Control device and control method

Abstract

To accurately detect an object on a road.SOLUTION: A control device comprises a control unit. Based on information indicating a road area, the control unit sets a first irradiated area where electromagnetic waves are emitted and an area where electromagnetic waves are not emitted, for the ranging device that emits electromagnetic waves and detects waves reflected by an object to measure a distance to the object.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present disclosure relates to a control device and a control method. [Background technology]

[0002] There is known a technology for detecting objects such as fallen objects on a road (for example, Patent Document 1). The road monitoring device described in Patent Document 1 includes an imaging unit that captures images of at least the front or rear direction of a vehicle and sequentially outputs the captured image data, and a discrimination unit that discriminates, based on the captured image data, whether or not a predetermined monitored object is included in an image corresponding to the captured image data. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2016-151887 A Summary of the Invention [Problem to be solved by the invention]

[0004] It is desirable to detect objects on the road with high accuracy.

[0005] In view of the above, an object of the present disclosure is to detect objects on a road with high accuracy. [Means for solving the problem]

[0006] A control device according to an embodiment of the present disclosure includes: The distance measuring device, which emits electromagnetic waves and detects the reflected waves of the electromagnetic waves reflected by an object to measure the distance to the object, is equipped with a control unit that sets a first emission area in which the electromagnetic waves are emitted and an area in which the electromagnetic waves are not emitted based on information indicating the area of ​​a road.

[0007] A control method according to an embodiment of the present disclosure includes: The method includes setting a first emission area in which the electromagnetic waves are emitted and an area in which the electromagnetic waves are not emitted in a distance measuring device that emits electromagnetic waves and detects the reflected waves of the electromagnetic waves reflected by an object to measure the distance to the object, based on information indicating an area of ​​a road. Effect of the Invention

[0008] According to an embodiment of the present disclosure, objects on a road can be detected with high accuracy. [Brief description of the drawings]

[0009] [Figure 1] FIG. 1 is a diagram showing a schematic configuration of a detection system according to an embodiment of the present disclosure. [Diagram 2] FIG. 2 is a block diagram of the detection system shown in FIG. [Diagram 3] FIG. 2 is a diagram showing an example of a captured image. [Figure 4] FIG. 2 is a diagram showing an example of a captured image. [Diagram 5] 10 is a flowchart illustrating an example procedure of an object detection process according to an embodiment of the present disclosure. [Figure 6] FIG. 13 is a diagram showing a scanning range according to a comparative example. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings.

[0011] (Detection system configuration) As shown in Fig. 1, the detection system 1 is mounted on a moving object 2. The moving object 2 is, for example, a vehicle. However, the moving object 2 may be any object capable of traveling on a road. As another example, the moving object 2 may be a motorcycle, or a robot such as a bicycle AGV (Automated Guided Vehicle) or AMR (Autonomous Mobile Robot).

[0012] The detection system 1 can detect objects on a road ahead of the moving object 2. In this embodiment, the ahead direction of the moving object 2 is the same direction as the traveling direction of the moving object 2.

[0013] 1 and 2, the detection system 1 includes a distance measuring device 10, an imaging device 20, and a control device 30. The distance measuring device 10, the imaging device 20, and the control device 30 can communicate with each other via a communication line. The control device 30 does not need to be mounted on the moving object 2. In this case, the control device 30 may be configured to be able to communicate with the distance measuring device 10 and the imaging device 20 mounted on the moving object 2 via a network or the like.

[0014] The distance measuring device 10 includes, for example, a LiDAR (Light Detection And Ranging). The LiDAR includes, for example, a laser light source that emits electromagnetic waves, an optical system, and a detector that detects the electromagnetic waves. The electromagnetic waves are, for example, infrared rays, visible light, ultraviolet rays, or radio waves.

[0015] The distance measuring device 10 measures the distance to an object, for example, by a ToF (Time of Flight) method. For example, the distance measuring device 10 radiates electromagnetic waves into the real space around the distance measuring device 10. The electromagnetic waves radiated by the distance measuring device 10 are reflected by the object and return to the distance measuring device 10 as reflected waves. The distance measuring device 10 detects the electromagnetic waves reflected by the object and return, i.e., the reflected waves, from the radiated electromagnetic waves. The distance measuring device 10 measures the distance to the object by directly measuring the time from radiating the electromagnetic waves to detecting the reflected waves of the radiated electromagnetic waves.

