Control device, laser radar device, control method, program, on-vehicle system, and mobile device

Abstract

To provide a control device for achieving a laser radar device that is small-sized and can perform object detection and distance measurement in a wide range.SOLUTION: A control device is to control a laser radar device comprising a scanning unit that deflects a laser beam from a light source to scan an object and deflects reflected light from the object, and a detection unit that detects the reflected light, and is to acquire information on the object based on output from the detection unit, and the control device has: an output control unit that supplies a first signal to the light source to cause the light source to emit a first laser beam with a first output value, and supplies a second signal to the light source to cause the light source to emit a second laser beam with a second output value smaller than the first output value; and an acquisition unit that, when the first laser beam is emitted, acquires information on an object within a first scan range of the scanning unit, and when the second laser beam is emitted, acquires information on an object within a second scan range closer to the scanning unit than the first scan range.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a control device, a laser radar device, a control method, a program, an in-vehicle system, and a mobile device. [Background technology]

[0002] 2. Description of the Related Art Conventionally, laser radar devices are known that detect objects and measure distances by irradiating an object with laser light and detecting light reflected from the object.

[0003] Patent Document 1 discloses a configuration in which a laser beam is split into a plurality of laser beams with different intensities, and the intensities of the plurality of laser beams are controlled. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 3156690 Summary of the Invention [Problem to be solved by the invention]

[0005] However, the configuration of Patent Document 1 requires an optical member for splitting one laser beam into multiple laser beams with different intensities, multiple scanning mechanisms for scanning the multiple laser beams, and a control mechanism for selectively emitting the multiple laser beams.

[0006] An object of the present invention is to provide a control device for realizing a laser radar device that is small and capable of detecting objects and measuring distances over a wide range from long distances to short distances. [Means for solving the problem]

[0007] The mobile body of the present invention is a mobile body having a laser radar device, the laser radar device having a scanning unit that deflects laser light from a light source to scan an object and also deflects reflected light from the object, a detection unit that detects the reflected light, and a control device for acquiring information about the object based on an output from the detection unit, the scanning unit scans by gradually increasing the scan angle until it reaches a maximum value and then gradually decreasing the scan angle until it reaches a minimum value, the control device having an output control unit that causes the light source to emit a first laser light of a first output value by supplying a signal of a first signal value to the light source, and causes the light source to emit a second laser light of a second output value smaller than the first output value by supplying a signal of a second signal value to the light source smaller than the first output value, when the first laser light is emitted, and and an acquisition unit that acquires information about objects in a first scanning range, which is a range from a minimum value to a maximum value, when a second laser light is emitted, and acquires information about objects in a second scanning range, which is closer to the moving body than the first scanning range and has a scanning angle ranging from a minimum value to a predetermined value, wherein the acquisition unit alternately performs a process of acquiring information about objects in the first scanning range and a process of acquiring information about objects in the second scanning range, and the output control unit causes the light source to supply a second signal while the scanning angle changes from the minimum value to the predetermined value, causes the light source to supply a first signal while the scanning angle changes from the predetermined value to the maximum value, causes the light source to supply the first signal while the scanning angle changes from the maximum value to the predetermined value, and causes the light source to supply the second signal while the scanning angle changes from the predetermined value to the minimum value. [Effects of the Invention]

[0008] According to the present invention, it is possible to provide a control device for realizing a laser radar device that is small and capable of detecting objects and measuring distances over a wide range from long distances to short distances. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a configuration diagram of a laser radar device according to a first embodiment. [Figure 2] 5 is a flowchart showing a control operation by a control unit of the first embodiment. [Figure 3] 3A to 3C are diagrams showing waveforms at various parts in the processes from step S101 to step S105 in FIG. 2. [Figure 4] 3A to 3C are diagrams showing waveforms at various parts in the processes from step S106 to step S109 in FIG. 2. [Figure 5] 3A and 3B are diagrams showing the state in which stray light is incident on the detection unit and the scanning range in step S103 of FIG. 2. [Figure 6] 3A and 3B are diagrams showing the state in which stray light is incident on the detection unit and the scanning range in step S107 in FIG. 2. [Figure 7] FIG. 4 is a diagram showing a scanning range in the first embodiment displayed on a display unit. [Figure 8] FIG. 10 is a configuration diagram of a laser radar device according to a second embodiment. [Figure 9] FIG. 6 is a diagram showing a scanning range of the laser radar device according to the second embodiment. [Figure 10] 10 is a flowchart showing a control operation by a control unit of the second embodiment. [Figure 11] FIG. 10 is a configuration diagram of a laser radar device according to a third embodiment. [Figure 12] 10 is a flowchart showing a control operation by a control unit of the third embodiment. [Figure 13] 13A to 13C are diagrams showing waveforms at various parts in the processing of each step in FIG. 12. [Figure 14] FIG. 1 is a configuration diagram of an in-vehicle system. [Figure 15] FIG. 1 is a schematic diagram of a vehicle (mobile device). [Figure 16] 4 is a flowchart showing an example of the operation of the in-vehicle system. DETAILED DESCRIPTION OF THE INVENTION

