figure 6] 10 is a flowchart for explaining the control of turning on the laser light source during road surface drawing by the laser irradiation device. FIG. [Figure 7] 11 is a schematic diagram illustrating a case where the detection range of an IR sensor and the detection range of a sonar sensor are made different. [Figure 8] 1 is a schematic diagram showing the irradiation range and detection range of a laser irradiation device installed in a streetlight. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings. In the drawings used in the following description, in order to make each component easier to see, the dimensions of the components may be shown at different scales, and the dimensional ratios of each component may not necessarily be the same as in reality.

[0012] As one embodiment of the present invention, for example, a laser irradiation device 1 shown in Figs. 1 to 8 will be described.

[0013] FIG. 1 is a schematic diagram showing an example of road surface drawing by the laser irradiation device 1. FIG. 2 is a block diagram showing the configuration of the laser irradiation device 1. FIG. 3 is a schematic diagram showing the configuration of the light source unit 4 provided in the laser irradiation device 1. FIG. 4 is a schematic diagram showing the irradiation range E1 and the detection range E2 by the laser irradiation device 1 installed on the door mirror 101 of the vehicle 100 from the side. FIG. 5 is a schematic diagram showing the irradiation range E1 and the detection range E2 by the laser irradiation device 1 installed on the door mirror 101 of the vehicle 100 from above. FIG. 6 is a flow chart for explaining the lighting control of the laser light source 2 during road surface drawing by the laser irradiation device 1. FIG. 7 is a schematic diagram when the detection range E3 of the IR sensor 5 and the detection range E4 of the sonar sensor 6 are made different. FIG. 8 is a schematic diagram showing the irradiation range E1 and the detection range E2 by the laser irradiation device 1 installed on the street lamp 200.

[0014] In addition, in the drawings shown below, an XYZ Cartesian coordinate system is set up, and the X-axis direction is the fore-and-aft direction (length direction) of vehicle 100, the Y-axis direction is the left-and-right direction (width direction) of vehicle 100, and the Z-axis direction is the up-and-down direction (height direction) of vehicle 100.

[0015] The laser irradiation device 1 of this embodiment is an application of the present invention to a vehicle drawing device installed on a door mirror 101 of a vehicle 100, as shown in Fig. 1. That is, this laser irradiation device 1 performs road surface drawing by projecting a drawing pattern P, such as characters or an image, by using laser light L that is irradiated toward a road surface T on the side of the vehicle when the vehicle is stopped.

[0016] Specifically, as shown in Figures 1, 2 and 3, this laser irradiation device 1 includes a light source unit 4 including a laser light source 2 and a MEMS (Micro-Electro-Mechanical Systems) mirror 3, a human detection unit 7 including an IR sensor 5 and a sonar sensor 6, and a lighting control unit 8 electrically connected to the light source unit 4 and the human detection unit 7.

[0017] The laser light source 2 is configured by an LD package including, for example, a red LD chip that emits red light, a green LD chip that emits green light, and a blue LD chip that emits blue light. The LD package also includes, for example, a first dichroic mirror that reflects blue light, a second dichroic mirror that reflects green light and transmits blue light, and a third dichroic mirror that reflects blue light and green light and transmits red light, and emits each color light coaxially.

[0018] This makes it possible for the laser light source 2 to control the ratio of red, green, and blue light emitted by each LD chip in the LD package, while arbitrarily adjusting the color tone (emission color) of the laser light L obtained by combining (mixing) these colored lights.

[0019] The MEMS mirror 3 is a movable mirror using MEMS technology, and controls the reflection direction of the laser light L emitted from the laser light source 2 while oscillating in two-dimensional directions within the plane.

[0020] In the light source unit 4, the laser light L emitted from the laser light source 2 is scanned by the MEMS mirror 3, and the laser light L is irradiated from the door mirror 101 toward the road surface T on the side of the vehicle. This makes it possible to perform road surface drawing within the irradiation range of the laser light L.

[0021] The IR sensor 5 is a type of optical sensor that functions as a human presence sensor that detects infrared rays (IR) from heat emitted by humans or reflected light. As the IR sensor 6, for example, a pyroelectric IR sensor or an infrared reflective sensor that combines an infrared LED and a photodiode can be used.