[0016] In this embodiment, the distance measuring device 10 scans a scanning range set by the control device 30 with electromagnetic waves. The distance measuring device 10 can generate distance information indicating the distance between the distance measuring device 10 and an object that reflects the electromagnetic waves (reflection point) by detecting the reflected waves of the electromagnetic waves while scanning the scanning range with the electromagnetic waves. The distance measuring device 10 may generate a distance image from the generated distance information. The distance image includes multiple pixels. The pixel value of each pixel of the distance image corresponds to the distance indicated by one piece of distance information. Here, one distance image is obtained by scanning the scanning range once with electromagnetic waves. When the distance measuring device 10 scans the scanning range multiple times with electromagnetic waves as described later, it may generate one distance image by calculating an average value of the distances. The distance measuring device 10 transmits data of the generated distance image to the control device 30.

[0017] The imaging device 20 includes an imaging optical system and an imaging element. The imaging device 20 can generate a captured image by capturing an image of a real space around the imaging device 20. In this embodiment, the imaging device 20 is mounted on the moving body 2 so as to capture an image of the real space in the forward direction of the moving body 2, for example. The imaging device 20 generates a captured image by capturing an image of the real space in the forward direction of the moving body 2. The imaging device 20 may generate a captured image at any frame rate. The imaging device 20 transmits data of the generated captured image to the control device 30.

[0018] The optical axis of the imaging device 20 and the optical axis of the distance measuring device 10 may coincide. For example, the optical axis of the imaging optical system of the imaging device 20 and the optical axis of the LiDAR optical system of the distance measuring device 10 may coincide. In this case, a part of the imaging optical system of the imaging device 20 and a part of the LiDAR optical system of the distance measuring device 10 may be common. When a part of the imaging optical system and a part of the LiDAR optical system are common, the imaging device 20 and the distance measuring device 10 may be configured as one device. In this case, the imaging device 20 and the distance measuring device 10 may be configured as described in JP 2018-132384 A.

[0019] The control device 30 is, for example, a computer. The control device 30 may be any computer, such as a general-purpose computer, a workstation, or a dedicated computer.

[0020] As shown in FIG. 2, the control device 30 includes a communication unit 31, an output unit 32, a storage unit 33, and a control unit .

[0021] The communication unit 31 includes at least one communication module capable of communicating with the distance measuring device 10 and the imaging device 20 via a communication line. The communication module is a communication module compatible with the standard of the communication line. The communication line includes at least one of a wired line and a wireless line.

[0022] The communication unit 31 may be configured to include at least one communication module capable of communicating with other systems of the mobile object 2. The communication module is a communication module compatible with a communication standard between the control device 30 and the other systems. The communication standard is, for example, a standard such as CAN (Controller Area Network).

[0023] The output unit 32 is capable of outputting data. The output unit 32 is configured to include at least one output interface capable of outputting data. The output interface is, for example, a display. When the moving object 2 is a vehicle, the display may be disposed on the dashboard of the vehicle. The output unit 32 may be configured to include a device capable of outputting information to an external storage medium.

[0024] The storage unit 33 includes at least one semiconductor memory, at least one magnetic memory, at least one optical memory, or a combination of at least two of these. The semiconductor memory is, for example, a random access memory (RAM) or a read only memory (ROM). The RAM is, for example, a static random access memory (SRAM) or a dynamic random access memory (DRAM). The ROM is, for example, an electrically erasable programmable read only memory (EEPROM). The storage unit 33 may function as a main storage device, an auxiliary storage device, or a cache memory. The storage unit 33 stores data used in the operation of the control device 30 and data obtained by the operation of the control device 30.

[0025] The control unit 34 includes at least one processor, at least one dedicated circuit, or a combination of these. The processor is, for example, a general-purpose processor such as a CPU (Central Processing Unit) or a GPU (Graphics Processing Unit), or a dedicated processor specialized for a specific process. The dedicated circuit is, for example, an FPGA (Field-Programmable Gate Array) or an ASIC (Application Specific Integrated Circuit). The control unit 34 executes processes related to the operation of the control device 30 while controlling each part of the control device 30.