[0010] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, 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 designate the same components, and redundant explanations will be omitted. First Embodiment 1 is a configuration diagram of a laser radar device 1 according to this embodiment. The laser radar device 1 includes a control unit (control device) 11, a variable power supply unit 12, a pulse driver 13, a laser emitter (light source) 14, a separator 15, a scanner 16, a detector 17, an amplifier 18, and optical members 111.

[0011] The control unit 11 includes a port for inputting and outputting binary values ​​(high / low) or arbitrary voltage values, a controller having a timer function for measuring time, etc. The control unit 11 also includes an output control unit 11a, an on / off control unit 11b, a scanning control unit 11c, an acquisition unit 11d, and a display control unit 11e.

[0012] The output control unit 11a outputs a signal indicating a control voltage value related to the intensity of laser light emitted from the laser emission unit 14 via the power supply control line 101 to the variable power supply unit 12. In this embodiment, the output control unit 11a outputs a signal indicating a first control voltage value to the variable power supply unit 12 via the power supply control line 101 so that the variable power supply unit 12 supplies a first signal having a first signal value to the laser emission unit 14. When the variable power supply unit 12 supplies the first signal to the laser emission unit 14, the laser emission unit 14 emits a first laser light having a first output value. Furthermore, the output control unit 11a outputs a signal indicating a second control voltage value to the variable power supply unit 12 via the power supply control line 101 so that the variable power supply unit 12 supplies a second signal having a second signal value smaller than the first signal value to the laser emission unit 14. When the variable power supply unit 12 supplies the second signal to the laser emission unit 14, the laser emission unit 14 emits a second laser light having a second output value smaller than the first output value.

[0013] The on / off control unit 11b outputs a pulse waveform signal (pulse signal) for each distance measurement point via a pulse control line 102, and controls the on and off states of the pulse driver 13.

[0014] The scanning control unit 11c outputs a signal indicating a control voltage value relating to the angle of the laser light via the scanning control line 103, and controls the scanning angle θ of the scanning unit 16.

[0015] The acquiring unit 11d receives a signal related to reflected light from a detected object (target object) via the pulse detection line 104, and acquires information related to the object based on the received signal. In this embodiment, when the first laser light is emitted, the acquiring unit 11d acquires information related to the object in a first scanning range of the scanning range of the scanning unit 16. When the second laser light is emitted, the acquiring unit 11d acquires information related to the object in a second scanning range of the scanning range of the scanning unit 16 that is closer to the scanning unit 16 than the first scanning range. Here, acquiring information related to the object includes detecting the object and calculating (measuring) the distance to the object.

[0016] The display control unit 11e causes a display unit (not shown) to display information obtained by combining information about the object in the first scanning range and information about the object in the second scanning range.

[0017] The variable power supply unit 12 varies the voltage and / or current it outputs in response to a signal indicating a control voltage value input via a power supply control line 101.

[0018] The pulse driver 13 is configured with a MOS-FET, a transistor, or the like, and is turned on when the output value of the pulse signal output from the pulse control line 102 exceeds a predetermined threshold voltage, and is turned off when it does not exceed the threshold voltage.

[0019] The laser emission unit 14 is composed of a laser diode or the like, and while the pulse driving unit 13 is in the on state, it emits (pulse-emits) laser light toward the separation unit 15 with an output that corresponds to the magnitude of the voltage and / or current output by the variable power supply unit 12.

[0020] The separation unit 15 is composed of a lens and a mirror, and transmits or reflects at least a part of the laser light emitted from the laser emission unit 14 and emits it toward the scanning unit 16. The separation unit 15 also reflects or transmits at least a part of the reflected light from the object received by the scanning unit 16 and emits it toward the detection unit 17 as detection light.