[0022] The sonar sensor 6 is a type of sonar sensor that functions as a human detection sensor by emitting ultrasonic waves and detecting the ultrasonic waves that hit a person and are reflected back.

[0023] In the human detection unit 7, as shown in Figures 4 and 5, the IR sensor 5 and the sonar sensor 6 react in a detection range E2 surrounding the irradiation range E1 of the laser light L, making it possible to detect the presence of a human H in the irradiation range E1 of the laser light L.

[0024] Although the IR sensor 5 and the sonar sensor 6 are human detection sensors that mainly detect humans H who enter the irradiation range E1 of the laser light L, they can also detect animals other than humans H, such as pets. In particular, children, dogs, cats, and the like that are shorter than the door mirror 101 may look directly at the laser light L.

[0025] The lighting control unit 8 is formed of a microcomputer such as a CPU, and controls switching of the laser light source 2 between lighting (ON) and extinguishing (OFF).

[0026] In addition to switching the laser light source 2 on and off, the lighting control unit 8 may also control the light amount and color tone of the laser light L emitted from the laser light source 2.

[0027] In addition, the lighting control unit 8 is electrically connected to an illuminance sensor 50 mounted on the vehicle 100. The illuminance sensor 50 detects the external light illuminance (brightness) outside the vehicle, and when the external light illuminance exceeds a threshold value, a detected signal is supplied to the lighting control unit 8.

[0028] The threshold value is set to an appropriate external light illuminance value for the IR sensor 5 to function as a human presence sensor (e.g., 30,000 Lux or more on a cloudy day, or 70,000 Lux or more on a sunny day), since the higher the external light illuminance, the more likely it is that the IR sensor 5 will false-detect.

[0029] The illuminance sensor 50 is not necessarily limited to a configuration in which it is mounted on the vehicle 100, but may be a configuration in which it is mounted on the laser irradiation device 1, for example.

[0030] In addition, in the laser irradiation device 1 of this embodiment, instead of the above-mentioned illuminance sensor 50, a configuration may be used in which, when it is determined that the external light illuminance exceeds a threshold value based on external light illuminance information supplied via a communication unit mounted on the vehicle 100, a signal thereof is supplied to the lighting control unit 8.

[0031] Regarding the external light illuminance information, it is possible to determine that the external light illuminance exceeds a threshold value, for example, based on the position information of the vehicle 100 and the weather information at that position. In addition, when it is determined that the sensitivity of the IR sensor 5 has decreased, a signal of the decrease may be supplied to the lighting control unit 8.

[0032] In the laser irradiation device 1 of this embodiment, when performing road surface drawing, an initial operation is performed before starting road surface drawing, for example, according to the flowchart shown in FIG.

[0033] Specifically, as shown in step S101 of FIG. 6, it is detected that the key lock of the vehicle 100 has been released or that the driver has approached the vehicle 100.

[0034] 6, the power of the illuminance sensor 50, the IR sensor 5, the sonar sensor 6, etc., which are to perform sensing, is turned ON. In this step 102, processing of the signals detected by each sensor has not yet started.

[0035] As another sensing method, the power supply of a driver position detection unit (not shown) that can detect the presence of a driver in the vehicle 100 may be turned on. The driver position detection unit may detect using any one or a combination of a door contact sensor that detects the opening and closing of the door on the driver's seat side, an engine start sensor that detects that the engine is running, and a sensor (heat sensing type, pressure sensing type, etc.) that detects that a person is sitting in the driver's seat.

[0036] Next, as shown in step S103 of FIG. 6, the light source unit 4 starts driving the MEMS mirror 3 (ON) and makes it possible to start scanning by the MEMS mirror 3 with the laser light source 2 turned off (OFF).

[0037] The MEMS mirror 3 is driven early because it takes time to prepare for irradiation. However, if it is to be started up instantaneously, it may be driven after step S201 in FIG. 6, which will be described later.