[0026] The control unit 34 receives data of the captured image generated by the imaging device 20 from the imaging device 20 via the communication unit 31. The captured image may show a road ahead of the moving object 2. The control unit 34 detects the road area ahead of the moving object 2 by executing image processing on the received captured image. In this embodiment, the control unit 34 obtains the road area by detecting the road area. The size of the road area ahead of the moving object 2 detected by the control unit 34 may be set based on the average speed of the moving object 2. When the road shown in the captured image includes multiple driving lanes, the control unit 34 may detect the area ahead of the driving lane in which the moving object 2 is driving as the road area ahead of the moving object 2.

[0027] For example, the control unit 34 receives data of a captured image 40 as shown in FIG. 3 from the imaging device 20. The captured image 40 includes an image 41 of a road ahead of the moving body 2. As can be seen from this image 41, the road ahead of the moving body 2 is a two-lane road on one side, and includes two travel lanes that can be traveled in the traveling direction of the moving body 2. Of these two travel lanes, the moving body 2 travels in the right travel lane in the forward direction of the moving body 2. The control unit 34 detects a forward area 42 of the right travel lane on which the moving body 2 travels, out of the two travel lanes, as the road area ahead of the moving body 2. As an example, the control unit 34 may detect the shape of the lane on which the moving body 2 travels by detecting two white lines, i.e., a white line 43 and a white line 44, which are road dividing lines included in the captured image 40, and a vanishing point 45 on the white line 43 and the white line 44, and detect the forward area 42. The white line 43 is the white line closest to the moving body 2 on the left side as the moving body 2 faces forward. The white line 44 is the white line closest to the moving body 2 on the right side as the moving body 2 faces forward. The control unit 34 may also set the forward area 42 based on the average speed at which the moving body 2 travels in the right driving lane.

[0028] For example, the control unit 34 receives data of a captured image 50 as shown in FIG. 4 from the imaging device 20. The captured image 50 includes an image 51 of a road ahead of the moving body 2. As can be seen from this image 51, the road ahead of the moving body 2 curves at a distance from the moving body 2. The road ahead of the moving body 2 includes two driving lanes. Of these two driving lanes, the moving body 2 travels in the right driving lane in the forward direction of the moving body 2. The control unit 34 detects a forward area 52 of the right driving lane in which the moving body 2 travels, out of the two driving lanes, as the road area ahead of the moving body 2. As an example, the control unit 34 may detect the forward area 52 by detecting two white lines, i.e., a white line 53 and a white line 54, and a vanishing point 55 on the white line 53 and the white line 54, from the captured image 50. The white line 53 is the white line closest to the moving body 2 on the left side in the forward direction of the moving body 2. The white line 54 is the white line closest to the moving object 2 on the right side when looking forward from the moving object 2 .

[0029] The road area ahead of the moving object 2 detected by the control device 30 is not limited to the examples shown in Fig. 3 and Fig. 4. As another example, when the control unit 34 detects a tunnel ahead of the moving object 2 by executing image processing on the captured image, the control unit 34 may detect the road area ahead of the moving object 2 such that the road near the entrance of the tunnel is included in the road area ahead of the moving object 2.

[0030] The control unit 34 sets a scanning range (first emission area) and a non-scanning area (area where electromagnetic waves are not emitted) based on the road area (information indicating the area of ​​the road) acquired as a detection result. The control unit 34 may set the scanning range so that the road area is included in the scanning range. When setting the scanning range, the control unit 34 may set the road area to be included in the scanning range, for example, by using a road dividing line that is a boundary of the detected road area.

[0031] For example, in FIG. 3, the control unit 34 sets a scanning range 46 (first radiation area). The scanning range 46 is hatched. The scanning range 46 includes the front area 42. The horizontal width of the scanning range 46 is narrower than the horizontal width of the range 47. The scanning range 46 is included in the range 47. The range 47 is the default scanning range (second radiation area) of the distance measuring device 10. Of the range 47, the range that does not include the scanning range 46 (the area where electromagnetic waves are not emitted) is hatched differently from the scanning range 46. The vertical width of the scanning range 46 is the same as the vertical width of the range 47. However, the vertical width of the scanning range 46 may be narrower than the vertical width of the range 47.