[0021] The scanning unit 16 has a movable reflective surface such as a motor-driven mirror or an MEMS mirror, and deflects the laser light emitted from the laser emission unit 14 to scan the object, and also deflects the light reflected from the object. Specifically, the scanning unit 16 emits the laser light from the separation unit 15 at a predetermined scanning angle θ in accordance with a signal indicating a control voltage value input via the scanning control line 103, and also emits the reflected light from the object that has been incident at the predetermined scanning angle θ to the separation unit 15.

[0022] The optical member 111 is made of a light-transmitting member such as a lens, and is configured to prevent dust from entering the laser radar device 1 and to enable detection of objects at long distances.

[0023] The detection unit 17 is configured by a photoelectric conversion element such as an APD (avalanche photodiode), and outputs a current in response to the detected light.

[0024] The amplifier 18 converts the current output by the detector 17 into a signal relating to the light reflected from the object at a voltage level that can be recognized by the controller 11, amplifies the signal, and outputs the signal.

[0025] Fig. 2 is a flowchart showing the control operation by the control unit 11 of this embodiment. The flow in Fig. 2 starts when the laser radar device 1 starts operating. Fig. 3 shows waveforms of each unit in each process from step S101 to step S105 in Fig. 2. Fig. 4 is a diagram showing waveforms of each unit in each process from step S106 to step S109 in Fig. 2. In Figs. 3 and 4, the horizontal axis represents time.

[0026] In step S101, the control unit 11 initializes the scanning unit 16. Specifically, the control unit 11 controls the scanning unit 16 so that the scanning angle θ of the scanning unit 16 becomes the minimum value (zero in this embodiment).

[0027] In step S102, the control unit 11 controls the voltage and / or current output by the variable power supply unit 12 to set the output of the laser light emitted from the laser emission unit 14 to a relatively large state (high output).

[0028] In step S103, control unit 11 performs long-distance measurement. Specifically, control unit 11 first emits high-power laser light (first laser light) from laser emission unit 14 via separation unit 15 and scanning unit 16. Next, control unit 11 receives a signal related to the reflected light from the object that has been detected by detection unit 17 and converted and amplified by amplification unit 18. Then, control unit 11 calculates (measures) the distance to the object using the time from when pulse drive unit 13 is controlled to be turned on to when the signal from amplification unit 18 is received.

[0029] In step S104, the control unit 11 determines whether the scanning angle θ of the scanning unit 16 is at its maximum value. If the control unit 11 determines that the scanning angle θ is at its maximum value, the process proceeds to step S106. If the control unit 11 determines that the scanning angle θ is not at its maximum value, the process proceeds to step S105.

[0030] In step S105, the control unit 11 controls the scanning unit 16 so that the scanning angle θ of the scanning unit 16 increases.

[0031] By repeating the processing of steps S103 and S105, the laser emitting unit 14 emits high-power laser light, and object detection and distance measurement can be performed sequentially in the scanning range (first scanning range) 124, which is the long distance within the scanning range of the scanning unit 16.

[0032] When the laser light enters a transparent or reflective member inside the laser radar device 1, a portion of the light may be diffused and become so-called stray light 122, which may then enter the detection unit 17. Since the stray light 122 is larger than the light reflected from a distant object, waveform distortion occurs inside the detection unit 17 and / or the amplification unit 18. As a result, as shown in Fig. 3, a stray light saturation time 121 occurs, during which the output of the amplification unit 18 becomes distorted from the timing at which the laser emission unit 14 emits a pulse. The stray light saturation time 121 becomes longer as the intensity of the stray light 122 increases.

[0033] Fig. 5 is a diagram showing the state in which stray light 122 is incident on the detection unit 17 and the scanning range in step S103 in Fig. 2. During the stray light saturation time 121, it is not possible to detect reflected light from an object, and therefore it is not possible to perform object detection or distance measurement in the corresponding scanning range 123.

[0034] Furthermore, the control unit 11 may control the peak power of the laser light corresponding to a specific pixel according to the intensity of the reflected light from the object, for example, by outputting a dummy pulse signal via the pulse control line 102. Even in this case, the control unit 11 cannot perform control according to the intensity of the reflected light because it cannot detect the reflected light from an object at a short distance corresponding to the stray light saturation time 121.

[0035] In step S106, the control unit 11 controls the voltage and / or current output by the variable power supply unit 12 to set the output of the laser light emitted from the laser emission unit 14 to a relatively small state (low output).

[0036] In step S107, control unit 11 performs short-distance measurement. Specifically, control unit 11 first emits low-power laser light (second laser light) from laser emission unit 14 according to the on state and off state of pulse driver 13 via separation unit 15 and scanning unit 16. Next, control unit 11 receives a signal related to the reflected light from the object that is detected by detection unit 17 and converted and amplified by amplifier 18. Then, control unit 11 calculates (measures) the distance to the object using the time from the time when pulse driver 13 is controlled to be in the on state to the time when the signal from amplifier 18 is received.

