Distance measuring device and distance measuring method

Abstract

A distance measuring device (10) is a device for detecting, by means of a light receiving unit (180), pulsed light emitted from a light source (14) and reflected by an object (30). The distance measuring device (10) is provided with an estimating unit (121). The estimating unit (121) uses a saturated waveform, which is a received light waveform generated by the light receiving unit (180) that has received the pulsed light, and in a portion of which a received light signal is saturated, to estimate a peak position of the pulsed light. Here, the estimating unit (121) identifies a provisional peak position using a plurality of data points, including a saturation starting point, among the saturated waveform. Further, the estimating unit (121) identifies a correction parameter on the basis of a saturation width of the saturated waveform. Furthermore, the estimating unit (121) estimates a peak position of the pulsed light by correcting the provisional peak position using the identified correction parameter.

Description

[Technical field]

[0001] The present invention relates to a distance measuring device and a distance measuring method. [Background technology]

[0002] In an apparatus that receives light reflected from an object to perform measurement, if the intensity of the reflected light is too strong, the received light signal will be saturated, leading to a decrease in measurement accuracy.

[0003] Patent Document 1 describes detecting the rising edge of a saturated received signal. In the technology of Patent Document 1, a first polynomial curve is fitted to a plurality of samples including the maximum sample of the received signal, the maximum value of the first polynomial curve is determined, and a value of a predetermined percentage of the maximum value is defined as an intermediate threshold value. Then, a point of the first polynomial curve that intersects with the magnitude of the intermediate threshold value is determined, and a plurality of samples of the received signal close to that point are set as intermediate samples. Then, a second polynomial curve is fitted to the intermediate samples. Then, a point where the second polynomial intersects with the intermediate threshold value is determined.

[0004] Patent Document 2 describes that when a received signal is saturated, the signal strength can be obtained by referring to the correlation based on the pulse width of the received signal. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Special Publication No. 2021-518551 [Patent Document 2] JP 2002-22831 A Summary of the Invention [Problem to be solved by the invention]

[0006] However, the technique of Patent Document 1 requires a large processing load to detect a rising edge, and the technique of Patent Document 2 cannot estimate a peak position when the received light signal is saturated.

[0007] One example of a problem to be solved by the present invention is to estimate the peak position of a saturated received light waveform with a small processing load. [Means for solving the problem]

[0008] The invention described in claim 1 is A distance measuring device that detects pulsed light emitted from a light source and reflected by an object with a light receiving unit, an estimation unit that estimates a peak position of the pulsed light using a saturated waveform that is a light reception waveform in which a part of a light reception signal is saturated, the saturated waveform being generated by the light receiving unit that receives the pulsed light, The estimation unit is Identifying a tentative peak position using a plurality of data points including a saturation start point of the saturated waveform; determining a correction parameter based on a saturation width of the saturated waveform; The tentative peak position is corrected using the identified correction parameter, thereby estimating the peak position of the pulsed light. It is a distance measuring device.

[0009] The invention described in claim 5 is A distance measuring method in which pulsed light emitted from a light source and reflected by an object is detected by a light receiving unit, comprising: an estimation step of estimating a peak position of the pulsed light using a saturated waveform, which is a light reception waveform generated by the light receiving unit that receives the pulsed light and in which a light reception signal is saturated in a part; In the estimation step, Identifying a tentative peak position using a plurality of data points including a saturation start point of the saturated waveform; determining a correction parameter based on a saturation width of the saturated waveform; The tentative peak position is corrected using the identified correction parameter, thereby estimating the peak position of the pulsed light. This is a distance measurement method. [Brief description of the drawings]