[0032] For example, in FIG. 4, the control unit 34 sets a scanning range 56 (first emission region). The scanning range 56 is hatched. The scanning range 56 includes the front region 52. The horizontal width of the scanning range 56 is narrower than the horizontal width of the range 57. The scanning range 56 is included in the range 57. The range 57 is the default scanning range (second emission region) of the distance measuring device 10. Of the range 57, the range that does not include the scanning range 56 (the area where electromagnetic waves are not emitted) is hatched differently from the scanning range 56. The vertical width of the scanning range 56 is the same as the vertical width of the range 57. However, the vertical width of the scanning range 56 may be narrower than the vertical width of the range 57.

[0033] When the control unit 34 sets the scanning range, it sets the number of scans (first number of radiations) that the distance measuring device 10 scans the scanning range with electromagnetic waves within a predetermined unit period based on, for example, the area of ​​the scanning range. Here, the predetermined unit period is, for example, the time (one frame) required for the distance measuring device 10 to scan the default scanning range. The number of scans is the number of times that the distance measuring device 10 scans the scanning range with electromagnetic waves within the predetermined unit period. The control unit 34 makes the number of scans when the distance measuring device 10 scans only the set scanning range different from the number of scans (second number of radiations) when the distance measuring device 10 scans the default scanning range. The control unit 34 sets the number of scans so that the number of scans (first number of radiations) is multiple based on the area of ​​the scanning range. For example, in LiDAR, an upper limit value of the amount of electromagnetic waves that can be irradiated per unit area and unit time is set in consideration of harm to human eyes. The control unit 34 may set the number of scans based on the upper limit of the amount of electromagnetic waves that can be irradiated per unit area and unit time, and the area of ​​the scanning range. The control unit 34 may also set the number of scans (first number of radiations) based on the proportion of the scanning range (first radiation region) in the default scanning range (second radiation region). Here, in FIG. 3, the area of ​​the scanning range 46 is smaller than the area of ​​the range 47 that is the default scanning range. Therefore, when the number of scans of the scanning range 46 and the range 47 are set based on the upper limit of the amount of electromagnetic waves that can be irradiated per unit area and unit time, the number of scans of the scanning range 46 becomes larger than the number of scans of the range 47. By increasing the number of scans of the scanning range 46, the amount of noise included in the distance image acquired from the scanning range 46 can be reduced. The control unit 34 may set the number of scans of the scanning range (first radiation region) to be larger as the area of ​​the scanning range (first radiation region) in the default scanning range (second radiation region) or the proportion of the area is smaller.

[0034] The control unit 34 transmits a control signal indicating the set scanning range and number of scans to the distance measuring device 10 via the communication unit 31. Upon receiving this control signal, the distance measuring device 10 generates a distance image by scanning the scanning range with electromagnetic waves the number of scans based on the control signal. The distance measuring device 10 transmits data of the generated distance image to the control device 30.

[0035] The control unit 34 receives distance image data from the distance measuring device 10 via the communication unit 31. The control unit 34 detects an object on the road based on the received distance image. For example, the control unit 34 detects a plurality of pixels that are consecutively arranged in the distance image and have a constant distance from the distance measuring device 10. If an object corresponding to the detected plurality of pixels extends vertically from the ground, the control unit 34 detects the object corresponding to the detected plurality of pixels as an object on the road. The control unit 34 may also detect the distance from the distance measuring device 10 to the detected object based on the distance image.

[0036] The control unit 34 causes the output unit 32 to output information about the detected object on the road. As one example, the control unit 34 may cause the output unit 32 to display the information about the detected object on the road on a display. As another example, the control unit 34 may cause the output unit 32 to output the information about the detected object on the road to an external storage medium.

[0037] Fig. 5 is a flowchart showing an example of the procedure of an object detection process according to an embodiment of the present disclosure. The object detection process shown in Fig. 5 corresponds to an example of a control method according to the present embodiment. For example, when the moving object 2 starts moving, the control unit 34 starts the object detection process. The control unit 34 may detect that the moving object 2 has started moving by communicating with another system of the moving object 2 via the communication unit 31.