[0038] As shown in step S201 of FIG. 6, the lighting control unit 8 determines whether or not the external illuminance is equal to or lower than a threshold value.

[0039] If it is determined that the external illuminance has exceeded the threshold (NO), the process proceeds to step S205 in FIG. 6, where the human detection unit 7 stops detection by the IR sensor 5 (OFF) and continues detection only by the sonar sensor 6 (ON).

[0040] Specifically, the sonar sensor 6 starts receiving the detection signal. The IR sensor 5 stops detecting the object, meaning that the power supply to the IR sensor 5 is kept ON, but reception of only the detection signal is turned OFF.

[0041] Alternatively, the power supply of the IR sensor 5 may be turned off. If the external illuminance again becomes equal to or lower than the threshold value in the loop, the power supply of the IR sensor 5 is resumed (turned ON).

[0042] Next, if the sonar sensor 6 reacts, the process proceeds to step S203 in FIG. 6, where it is determined that a human H is present within the detection range E2 of the human detection unit 7, and the laser light source 2 is turned off (OFF), and road surface drawing is not started (the drive of the MEMS mirror 3 continues to remain ON).

[0043] On the other hand, if it is determined in step S205 of Figure 6 that there is no reaction with any of the sonar sensors 6 (No), the process proceeds to step S206 of Figure 6, where it is determined that no human H is present within the detection range E2 of the human presence detection unit 7, the laser light source 2 is turned on, and road surface drawing is started by scanning the laser light L of the laser light source 2 with the MEMS mirror 3.

[0044] On the other hand, if it is determined that the external illuminance is equal to or lower than the threshold (YES), the process proceeds to step S202 in Fig. 6, where the human detection unit 7 starts detection (both ON) with the IR sensor 5 and the sonar sensor 6. Specifically, the sonar sensor 6 and the IR sensor 5 are both set to a state in which reception of detection signals can be started.

[0045] Next, as shown in step S202 of FIG. 6, it is determined whether or not either the IR sensor 5 or the sonar sensor 6 has reacted.

[0046] Then, if it is determined that either the IR sensor 5 or the sonar sensor 6 has reacted (Yes), the process proceeds to step S203 in FIG. 6, and the lighting control unit 8 controls the laser light source 2 to be turned off (OFF) and the road surface drawing to be stopped (the drive of the MEMS mirror 3 continues to remain ON).

[0047] In other words, if either the IR sensor 5 or the sonar sensor 6 reacts, it is determined that a human H is present within the detection range E2 of the human presence detection unit 7, the laser light source 2 is turned off, and road surface drawing is stopped (the drive of the MEMS mirror 3 continues to remain ON).

[0048] On the other hand, if it is determined in step S202 of Figure 6 that there is no reaction with any of the sonar sensors 6 (No), the process proceeds to step S204 of Figure 6, where it is determined that no human H is present within the detection range E2 of the human presence detection unit 7, the laser light source 2 is turned on, and road surface drawing is started by scanning the laser light L of the laser light source 2 with the MEMS mirror 3.

[0049] Then, the process returns to step S201, and steps S201 to S206 are repeated until the driver approaches the vehicle 100 and enters the detection range E2 of the human detection unit .

[0050] Next, as shown in step S207 of Fig. 6, if the driver reacts to the human detection unit, approaches the vehicle, and detects that the driver is inside the vehicle, there is no longer any need to perform road surface drawing, so the drive of the MEMS mirror 3 is also turned off, as shown in step S208 of Fig. 6. Since it takes time for the MEMS mirror 3 to prepare for irradiation, it is better not to turn off the drive until there is no longer any need to use road surface drawing.

[0051] On the other hand, if the start-up occurs instantly, the driving of the MEMS mirror 3 may be turned off immediately after the road surface drawing is stopped. The driver position detection unit detects whether the driver is inside the vehicle 100. Furthermore, as shown in step S209 in Fig. 6, the sensing power supply is also turned off, and the flow of this embodiment ends.

[0052] As described above, in the laser irradiation device 1 of this embodiment, when either the IR sensor 5 or the sonar sensor 6 reacts during the above-mentioned road surface drawing, the lighting control unit 8 turns off the laser light source 2 and controls the road surface drawing to stop.