[0010] [Figure 1] 1 is a diagram illustrating an example of a functional configuration of a distance measuring device according to a first embodiment. [Diagram 2] 1 is a diagram illustrating in detail an example of the configuration of a distance measuring device according to a first embodiment. [Diagram 3] 1 is a diagram illustrating a hardware configuration of a distance measuring device according to a first embodiment. [Figure 4] 5A and 5B are diagrams illustrating an example of a light receiving signal generated by a light receiving unit. [Diagram 5] 1 is a waveform illustrating a saturated object peak. [Figure 6] 11 is a diagram illustrating an example of a saturation width of a saturated waveform. [Figure 7] FIG. 11 is a diagram illustrating an example of reference information. [Figure 8] FIG. 11 is a diagram illustrating another example of reference information. [Figure 9] 4 is a flowchart illustrating a flow of processing performed by an estimation unit according to the first embodiment. [Figure 10] FIG. 4 is a diagram for explaining a process performed by an estimation unit according to the first embodiment. [Figure 11] 10 is a diagram illustrating an example of a received light signal when an object is present at a close distance from the distance measuring device. [Figure 12] FIG. 13 illustrates a waveform of a saturated single object peak. [Figure 13] FIG. 13 is a diagram illustrating an example of a waveform in which a saturated object peak and an internal reflection peak are combined due to an object being located very close to the distance measuring device. [Figure 14] FIG. 11 is a diagram illustrating reference information according to the second embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Hereinafter, embodiments of the present invention will be described with reference to the drawings. In all the drawings, the same components are given the same reference numerals and the description will be omitted as appropriate.

[0012] (First embodiment) FIG. 1 is a diagram illustrating a functional configuration of a distance measuring device 10 according to the first embodiment. In this diagram, the path of light is typically indicated by dashed arrows. The distance measuring device 10 according to this embodiment is a device that detects pulsed light emitted from a light source 14 and reflected by an object 30 with a light receiving unit 180. The distance measuring device 10 includes an estimation unit 121. The estimation unit 121 estimates the peak position of the pulsed light using a saturated waveform, which is a received light waveform in which a part of the received light signal is saturated, generated by the light receiving unit 180 that receives the pulsed light. Here, the estimation unit 121 identifies a tentative peak position using a plurality of data points including the start point of saturation in the saturated waveform. The estimation unit 121 also identifies a correction parameter based on the saturation width of the saturated waveform. The estimation unit 121 then estimates the peak position of the pulsed light by correcting the tentative peak position using the identified correction parameter. This will be described in detail below.

[0013] In the example shown in the figure, the distance measuring device 10 further includes a light source 14 and a light receiving unit 180 .

[0014] 2 is a diagram illustrating in detail the configuration of the distance measuring device 10 according to this embodiment. In this diagram, dashed arrows typically indicate the path of light. The configuration of the distance measuring device 10 will be described in detail with reference to this diagram.

[0015] The distance measuring device 10 is a device that measures the distance from the distance measuring device 10 to an object (target object 30) within a scanning range 160 based on, for example, the difference between the emission timing of pulsed light and the reception timing of reflected light (reflected pulsed light). The target object 30 is not particularly limited, and can be, for example, a living object, a non-living object, a moving object, a stationary object, or the like. The pulsed light is, for example, infrared light or other light. The pulsed light is, for example, a laser pulse. The pulsed light output from the light source 14 provided in the distance measuring device 10 and output to the outside of the distance measuring device 10 through the transparent member 20 is reflected by the object and at least a part of it returns toward the distance measuring device 10. Then, the reflected light passes through the transparent member 20 again and enters the distance measuring device 10. The reflected light that enters the distance measuring device 10 is received by the light receiving unit 180, and the intensity is detected. Here, in the distance measuring device 10, the time from when the pulsed light is output from the light source 14 to when the reflected light is detected by the light receiving unit 180 is measured. Then, the control unit 120 provided in the distance measuring device 10 calculates the distance between the distance measuring device 10 and the object using the measured time and the propagation speed of the pulsed light. The distance measuring device 10 is, for example, a LIDAR (Laser Imaging Detection and Ranging, Laser Illuminated Detection and Ranging, or LiDAR (Light Detection and Ranging) device. In the example shown in the figure, the estimation unit 121 is included in the control unit 120. However, the estimation unit 121 may be provided separately from the control unit 120.

[0016] When the distance measuring device 10 according to this embodiment is attached to a moving body such as a vehicle, the distance measurement results by the distance measuring device 10 may be used for automatic driving or driving assistance of the moving body.

[0017] The light source 14 emits pulsed light. The light source 14 is, for example, a laser diode. The light receiving unit 180 includes a light receiving element 18 and a detection circuit 181. The light receiving element 18 receives the pulsed light incident on the distance measuring device 10. The light receiving element 18 is, for example, a photodiode such as an avalanche photodiode (APD).