[0038] The control unit 34 receives data of a captured image generated by the imaging device 20 from the imaging device 20 via the communication unit 31 (step S1). The control unit 34 detects a road area ahead of the moving object 2 by performing image processing on the captured image received in the processing of step S1 (step S2).

[0039] The control unit 34 sets a scanning range based on the road area detected in the process of step S2 (step S3). The control unit 34 sets the number of scans based on the area of ​​the scanning range set in the process of step S3 (step S4).

[0040] The control unit 34 transmits a control signal indicating the set scanning range and the number of scans to the distance measuring device 10 via the communication unit 31 (step S5).

[0041] The control unit 34 receives the distance image data from the distance measuring device 10 via the communication unit 31 (step S6). The control unit 34 detects objects on the road based on the distance image received in the process of step S6 (step S7).

[0042] After the process of step S7, the control unit 34 returns to the process of step S1. When repeatedly executing the processes of steps S1 to S7, the control unit 34 ends the object detection process, for example, when the moving object 2 stops. The control unit 34 may detect that the moving object 2 has stopped moving by communicating with another system of the moving object 2 via the communication unit 31.

[0043] In this manner, in the control device 30 according to this embodiment, the control unit 34 detects the road area in the forward direction of the moving object 2. Based on the road area (information indicating the area of ​​the road) acquired as a detection result, the control unit 34 sets a scanning range (first emission area) and a non-scanning range (area where electromagnetic waves are not emitted).

[0044] Here, as a comparative example, a case where the scanning range is set regardless of the road area in the forward direction of the moving object 2 is considered. FIG. 6 shows a scanning range 58 according to the comparative example. The scanning range 58 is fixed. That is, the scanning range 58 is set regardless of the road area in the forward direction of the moving object 2. In FIG. 6, the road curves far from the moving object 2, as in FIG. 4. When the road curves far from the moving object 2 in this way, the forward area 59 is not included in the scanning range 58. The forward area 59 is a part of the forward area 52 shown in FIG. 4. Since the forward area 59 is not included in the scanning range 58, the distance image acquired from the scanning range 58 does not include information on the forward area 59. Since the distance image does not include information on the forward area 59, the comparative example cannot detect objects in the forward area 59.

[0045] In contrast to such a comparative example, in this embodiment, the scanning range of the distance measuring device 10 is set based on the road area in the forward direction of the mobile object 2. Therefore, even if the road curves far from the mobile object 2 as shown in FIG. 4, the scanning range 56 can include the forward area 52. The forward area 52 includes the forward area 59 shown in FIG. 6. Therefore, unlike the comparative example, in this embodiment, an object in the forward area 59 as shown in FIG. 6 can be detected. In other words, in this embodiment, by setting the scanning range of the distance measuring device 10 based on the road area in the forward direction of the mobile object 2, an object on the road can be detected with high accuracy.

[0046] In this embodiment, the distance measuring device 10 scans the scanning range multiple times within a given unit time. By having the distance measuring device 10 scan the scanning range multiple times, the amount of noise contained in the distance image acquired from the scanning range can be reduced. Also, by having the distance measuring device 10 scan the scanning range multiple times, the distance image acquired from the scanning range is less susceptible to the influence of the shaking of the moving object 2 even when the moving object 2 is traveling. With this configuration, objects on the road can be detected with high accuracy.

[0047] Therefore, according to this embodiment, objects on the road can be detected with high accuracy.

[0048] Furthermore, in this embodiment, the control unit 34 may set the number of scans (first radiation count) that the distance measuring device 10 scans the scanning range with electromagnetic waves within a predetermined unit period based on the area of ​​the set scanning range. The control unit 34 may set the number of scans (first radiation count) based on the ratio of the scanning range (first radiation area) to the default scanning range (second radiation area). The control unit 34 may set the number of scans of the distance measuring device 10 to be larger as the ratio is smaller. By setting the number of scans of the distance measuring device 10 to be larger, the amount of noise contained in the distance image acquired from the scanning range can be further reduced. In addition, the distance image acquired from the scanning range is less susceptible to the influence of the shaking of the moving object 2 even when the moving object 2 is traveling.