[0053] The laser irradiation device 1 of this embodiment uses the IR sensor 5 and the sonar sensor 6, which are relatively inexpensive among human sensors. In addition, by utilizing the difference in characteristics between the IR sensor 5, which is an optical sensor, and the sonar sensor 6, which is an acoustic sensor, it is possible to improve the detection accuracy without being affected by the external environment.

[0054] That is, among the human presence sensors, the IR sensor 5 is more likely to make false detections due to the influence of external light in the above-mentioned bright environment, whereas the sonar sensor 6 is not affected by external light.

[0055] Therefore, in the laser irradiation device 1 of this embodiment, when the external light illuminance in the detection range E2 of the human detection unit 7 exceeds the threshold value, detection by the IR sensor 5 is stopped and detection by the sonar sensor 6 is performed.

[0056] This makes it possible to appropriately turn off the above-mentioned laser light source 2 when a human H enters the detection range E2 of the human detection unit 7, without being affected by external light even in a bright environment such as daytime.

[0057] On the other hand, the sonar sensor 6 may lose sensitivity due to ultrasonic attenuation in environments such as rainy weather or strong winds, whereas the IR sensor 5 does not lose sensitivity in such environments.

[0058] Therefore, in the laser irradiation device 1 of this embodiment, even if a false detection occurs by the sonar sensor 6 due to a decrease in sensitivity of the sonar sensor 6, the IR sensor 5 will react when a human H enters the detection range E2 of the human detection unit 7, making it possible to perform detection even in environments such as rainy weather or strong winds.

[0059] As a result, when a human H enters the detection range E2 of the human detection unit 7 even in an environment such as rainy weather or strong winds, the laser light source 2 can be appropriately turned off as described above.

[0060] As described above, in the laser irradiation device 1 of this embodiment, by using the relatively inexpensive IR sensor 5 and sonar sensor 6, it is possible to appropriately turn off the laser light source 2 while maintaining detection accuracy when a human H enters the irradiation range E1 of the laser light L without being affected by the external environment.

[0061] The present invention is not necessarily limited to the above-described embodiment, and various modifications can be made without departing from the spirit of the present invention.

[0062] Specifically, in the above embodiment, a configuration in which the laser irradiation device 1 is installed on the door mirror 101 of the vehicle 100 is exemplified, but it is also possible to configure the laser irradiation device 1 to be installed, for example, around the door, on the side, on the top or bottom of the vehicle 100.

[0063] In addition, in the above embodiment, the detection ranges E2 of the IR sensor 5 and sonar sensor 6 that constitute the human detection unit 7 are approximately the same range, but the detection ranges E2 do not necessarily have to coincide, and there may be a deviation in the detection range E2 of several centimeters to several tens of centimeters.

[0064] 7, the laser irradiation device 1 may be configured such that the IR sensor 5 reacts in a detection range E3 surrounding the irradiation range E1 of the laser light L, and the sonar sensor 6 reacts in a detection range E4 surrounding the detection range E3 of the IR sensor 5. That is, FIG. 7 shows a case in which the detection range E4 of the sonar sensor 6 is wider than the detection range E3 of the IR sensor 5.

[0065] The three-dimensional detection range E3 of the IR sensor 5 is set so as to surround the three-dimensional irradiation range E1 of the laser light L, but it may be set so as to surround at least the three-dimensional scanning range of the laser light L. This makes it possible to prevent the person H from looking directly at the laser light L even if the person H should happen to look into the light source unit 4, by causing the IR sensor 5 to react.

[0066] In addition, since an IR sensor 5 having a detection range E3 equivalent to the detection range E4 of the sonar sensor 6 is relatively expensive, it is possible to reduce costs by using an IR sensor 5 having a detection range E3 narrower than the detection range E4 of the sonar sensor 6.

[0067] On the other hand, by setting the three-dimensional detection range E4 of the sonar sensor 6 broadly so as to surround the three-dimensional detection range E3 of the IR sensor 5, it is possible to create a safer eye-safe system since it can react quickly to a person H who suddenly appears on the road on a bicycle or motorcycle, for example.