[0018] In the example shown in the figure, the distance measuring device 10 further includes a movable mirror 16. The movable mirror 16 is, for example, a MEMS mirror movable along one axis or two axes. By changing the orientation of the reflecting surface of the movable mirror 16, the emission direction of the pulsed light emitted from the distance measuring device 10 can be changed. When the movable mirror 16 is a MEMS mirror movable along two axes, a predetermined range can be raster scanned with the pulsed light by driving the movable mirror 16 along two axes.

[0019] The control unit 120 generates point cloud data including the measurement results obtained by a plurality of pulsed lights. For example, when raster scanning within a scanning range 160, a line-shaped scan is performed by changing the light emission direction in a first direction 161. Then, by performing a plurality of line-shaped scans while changing the light emission direction in a second direction 162, it is possible to generate point cloud data including a plurality of measurement results within the scanning range 160. In the example shown in this figure, the first direction 161 and the second direction 162 are orthogonal to each other.

[0020] A unit of point cloud data generated by one raster scan is called a frame. When the measurement for one frame is completed, the light emission direction returns to the initial position, and the measurement for the next frame is performed. In this manner, frames are repeatedly generated. In the point cloud data, the distance measured by the pulsed light is associated with information indicating the emission direction of the pulsed light. Alternatively, the point cloud data may include three-dimensional coordinates indicating the reflection point of the pulsed light. The control unit 120 generates the point cloud data using the calculated distance and information indicating the angle of the movable mirror 16 when each pulsed light is emitted. The generated point cloud data may be output to the outside of the distance measuring device 10, or may be stored in a storage device accessible from the control unit 120.

[0021] In the example shown in the figure, the distance measuring device 10 further includes a holed mirror 15 and a condenser lens 13. The pulsed light output from the light source 14 passes through a hole in the holed mirror 15, is reflected by the movable mirror 16, and is then emitted from the distance measuring device 10. The reflected light incident on the distance measuring device 10 is reflected by the movable mirror 16 and the holed mirror 15, and then enters the light receiving unit 180 via the condenser lens 13. The distance measuring device 10 may further include a collimating lens, a mirror, etc.

[0022] The control unit 120 can control the light emitting unit 140, the light receiving unit 180, and the movable reflecting unit 164 (see FIG. 3). The light emitting unit 140, the light receiving unit 180, and the movable reflecting unit 164 are included in the distance measuring device 10. The light emitting unit 140 includes a light source 14 and a driving circuit 141. The light receiving unit 180 includes a light receiving element 18 and a detection circuit 181. The movable reflecting unit 16 includes a movable mirror 16 and a driving circuit 163. The driving circuit 141 is a circuit for causing the light source 14 to emit light based on a control signal from the control unit 120, and is configured to include, for example, a switching circuit and a capacitive element. The detection circuit 181 includes an IV converter and an amplifier, and outputs a signal indicating the detection intensity of light by the light receiving element 18. The control unit 120 and the estimation unit 121 obtain a light receiving signal from the light receiving unit 180, and detect a peak derived from the reflected light from the target 30 by performing a process of detecting a peak in the light receiving signal. Then, the control unit 120 calculates the distance from the distance measuring device 10 to the object 30 within the scanning range 160 as described above using the detected peak light receiving timing (peak position) and the light emission timing. Here, when the light receiving signal is saturated due to pulsed light reception, the estimation unit 121 estimates the peak position based on the saturated waveform. Then, the control unit 120 calculates the distance from the distance measuring device 10 to the object 30 using the peak position estimated by the estimation unit 121, i.e., the light receiving timing of the reflected light.

[0023] 3 is a diagram illustrating an example of a hardware configuration of the distance measuring device 10 according to this embodiment. The control unit 120 and the estimation unit 121 are implemented using an integrated circuit 80. The integrated circuit 80 is, for example, a SoC (System On Chip).