[0049] In addition, in this embodiment, when the road shown in the captured image includes multiple driving lanes, the control unit 34 may detect, as the road area, the area ahead of the driving lane on which the moving object 2 is traveling among the multiple driving lanes. By detecting, as the road area, the area ahead of the driving lane on which the moving object 2 is traveling among the multiple driving lanes, the area of ​​the set scanning range can be made smaller than, for example, when detecting all of the areas ahead of the multiple driving lanes as the road area. By reducing the area of ​​the set scanning range, the number of scans of the distance measuring device 10 can be set to be large.

[0050] In this embodiment, the optical axis of the imaging device 20 and the optical axis of the distance measuring device 10 may coincide. By making the optical axis of the imaging device 20 and the optical axis of the distance measuring device 10 coincide, it is possible to reduce an occlusion area between the imaging device 20 and the distance measuring device 10. An occlusion area is an area of ​​one of the captured image and the distance image that is captured or detected, but not captured or detected in the other. By reducing the occlusion area, it is possible to set the scanning range of the distance measuring device 10 with high accuracy based on the road area in the forward direction of the moving object 2 detected based on the captured image generated by the imaging device 20.

[0051] Although the present disclosure has been described based on the drawings and examples, it should be noted that a person skilled in the art can easily make various modifications or corrections based on the present disclosure. Therefore, it should be noted that these modifications or corrections are included in the scope of the present disclosure. For example, the functions, etc. included in each functional unit can be rearranged so as not to be logically inconsistent. Multiple functional units, etc. may be combined into one or divided. Each embodiment according to the present disclosure described above is not limited to being implemented faithfully to each of the embodiments described respectively, and may be implemented by combining each feature as appropriate or omitting a part. In other words, the contents of the present disclosure can be modified and corrected in various ways by a person skilled in the art based on the present disclosure. Therefore, these modifications and corrections are included in the scope of the present disclosure. For example, in each embodiment, each functional unit, each means, each step, etc. can be added to other embodiments so as not to be logically inconsistent, or replaced with each functional unit, each means, each step, etc. of other embodiments. In addition, in each embodiment, multiple functional units, each means, each step, etc. can be combined into one or divided. Furthermore, each of the above-described embodiments of the present disclosure is not limited to being implemented faithfully according to each of the described embodiments, but may be implemented by combining each feature or omitting some features as appropriate.

[0052] For example, in the above embodiment, the control unit 34 detects an object on the road based on a distance image as data acquired by the distance measuring device 10 scanning the scanning range multiple times with electromagnetic waves. However, the data acquired by the distance measuring device 10 scanning the scanning range multiple times with electromagnetic waves is not limited to a distance image. As another example, the data acquired by the distance measuring device 10 scanning the scanning range multiple times with electromagnetic waves may be point cloud data. That is, the distance measuring device 10 may generate point cloud data by scanning the scanning range multiple times with electromagnetic waves. The point cloud data is data in which the positions in the three-dimensional space of objects existing around the distance measuring device 10 are associated with distance information from the distance measuring device 10 to the object. The distance measuring device 10 may transmit the generated point cloud data to the control device 30. In this case, in the control device 30, the control unit 34 may receive the point cloud data from the distance measuring device 10 by the communication unit 31. The control unit 34 detects an object on the road based on the received point cloud data.

[0053] In one embodiment, (1) the control device comprises: The distance measuring device, which emits electromagnetic waves and detects the reflected waves of the electromagnetic waves reflected by an object to measure the distance to the object, is equipped with a control unit that sets a first emission area in which the electromagnetic waves are emitted and an area in which the electromagnetic waves are not emitted based on information indicating the area of ​​a road.

[0054] (2) In the control device of (1) above, The control unit may acquire the information based on a shape of a lane on the road along which a moving object is traveling.

[0055] (3) In the control device of (1) or (2) above, The control unit may acquire the information based on a captured image including an area of ​​the road captured by an imaging device.

[0056] (4) In the control device of (3) above, The control unit may acquire the first radiation area based on a dividing line of the road included in the captured image.