[0037] In step S108, the control unit 11 determines whether the scanning angle θ of the scanning unit 16 is at the minimum value. If the control unit 11 determines that the scanning angle θ is at the minimum value, this flow ends. On the other hand, if the control unit 11 determines that the scanning angle θ is not at the minimum value, the process of step S109 is executed.

[0038] In step S109, the control unit 11 controls the scanning unit 16 so that the scanning angle θ of the scanning unit 16 decreases.

[0039] By repeating the processes of steps S107 and S109, the laser emission unit 14 emits low-power laser light, and the stray light saturation time 121 becomes short. Therefore, it becomes possible to sequentially perform object detection and distance measurement in a scanning range (second scanning range) 125, which is a short distance within the scanning range of the scanning unit 16.

[0040] 6 is a diagram showing the state in which stray light 122 is incident on detection unit 17 and the scanning range in step S107 in Fig. 2. In step S107, the output of the laser light emitted from laser emission unit 14 is relatively small, so object detection and distance measurement cannot be performed in scanning range 124, which is a long distance within the scanning range of scanning unit 16. However, as stray light saturation time 121 becomes shorter, the corresponding scanning range 123 is reduced to a very short distance within the scanning range of scanning unit 16, and object detection and distance measurement can be performed in scanning range 125, which is a relatively short distance.

[0041] In this embodiment, by combining the long-distance measurement result acquired in step S103 and the short-distance measurement result acquired in step S107, object detection and distance measurement can be performed over a wide range from short distances to long distances. That is, the scanning range can be combined (expanded). FIG. 7 is a diagram showing the scanning range of this embodiment obtained by combining scanning ranges 124 and 125 displayed on a display unit (not shown) by the display control unit 11e. For example, if it takes 0.1 seconds to perform long-distance measurement and 0.1 seconds to perform short-distance measurement for the scanning range of the scanning unit 16, object detection and distance measurement can be performed five times per second by repeating the process (flow in FIG. 2) every 0.2 seconds. In this way, in this embodiment, the laser radar device 1 repeatedly measures multiple scanning ranges alternately and obtains distance measurement results. This allows for rapid object detection and distance measurement even when an object intrudes over a wide range. <Second embodiment> This embodiment differs from the first embodiment in that the scanning unit is configured to be able to perform biaxial scanning along the X-axis and Y-axis, which are orthogonal to each other. In this embodiment, only the configuration different from the first embodiment will be described, and a detailed description of the common configuration will be omitted.

[0042] Fig. 8 is a configuration diagram of the laser radar device 1 of this embodiment. Fig. 9 is a diagram showing the scanning range of the scanning unit 16 of this embodiment.

[0043] The scanning unit 16 emits laser light at a predetermined scanning angle and receives reflected light from an object at the same scanning angle to perform scanning in the Y-axis direction, while also performing high-speed scanning in the X-axis direction (scanning direction) at multiple scanning angles. To perform scanning in the X-axis direction and the Y-axis direction, the scanning unit 16 of this embodiment has at least two driving means, such as motors. Similar to the first embodiment, scanning in the Y-axis direction is performed by increasing or decreasing the scanning angle θ in response to a signal indicating a control voltage value input via the scanning control line 103. Scanning in the X-axis direction is performed linearly within a predetermined angle range or length in response to a signal indicating a control voltage value input via the second scanning control line 105. This configuration enables object detection and distance measurement within the scanning range 131.

[0044] 10 is a flowchart showing the control operation by the control unit 11 of this embodiment. When the laser radar device 1 starts its operation, the flow of FIG.

[0045] The processes in steps S201 and S202 are similar to those in steps S101 and S102 in FIG. 2, respectively, and therefore will not be described in detail.

[0046] In step S203, the control unit 11 causes the laser emission unit 14 to emit a high-power laser beam, and performs object detection or distance measurement of a plurality of points 132 within a predetermined angle range or length in the X-axis direction. By repeating the process of step S203, object detection and distance measurement can be performed at long distances.

[0047] The processes in steps S204 to S206 are similar to those in steps S104 to S106 in FIG. 2, respectively, and therefore will not be described in detail.

[0048] In step S207, control unit 11 causes laser emission unit 14 to emit a low-power laser beam, and performs object detection or distance measurement of a plurality of points 132 within a predetermined angle range or length in the X-axis direction. By repeating the process of step S207, object detection and distance measurement can be performed at close ranges.