[0024] The integrated circuit 80 has a bus 802, a processor 804, a memory 806, a storage device 808, an input / output interface 810, and a network interface 812. The bus 802 is a data transmission path for the processor 804, the memory 806, the storage device 808, the input / output interface 810, and the network interface 812 to transmit and receive data to and from each other. However, the method of connecting the processor 804 and the like to each other is not limited to bus connection. The processor 804 is an arithmetic processing device realized by using a microprocessor or the like. The memory 806 is a memory realized by using a RAM (Random Access Memory) or the like. The storage device 808 is a storage device realized by using a ROM (Read Only Memory), a flash memory, or the like.

[0025] The input / output interface 810 is an interface for connecting the integrated circuit 80 to peripheral devices. In this figure, the input / output interface 810 is connected to the drive circuit 141 of the light source 14, the detection circuit 181 of the light receiving element 18, and the drive circuit 163 of the movable mirror 16.

[0026] The network interface 812 is an interface for connecting the integrated circuit 80 to a communication network. This communication network is, for example, a controller area network (CAN), Ethernet, low voltage differential signaling (LVDS), etc. The method for connecting the network interface 812 to the communication network may be a wireless connection or a wired connection.

[0027] The storage device 808 stores program modules for realizing the functions of the control unit 120 and the estimation unit 121. The processor 804 reads the program modules into the memory 806 and executes them to realize the functions of the control unit 120 and the estimation unit 121.

[0028] The hardware configuration of the integrated circuit 80 is not limited to the configuration shown in the figure. For example, the program module may be stored in the memory 806. In this case, the integrated circuit 80 does not need to include the storage device 808.

[0029] FIG. 4 is a diagram showing an example of a light receiving signal generated by the light receiving unit 180. In this figure, a light receiving signal from one pulse light emission to the next pulse light emission is illustrated. The light receiving signal is a signal output from the detection circuit 181 and input to the control unit 120. In the example of FIG. 4, the greater the light receiving intensity at the light receiving element 18, the greater the light receiving signal is output in the positive direction. Note that the polarity of the light receiving signal relative to the light receiving intensity is not limited to the example of this figure. For example, the light receiving unit 180 may have a configuration in which the greater the light receiving intensity at the light receiving element 18, the greater the light receiving signal is output in the negative direction. In the following description, the polarity in the processing is appropriately set. In the example of FIG. 4, the saturation level of the light receiving unit 180 is indicated by a broken line. The saturation level of the light receiving unit 180 is the maximum signal level that can be output from the light receiving unit 180, and light intensity exceeding this level is not reflected correctly in the light receiving signal.

[0030] In the distance measuring device 10, the light output from the light source 14 is emitted to the outside of the distance measuring device 10 mainly via the transparent member 20 as shown in FIG. 1. However, at least a part of the light output from the light source 14 is reflected inside the distance measuring device 10 to become internally reflected light. The internally reflected light is received by the light receiving unit 180. This internally reflected light also includes light reflected by the transparent member 20. The transparent member 20 is a light-transmitting member that separates the inside and outside of the distance measuring device 10. The transparent member 20 is made of, for example, glass or resin. The light receiving unit 180 receives the internally reflected light and the reflected light from the object 30.

[0031] FIG. 4 is a diagram illustrating a waveform of the light receiving signal of the light receiving unit 180 when the light receiving unit 180 is not saturated. The above-mentioned internal reflection light is received by the light receiving unit 180 immediately after the light is emitted from the light source 14. On the other hand, the light reflected from the object 30 is received by the light receiving unit 180 at a timing according to the distance from the distance measuring device 10 to the object 30. When the object 30 is sufficiently far from the distance measuring device 10, a peak due to the reception of the internal reflection light (hereinafter also referred to as an "internal reflection peak") and a peak due to the reception of the reflected light from the object 30 (hereinafter also referred to as an "object peak") appear in a state separated from each other in the light receiving signal output from the light receiving unit 180. That is, in this case, it can be said that the first peak in the light receiving signal after the light is emitted is the internal reflection peak, and the second and subsequent peaks are object peaks. However, the closer the object 30 is to the distance measuring device 10, the closer these peaks are to each other.