[0068] Furthermore, the three-dimensional detection range E3 of the IR sensor 5 does not need to completely surround the three-dimensional irradiation range E1 of the laser light L. For example, even if it does not surround a portion of the irradiation range E1 on the vehicle 100 side, there will be no adverse effect on the human detection unit 7 because a human H will not approach from the vehicle 100 side.

[0069] In addition, in the above embodiment, a laser irradiation device 1 mounted on a vehicle 100 is exemplified, but the above laser irradiation device 1 can also be applied to a road surface drawing device that is installed on a street light 200 as shown in Figure 8, and draws the road surface while irradiating laser light L toward the road surface T.

[0070] Furthermore, the laser irradiation device to which the present invention is applied is not limited to the case where drawing is performed on the road surface T described above, but can also be applied to drawing devices that draw on, for example, wall surfaces or screens.

[0071] Furthermore, the laser irradiation device to which the present invention is applied is not limited to the above-mentioned drawing device, but can also be applied to lighting devices such as vehicle lamps that use a laser light source to irradiate illumination light onto a road surface T, etc. [Explanation of symbols]

[0072] 1...Laser irradiation device 2...Laser light source 3...MEMS mirror 4...Light source section 5...IR sensor (optical sensor) 6...Sonar sensor (sound wave sensor) 7...Human detection section 8...Lighting control section 50...Illuminance sensor 100...Vehicle 101...Door mirror 200...Street light E1...Irradiation range E2...Detection range L...Laser light H...Human T...Road surface

Claims

1. a light source unit including a laser light source that irradiates a laser beam toward a specific irradiation range; A lighting control unit that controls lighting of the laser light source; a human presence detection unit that detects the presence of a human within the irradiation range of the laser light, The human detection unit includes an optical sensor and an acoustic sensor. The laser irradiation device is characterized in that the lighting control unit controls the laser light source to be turned off when either the optical sensor or the sonic sensor reacts.

2. 2. The laser irradiation device according to claim 1, wherein the human detection unit stops detection by the optical sensor when an external light illuminance in the irradiation range of the laser light exceeds a threshold value.

3. 2. The laser irradiation device according to claim 1, wherein the optical sensor and the sonic sensor react within a detection range surrounding an irradiation range of the laser light.

4. 4. The laser irradiation device according to claim 3, wherein the optical sensor and the sonic sensor react within a detection range surrounding a scanning range of the laser light.

5. 5. The laser irradiation device according to claim 4, wherein the sonic sensor reacts within a detection range surrounding the detection range of the optical sensor.

6. 2. The laser irradiation device according to claim 1, wherein the optical sensor is an IR sensor, and the acoustic sensor is a sonar sensor.

7. 2. The laser irradiation device according to claim 1, wherein the light source unit includes a MEMS mirror that performs drawing within the irradiation range while scanning the laser light emitted from the laser light source.

8. It is mounted on a vehicle, 2. The laser irradiation device according to claim 1, wherein the light source unit irradiates the laser light emitted from the laser light source toward a road surface.

9. a light source unit including a laser light source that irradiates a laser beam toward a specific irradiation range; A lighting control unit that controls lighting of the laser light source; an optical sensor and an acoustic sensor for detecting the presence of a human within the irradiation range of the laser light; An external light illuminance unit that detects the surrounding environment; a driver position detection unit that detects whether a driver is in the vehicle; In a laser irradiation device comprising: A first step of turning on the MEMS mirror; A second step of detecting whether the threshold value of the ambient light illuminance is exceeded; a third step in which the lighting control unit turns off the laser light source and stops drawing on the road surface when either the optical sensor or the sonic wave sensor reacts; a fourth step of detecting that a driver is present in the vehicle; A method for controlling a laser irradiation device, comprising a fifth step of turning off the MEMS mirror drive when it is determined that the driver is inside the vehicle.

10. 10. The method for controlling a laser irradiation device according to claim 9, wherein in the third step, when the external light illuminance in the irradiation range of the laser light exceeds a threshold value, detection by the optical sensor is stopped.

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