[0049] In this embodiment, by combining the results of long-distance measurement and short-distance measurement, it is possible to perform object detection and distance measurement over a wide range from short distances to long distances in the X-axis direction. <Third embodiment> This embodiment differs from the first embodiment in that different distance measurements (processing of steps S103 and S107) are performed depending on the scanning angle of the scanning unit. Specifically, when the scanning angle of the scanning unit is greater than a predetermined angle, long-distance measurement is performed, and when the scanning angle of the scanning unit is smaller than the predetermined angle, short-distance measurement is performed. In this embodiment, only the configurations that are different from the first embodiment will be described, and detailed description of the common configurations will be omitted.

[0050] 11 is a configuration diagram of a laser radar device 1 of this embodiment. The laser radar device 1 detects objects and measures distances near a measurement surface 126 having a scanning range 125 that is a relatively short distance and a scanning range 124 that is a relatively long distance.

[0051] Fig. 12 is a flowchart showing the control operation by the control unit 11 of this embodiment. When the laser radar device 1 starts operating, the flow of Fig. 12 begins. Fig. 13 shows waveforms of each part, including each part in the processing of each step of Fig. 12. The horizontal axis represents time.

[0052] The processes in steps S301 and S302 are similar to those in steps S101 and S106 in FIG. 2, respectively, and therefore will not be described in detail.

[0053] In step S303, the control unit 11 determines whether the scanning angle of the scanning unit 16 is smaller than a predetermined value. If the control unit 11 determines that the scanning angle is smaller than the predetermined value, the process of step S304 is executed. On the other hand, if the control unit 11 determines that the scanning angle is larger than the predetermined value, the process of step S306 is executed. Note that if the scanning angle is equal to the predetermined value, it is possible to arbitrarily set which step to execute.

[0054] The processes in steps S304 and S305 are similar to those in steps S107 and S105 in FIG. 2, respectively, and therefore will not be described in detail.

[0055] The processes in steps S306 to S309 are similar to the processes in steps S102 to S105 in FIG. 2, respectively, and therefore will not be described in detail.

[0056] In step S310, the control unit 11 determines whether the scanning angle of the scanning unit 16 is smaller than a predetermined value. If the control unit 11 determines that the scanning angle is smaller than the predetermined value, the process of step S311 is executed. On the other hand, if the control unit 11 determines that the scanning angle is larger than the predetermined value, the process of step S315 is executed. Note that if the scanning angle is equal to the predetermined value, it is possible to arbitrarily set which step to execute.

[0057] The processes in steps S311 to S314 are similar to the processes in steps S106 to S109 in FIG. 2, respectively, and therefore will not be described in detail.

[0058] The processes in steps S315 and S316 are similar to those in steps S103 and S109 in FIG. 2, respectively, and therefore will not be described in detail.

[0059] In this embodiment, object detection and distance measurement suitable for scanning range 125, which is a relatively short distance, and scanning range 124, which is a relatively long distance, can be performed when the scanning angle θ of the scanning unit 16 is between approximately zero and the maximum value. [In-vehicle system] Fig. 14 is a configuration diagram of a laser radar device 1 according to each embodiment and an in-vehicle system (driving assistance device) 1000 including the same. The in-vehicle system 1000 is held by a movable body (mobile device) such as an automobile (vehicle), and is a device for assisting driving (piloting) of the vehicle based on distance information of objects such as obstacles and pedestrians around the vehicle acquired by the laser radar device 1. Fig. 15 is a schematic diagram of a vehicle (mobile device) 500 including the in-vehicle system 1000. Fig. 15 shows a case where the ranging range (detection range) of the laser radar device 1 is set in front of the vehicle 500, but the ranging range may also be set behind or to the side of the vehicle 500.

[0060] 14, the in-vehicle system 1000 includes a laser radar device 1, a vehicle information acquisition device 200, a control unit (ECU: Electronic Control Unit) 300, and a warning unit 400. In the in-vehicle system 1000, the control unit 11 included in the laser radar device 1 has the functions of a distance acquisition unit (acquisition unit) and a collision determination unit (determination unit). However, if necessary, the in-vehicle system 1000 may be provided with a distance acquisition unit and a collision determination unit that are separate from the control unit 11, or each may be provided outside the laser radar device 1 (for example, inside the vehicle 500). Alternatively, the control unit 300 may be used as the control unit 11.