[0032] FIG. 5 is a waveform illustrating a saturated object peak. When the intensity of the reflected light from the object 30 is high, the peak intensity due to reception of the reflected light from the object 30 exceeds the detection range of the light receiving unit 180, and the light receiving signal of the light receiving unit 180 may become saturated as shown in this figure. Such saturation may occur, for example, when the object 30 is close to the distance measuring device 10 or when the light reflectance of the object 30 is high. In the example of this figure, when the reflected light is received, the light receiving signal rises and becomes saturated. Then, when the saturated state is overcome, it returns to zero level (reference level), and a signal value of negative polarity is output from the detection circuit 181. The light receiving signal is a signal that reflects the circuit characteristics of the light receiving element 18 and the detection circuit 181, and a negative light receiving signal may be output as shown in this figure due to the circuit characteristics. Then, after the light receiving signal reaches a minimum value, it gradually returns to zero level.

[0033] In this way, after saturation, a tail occurs due to the effects of the release of charges accumulated in the light receiving section 180. Therefore, the occurrence of saturation increases the peak width of the light receiving signal. On the other hand, the signal up to the saturation state, i.e., the rising part of the saturated waveform, is considered to correctly reflect the intensity of the received light. Therefore, it can be said that the position of the start of saturation in the saturated waveform correlates well with the peak position of the actual light receiving pulse, i.e., the light receiving timing.

[0034] The estimation unit 121 identifies a tentative peak position by using a plurality of data points including the onset point of saturation in the saturated waveform. For example, the estimation unit 121 identifies the peak position of a Gaussian curve or a quadratic curve that passes through the plurality of data points as the tentative peak position. Then, the estimation unit 121 estimates the peak position of the pulsed light by correcting the tentative peak position by using a correction parameter.

[0035] Here, the occurrence of saturation increases the peak width of the received light signal, and the increased peak width reflects the amount of charge accumulated in the light receiving section 180. In other words, the saturation width of the saturated waveform correlates with the amount of light received by the light receiving section 180. Also, the greater the amount of light received by the pulsed light, the greater the difference between the tentative peak position and the actual pulse peak position. Therefore, the correction parameter can be determined based on the saturation width of the saturated waveform.

[0036] FIG. 6 is a diagram illustrating the saturation width of the saturated waveform 73. The light reception signal is composed of a plurality of light reception values ​​in a time series sampled at a predetermined interval. The light reception value indicates the light reception intensity at the light receiving unit 180. The saturation width is, for example, the width (length of time) of a state in which saturation occurs. For example, for a certain saturated waveform, a state in which the light reception value exceeds a predetermined saturation threshold is regarded as a state in which saturation occurs. The saturation threshold is a value slightly smaller than the saturation level of the light receiving unit 180. For example, the estimation unit 121 determines the time when the light reception value first exceeds the predetermined saturation threshold as the start point of saturation, and specifies the last light reception value that exceeds the saturation threshold thereafter as the end point of saturation. Then, the estimation unit 121 determines the width from the start point of saturation to the end point of saturation as the saturation width of the saturated waveform. Note that the estimation unit 121 may count the number of light reception values ​​that exceed the saturation threshold for a certain saturated waveform, and determine the value obtained by multiplying the counted number by a predetermined time as the saturation width.

[0037] The estimation unit 121 can specify the correction parameter by using the specified saturation width and the reference information. The reference information is information in which a correction parameter is associated with each of a plurality of saturation widths. Specifically, in the reference information, a larger saturation width is associated with a larger correction parameter. The reference information may be a table or a formula that can calculate the correction parameter from the saturation width. Furthermore, the reference information may associate the range of the saturation width with the correction parameter. The reference information is held in advance in a storage unit (e.g., the storage device 808) accessible from the estimation unit 121.

[0038] The reference information can be created based on a result of experimental measurement in advance and stored in the storage unit. For example, a first light receiving unit with the same conditions as the light receiving unit 180 of the distance measuring device 10 and a second light receiving unit with a larger detection range than the first light receiving unit are prepared. Then, the same pulsed light is incident on the first light receiving unit and the second light receiving unit to obtain a light receiving waveform by each light receiving unit. At this time, a pulsed light with an intensity such that a saturated waveform is obtained only in the first light receiving unit is incident. Then, a tentative peak position and a saturation width are identified by processing performed by the estimation unit 121 for the saturated waveform obtained in the first light receiving unit. On the other hand, a peak position of a non-saturated light receiving waveform obtained in the second light receiving unit, that is, an accurate peak position, is identified. Then, the difference between the tentative peak position and the accurate peak position is associated with the identified saturation width as a correction parameter. Such an association is performed using multiple pulsed lights with different intensities, and a correction parameter is associated with each of the multiple saturation widths. When the reference information is a formula, the reference information may be obtained by fitting the relationship between the obtained correction parameter and the saturation width.