[0057] (5) In the control device according to any one of (1) to (4) above, the first radiation area is a part of a second radiation area from which the distance measuring device can radiate the electromagnetic wave, The control device may differentiate a first number of radiations, which is the number of radiations when the distance measuring device is caused to radiate the electromagnetic wave only to the first radiation area, from a second number of radiations, which is the number of radiations when the distance measuring device is caused to radiate the electromagnetic wave to the first radiation area and the second radiation area, within a predetermined unit time.

[0058] (6) In the control device of (5) above, The control device may set the first number of radiations to be greater than the second number of radiations.

[0059] (7) In the control device of (5) or (6) above, The control device may set the first number of times of emission based on a ratio of the first emission region to the second emission region.

[0060] (8) In the control device of (7) above, The control device may increase the first number of emissions as the ratio decreases.

[0061] (9) In the control device according to (3) or (4) to (8) which are dependent on (3), The distance measuring device and the imaging device may be mounted on a moving object.

[0062] In one embodiment, the control method (10) includes: The method includes setting a first emission area in which the electromagnetic waves are emitted and an area in which the electromagnetic waves are not emitted in a distance measuring device that emits electromagnetic waves and detects the reflected waves of the electromagnetic waves reflected by an object to measure the distance to the object, based on information indicating an area of ​​a road.

[0063] In this disclosure, descriptions such as "first" and "second" are identifiers for distinguishing the configuration. Configurations distinguished by descriptions such as "first" and "second" in this disclosure may have their numbers exchanged. For example, the first radiation region may exchange identifiers "first" and "second" with the second radiation region. The exchange of identifiers is performed simultaneously. The configurations remain distinguished even after the exchange of identifiers. The identifiers may be deleted. A configuration from which an identifier has been deleted is distinguished by a symbol. The descriptions of identifiers such as "first" and "second" in this disclosure should not be used solely to interpret the order of the configurations or to justify the existence of an identifier with a smaller number. [Explanation of symbols]

[0064] 1. Detection System 2. Mobile 10 Ranging device 20 Imaging device 30 Control device 31 Communications Department 32 Output section 33 Storage section 34 Control section 40,50 Captured images 41,51 Images 42,52 Anterior area 43,44,53,54 White lines 45,55 vanishing point 46,56 Scanning range 47,57 range

Claims

1. A control device is provided in a distance measuring device that emits electromagnetic waves and detects reflected waves of the electromagnetic waves from an object to measure the distance to the object, the control device being configured to set a first emission area in which the electromagnetic waves are emitted and an area in which the electromagnetic waves are not emitted based on information indicating an area of ​​a road.

2. The control device according to claim 1 , wherein the control unit acquires the information based on a shape of a lane on the road along which a moving object moves.

3. The control device according to claim 1 , wherein the control unit acquires the information based on a captured image including an area of ​​the road captured by an imaging device.

4. The control device according to claim 3 , wherein the control unit acquires the first radiation area based on a dividing line of the road included in the captured image.

5. the first radiation area is a part of a second radiation area from which the distance measuring device can radiate the electromagnetic wave, 2. The control device according to claim 1, wherein the control device differentiates a first radiation count, which is a radiation count when the distance measuring device radiates the electromagnetic wave only to the first radiation area, from a second radiation count, which is a radiation count when the distance measuring device radiates the electromagnetic wave to the first radiation area and the second radiation area, within a predetermined unit time.

6. The control device according to claim 5 , wherein the control device sets the first number of times of radiation to be greater than the second number of times of radiation.

7. The control device according to claim 6 , wherein the control device sets the first number of times of emission based on a ratio of the first emission region to the second emission region.

8. The control device according to claim 7 , wherein the control device increases the first number of emissions as the ratio decreases.

9. The control device according to claim 3 , wherein the distance measuring device and the imaging device are mounted on a moving body.

10. A control method including setting a first emission area in which the electromagnetic waves are emitted and an area in which the electromagnetic waves are not emitted in a distance measuring device that emits electromagnetic waves and detects the reflected waves of the electromagnetic waves reflected by an object to measure the distance to the object, based on information indicating an area of ​​a road.

Images