[0061] 16 is a flowchart showing an example of the operation of the in-vehicle system 1000. The operation of the in-vehicle system 1000 will be described below with reference to this flowchart.

[0062] First, in step S1, the laser emitter 14 of the laser radar device 1 illuminates an object around the vehicle, and the detector 17 receives the light reflected from the object, and based on the signal output by the detector 17, the controller 11 acquires distance information about the object. Then, in step S2, the vehicle information acquisition device 200 acquires vehicle information including the vehicle speed, yaw rate, steering angle, etc. Then, in step S3, the controller 11 uses the distance information acquired in step S1 and the vehicle information acquired in step S2 to determine whether the distance to the object is within a preset distance range.

[0063] This makes it possible to determine whether or not an object exists within a set distance around the vehicle, and to determine the possibility of a collision between the vehicle and the object. Note that steps S1 and S2 may be performed in the reverse order to the above, or may be performed in parallel with each other. If an object exists within the set distance in step S3, the control unit 11 determines in step S4 that there is a "possibility of collision." If no object exists within the set distance in step S3, the control unit 11 determines that there is no "possibility of collision."

[0064] Next, if the control unit 11 determines that there is a "possibility of collision," it notifies (transmits) the determination result to the control unit 300 and the warning unit 400. In step S6, the control unit 300 controls the vehicle based on the determination result of the control unit 11. In step S7, the warning unit 400 issues a warning to the user (driver) of the vehicle based on the determination result of the control unit 11. The notification of the determination result may be sent to at least one of the control unit 300 and the warning unit 400.

[0065] The control unit 300 can control the movement of the vehicle by outputting control signals to the drive units (engine, motor, etc.) of the vehicle. For example, it performs control such as applying the brakes on the vehicle, releasing the accelerator, turning the steering wheel, and generating control signals to generate braking forces on each wheel to suppress the output of the engine or motor. The warning unit 400 also warns the driver by, for example, emitting a warning sound, displaying warning information on the screen of a car navigation system, or vibrating the seat belt or steering wheel.

[0066] As described above, the in-vehicle system 1000 can detect and measure the distance to an object through the above-described processing, thereby making it possible to avoid a collision between the vehicle and the object. In particular, by applying the laser radar device 1 according to each of the above-described embodiments to the in-vehicle system 1000, high distance measurement accuracy can be achieved, making it possible to detect an object and determine a collision with high accuracy.

[0067] In this embodiment, the in-vehicle system 1000 is applied to driving assistance (collision damage reduction), but the application is not limited to this, and the in-vehicle system 1000 may also be applied to cruise control (including an all-speed tracking function), autonomous driving, etc. Furthermore, the in-vehicle system 1000 is not limited to vehicles such as automobiles, but can be applied to moving bodies such as ships, aircraft, industrial robots, etc. Furthermore, the application is not limited to moving bodies, but can be applied to various devices that use object recognition, such as intelligent transport systems (ITS) and surveillance systems.

[0068] Furthermore, the in-vehicle system 1000 and the vehicle 500 may be provided with a notification device (notification unit) for notifying the manufacturer of the in-vehicle system, the dealer of the mobile device, etc., if the vehicle 500 collides with an obstacle. For example, the notification device may be one that transmits information (collision information) related to the collision between the vehicle 500 and the obstacle to a preset external notification destination by e-mail or the like.

[0069] In this way, by adopting a configuration in which the notification device automatically notifies collision information, it is possible to promptly take measures such as inspection and repair after a collision occurs. The destination of the collision information may be an insurance company, a medical institution, the police, or any other party set by the user. Furthermore, the notification device may be configured to notify the destination not only of collision information but also of malfunction information of each part and consumption information of consumables. The detection of the presence or absence of a collision may be performed using distance information acquired based on the output from the detection unit 17, or may be performed by another detection unit (sensor). [Other Examples] The present invention can also be realized by supplying a program that realizes one or more functions of the above-described embodiments to a system or device via a network or a storage medium, and having one or more processors in the computer of the system or device read and execute the program. It can also be realized by a circuit (e.g., ASIC) that realizes one or more functions.