[0039] 7 is a diagram showing an example of the reference information, in which the reference information is a table in which a correction parameter is associated with each of a plurality of saturation widths.

[0040] The estimation unit 121 reads out the reference information from the storage unit, and identifies the correction parameter associated with the identified saturation width in the reference information as the correction parameter to be used for correction. For example, when the reference information is a table, the estimation unit 121 identifies the correction parameter corresponding to the identified saturation width. When the reference information associates a range of the saturation width with the correction parameter, the estimation unit 121 identifies a range to which the identified saturation width belongs, and identifies the correction parameter corresponding to that range. When the reference information is a formula, the estimation unit 121 substitutes the identified saturation width into the formula to obtain the correction parameter.

[0041] FIG. 8 is a diagram showing another example of the reference information. The estimation unit 121 may specify the correction parameters based on the configuration of the optical system of the distance measuring device 10. That is, as in the example of this figure, the correction parameters may be associated with each of a plurality of combinations of the configuration of the optical system and the saturation width in the reference information. When the reference information is a formula, a formula is provided for each configuration of the optical system. The saturated waveform may differ depending on the configuration of the optical system, for example, whether or not a telephoto lens is provided at the part where the pulsed light is input in the distance measuring device 10. Therefore, by using the correction parameters determined for each configuration of the optical system, the estimation accuracy of the peak position can be improved. The reference information of this example can also be generated by performing measurements in advance under conditions having each configuration of the optical system. The information indicating the configuration of the optical system is input in advance to the distance measuring device 10 by the user, for example. The estimation unit 121 acquires the information indicating the configuration of the optical system input to the distance measuring device 10, and can use it to specify the correction parameters.

[0042] The distance measuring method according to this embodiment will be described below. The distance measuring method according to this embodiment is a distance measuring method in which the light receiving unit 180 detects the pulsed light emitted from the light source 14 and reflected by the target object 30. This distance measuring method includes an estimation step of estimating the peak position of the pulsed light. In the estimation step, the peak position of the pulsed light is estimated using a saturated waveform, which is a received light waveform in which the received light signal is partially saturated and is generated by the light receiving unit 180 that receives the pulsed light. Here, in the estimation step, a tentative peak position is specified using a plurality of data points including the start point of saturation in the saturated waveform, and a correction parameter is specified based on the saturation width of the saturated waveform. Then, the tentative peak position is corrected using the specified correction parameter, and the peak position of the pulsed light is estimated. This will be described in detail below.

[0043] Fig. 9 is a flowchart illustrating the flow of processing performed by the estimation unit 121 according to this embodiment. Fig. 10 is a diagram for explaining the processing performed by the estimation unit 121 according to this embodiment. Fig. 10 shows the process of processing using a saturated waveform 73.

[0044] When the distance measuring device 10 emits pulsed light, the estimation unit 121 acquires a received light signal from the light receiving unit 180 (S11). The estimation unit 121 may acquire the received light signal from the light receiving unit 180 or from another part of the control unit 120. The estimation unit 121 may also acquire the received light signal by reading information indicating the received light signal that is temporarily stored in the storage unit. The estimation unit 121 acquires a received light signal, for example, every time a pulsed light is emitted from the light source 14. The estimation unit 121 also regards a received light signal from the emission of a pulsed light to the emission of the next pulsed light as one unit, and performs a series of processes shown in FIG. 9 for each unit. When the estimation unit 121 acquires a received light signal, it determines whether or not the received light waveform due to pulsed light reception is saturated in the received light signal (S12). Specifically, the estimation unit 121 determines that the received light waveform due to pulsed light reception is saturated when the received light value in the received light signal exceeds a predetermined saturation threshold (Yes in S12). On the other hand, if it is not determined that the received light waveform is saturated (No in S12), the estimation unit 121 performs normal peak detection processing using the received light signal to identify the peak position of the non-saturated object peak (S18). The peak position of the non-saturated object peak can be identified using an existing method. Then, the estimation unit 121 ends the processing for that pulsed light emission. Note that the peak position of the non-saturated peak may be identified not only by the estimation unit 121 but also by the control unit 120.