[0070] The disclosure of this embodiment includes the following configurations and methods. (Configuration 1) 1. A control device for controlling a laser radar device that scans an object by deflecting laser light from a light source and includes a scanning unit that deflects reflected light from the object and a detection unit that detects the reflected light, and for obtaining information about the object based on an output from the detection unit, an output control unit that causes the light source to emit a first laser beam having a first output value by supplying a first signal having a first signal value to the light source, and causes the light source to emit a second laser beam having a second output value having a second signal value smaller than the first output value by supplying a second signal having a second signal value smaller than the first signal value to the light source; an acquisition unit that acquires information about the object in a first scanning range of the scanning unit when the first laser light is emitted, and acquires information about the object in a second scanning range of the scanning range that is closer to the scanning unit than the first scanning range when the second laser light is emitted. (Configuration 2) 2. The control device according to configuration 1, wherein the output control unit changes the signal to be supplied to the light source in accordance with the scanning angle of the scanning unit. (Configuration 3) The control device according to configuration 1 or 2, wherein the output control unit causes the light source to supply the first signal while the scanning angle of the scanning unit changes from a minimum value to a maximum value, and causes the light source to supply the second signal while the scanning angle changes from the maximum value to the minimum value. (Configuration 4) Further, a scanning control unit is provided to cause the scanning unit to scan in a first scanning direction and a second scanning direction that are orthogonal to each other, The control device according to any one of configurations 1 to 3, wherein the output control unit causes the light source to supply the first signal while a scanning angle in a first scanning direction of the scanning unit changes from a minimum value to a maximum value, and causes the light source to supply the second signal while the scanning angle in the first scanning direction changes from the maximum value to the minimum value. (Configuration 5) The control device according to configuration 1 or 2, characterized in that the output control unit causes the light source to supply the second signal while the scanning angle of the scanning unit changes from a minimum value to a predetermined value, causes the light source to supply the first signal while the scanning angle changes from the predetermined value to a maximum value, causes the light source to supply the first signal while the scanning angle changes from the maximum value to the predetermined value, and causes the light source to supply the second signal while the scanning angle changes from the predetermined value to the minimum value. (Configuration 6) The control device according to any one of configurations 1 to 5, further comprising a display control unit that displays information on a display unit that combines information about the object in the first scanning range and information about the object in the second scanning range. (Configuration 7) The control device according to any one of configurations 1 to 6, wherein the acquisition unit alternately performs a process of acquiring information about the object in the first scanning range and a process of acquiring information about the object in the second scanning range. (Configuration 8) a scanning unit that deflects a laser beam from a light source to scan an object and also deflects reflected light from the object; a detection unit that detects the reflected light; a control device for acquiring information about the object based on an output from the detection unit, The control device an output control unit that causes the light source to emit a first laser beam of a first output value by supplying a signal of a first signal value to the light source, and causes the light source to emit a second laser beam of a second output value that is smaller than the first output value by supplying a signal of a second signal value that is smaller than the first output value to the light source; an acquisition unit that, when the first laser light is emitted, acquires information about the object in a first scanning range within the scanning range of the scanning unit, and, when the second laser light is emitted, acquires information about the object in a second scanning range within the scanning range that is closer to the scanning unit than the first scanning range. (Configuration 9) 9. The laser radar device according to configuration 8, further comprising a pulse driver for causing the light source to emit pulsed light. (Method 1) 1. A control method for controlling a laser radar device that deflects laser light from a light source to scan an object, and that includes a scanning unit that deflects reflected light from the object, and a detection unit that detects the reflected light, and for obtaining information about the object based on an output from the detection unit, comprising: supplying a signal having a first signal value to the light source to cause the light source to emit a first laser beam having a first output value, and supplying a signal having a second signal value smaller than the first signal value to the light source to cause the light source to emit a second laser beam having a second output value smaller than the first output value; a step of acquiring information about the object in a first scanning range of the scanning unit when the first laser light is emitted, and acquiring information about the object in a second scanning range of the scanning range that is closer to the scanning unit than the first scanning range when the second laser light is emitted. (Configuration 10) A program that causes a computer to execute the control method described in Method 1. (Configuration 11) 9. An in-vehicle system comprising the laser radar device according to configuration 8, and determining the possibility of a collision between a vehicle and an object based on information about the object obtained by the laser radar device. (Configuration 12) 12. The in-vehicle system according to claim 11, further comprising a control unit that outputs a control signal to generate a braking force in the vehicle when it is determined that there is a possibility of a collision between the vehicle and the object. (Configuration 13) 13. The in-vehicle system according to configuration 11 or 12, further comprising a warning unit that issues a warning to a driver of the vehicle when it is determined that there is a possibility of a collision between the vehicle and the object. (Configuration 14) A mobile device comprising the laser radar device according to configuration 8, and capable of moving while holding the laser radar device. (Configuration 15) 15. The mobile device according to configuration 14, further comprising a determination unit that determines the possibility of a collision with the object based on information about the object obtained by the laser radar device. (Configuration 16) 16. The moving device according to configuration 15, further comprising a control unit that outputs a control signal for controlling movement when it is determined that there is a possibility of collision with the object. (Configuration 17) 17. The moving device according to configuration 15 or 16, further comprising a warning unit that issues a warning to a driver of the moving device when it is determined that there is a possibility of a collision with the object.

[0071] Although the preferred embodiments of the present invention have been described above, the present invention is not limited to these embodiments, and various modifications and changes are possible within the scope of the gist of the present invention. [Explanation of symbols]

[0072] 1 Laser radar device 11 Control unit (control device) 11a Output control section 11d Acquisition Department 14 Laser emitting unit (light source) 16 Scanning unit 17 Detector

Claims

1. A moving body having a laser radar device, The laser radar device a scanning unit that deflects a laser beam from a light source to scan an object and also deflects reflected light from the object; a detection unit that detects the reflected light; a control device for acquiring information about the object based on an output from the detection unit, the scanning unit scans by gradually increasing the scanning angle until it reaches a maximum value and then gradually decreasing the scanning angle until it reaches a minimum value; The control device an output control unit that causes the light source to emit a first laser beam having a first output value by supplying a signal having a first signal value to the light source, and causes the light source to emit a second laser beam having a second output value that is smaller than the first output value by supplying a signal having a second signal value that is smaller than the first output value to the light source; an acquisition unit that, when the first laser light is emitted, acquires information about the object in a first scanning range within the scanning range of the scanning unit, where the scanning angle is in a range from a predetermined value to the maximum value, and, when the second laser light is emitted, acquires information about the object in a second scanning range within the scanning range, which is closer to the moving body than the first scanning range and where the scanning angle is in a range from the minimum value to the predetermined value; the acquisition unit alternately performs a process of acquiring information about the object in the first scanning range and a process of acquiring information about the object in the second scanning range; the output control unit causes the light source to supply the second signal while the scanning angle changes from the minimum value to the predetermined value, causes the light source to supply the first signal while the scanning angle changes from the predetermined value to the maximum value, causes the light source to supply the first signal while the scanning angle changes from the maximum value to the predetermined value, and causes the light source to supply the second signal while the scanning angle changes from the predetermined value to the minimum value.

2. 2. The moving body according to claim 1, further comprising a display control unit that displays, on a display unit, information that combines information about the object in the first scanning range and information about the object in the second scanning range.

3. 2. The moving body according to claim 1, wherein the laser radar device further comprises a pulse driver for causing the light source to emit pulsed light.

4. 2. The moving body according to claim 1, wherein a possibility of a collision between the vehicle and the object is determined based on information about the object obtained by the laser radar device.

5. 2. The moving body according to claim 1, further comprising a control unit that outputs a control signal to generate a braking force to the vehicle when it is determined that there is a possibility of a collision between the vehicle and the object.

6. 2. The moving body according to claim 1, further comprising a warning unit that issues a warning to a driver of the vehicle when it is determined that there is a possibility of a collision between the vehicle and the object.

7. a scanning unit that deflects a laser beam from a light source to scan an object and also deflects reflected light from the object; a detection unit that detects the reflected light; a control device for acquiring information about the object based on an output from the detection unit, the scanning unit scans by gradually increasing the scanning angle until it reaches a maximum value and then gradually decreasing the scanning angle until it reaches a minimum value; The control device an output control unit that causes the light source to emit a first laser beam having a first output value by supplying a signal having a first signal value to the light source, and causes the light source to emit a second laser beam having a second output value that is smaller than the first output value by supplying a signal having a second signal value that is smaller than the first output value to the light source; an acquisition unit that, when the first laser light is emitted, acquires information about the object in a first scanning range of the scanning unit, where the scanning angle is in a range from a predetermined value to the maximum value, and, when the second laser light is emitted, acquires information about the object in a second scanning range of the scanning range, which is closer to the laser radar device than the first scanning range and where the scanning angle is in a range from the minimum value to the predetermined value; the acquisition unit alternately performs a process of acquiring information about the object in the first scanning range and a process of acquiring information about the object in the second scanning range; the output control unit causes the light source to supply the second signal while the scanning angle changes from the minimum value to the predetermined value, causes the light source to supply the first signal while the scanning angle changes from the predetermined value to the maximum value, causes the light source to supply the first signal while the scanning angle changes from the maximum value to the predetermined value, and causes the light source to supply the second signal while the scanning angle changes from the predetermined value to the minimum value.

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