[0045] When it is determined that the received light waveform is saturated (Yes in S12), the estimation unit 121 identifies the start point of saturation (S13). Specifically, the estimation unit 121 determines the point (received light value) at which the received light value of the acquired received light signal first exceeds the saturation threshold as the start point of saturation 70. Next, the estimation unit 121 identifies a plurality of edge sample points including the start point of saturation 70 (S14). In the example of FIG. 10, the start point 70 and points (received light values) 71 before and after the start point 70 are combined to form the plurality of edge sample points. That is, in this example, the estimation unit 121 identifies three edge sample points. However, the estimation unit 121 may identify four or more edge sample points. It is preferable that the plurality of edge sample points include one or more points before and one or more points after the start point 70 of saturation.

[0046] The estimation unit 121 then identifies a curve 75 that passes through the edge sample points (S15). As described above, the estimation unit 121 identifies, for example, a Gaussian curve or a quadratic curve that passes through the edge sample points. A curve that passes through the edge sample points can be identified using an existing fitting processing technique or the like. Then, the estimation unit 121 identifies a peak position of the identified curve 75 as a tentative peak position (S16).

[0047] Then, the estimation unit 121 specifies the saturation width of the saturated waveform 73 by the above-mentioned method, and further specifies the correction parameter using the saturation width. Then, the tentative peak position is corrected using the specified correction parameter to estimate the peak position (S17). Specifically, the estimation unit 121 sets the position obtained by shifting the tentative peak position by the correction parameter as the estimated peak position. For example, the estimated peak position (time from the emission timing) is later (longer) than the tentative peak position. That is, the estimation unit 121 adds the correction parameter to the tentative peak position to obtain the estimated peak position. Alternatively, the estimation unit 121 may calculate the estimated peak position by performing a calculation using the correction parameter on the tentative peak position. Then, when the estimated peak position is obtained, the estimation unit 121 ends the processing for that pulsed light emission. The estimation unit 121 performs these processes for each emission of pulsed light.

[0048] The control unit 120 calculates the distance from the distance measuring device 10 to the object 30 using the identified peak positions, that is, the peak positions identified in S18 and the peak positions estimated in S17.

[0049] Instead of identifying the tentative peak position using multiple data points including the saturation start point, the estimation unit 121 may identify the tentative peak position using multiple data points including the saturation end point. However, as described above, the saturation start point reflects the position of the saturated peak component more accurately than the saturation end point, so it is preferable to use multiple data points including the saturation start point.

[0050] As described above, according to this embodiment, the estimation unit 121 identifies a tentative peak position by using a plurality of data points including the onset point of saturation in the saturated waveform. The estimation unit 121 also identifies a correction parameter based on the saturation width of the saturated waveform. The estimation unit 121 then estimates the peak position of the pulsed light by correcting the tentative peak position by using the identified correction parameter. Therefore, the peak position of the saturated received light waveform can be estimated with a small processing load.

[0051] Second embodiment The distance measuring device 10 according to the second embodiment is the same as the distance measuring device 10 according to the first embodiment, except that the estimation unit 121 specifies the correction parameters based on whether or not the saturated waveform is due to the first pulsed light reception at the light receiving unit 180 after the emission of the pulsed light. This will be described in detail below.

[0052] 11 is a diagram illustrating a light receiving signal when the object 30 is located very close to the distance measuring device 10. When the object 30 is located very close to the distance measuring device 10, the reflected light becomes high intensity and the light receiving unit 180 becomes saturated. In addition, since the distance measuring device 10 and the object 30 are close to each other, the reflected light from the object 30 is received immediately after the light is emitted from the distance measuring device 10. As a result, a saturated peak, which is a sum of the saturated object peak and the internal reflected light peak, appears in the light receiving signal.

[0053] Fig. 12 is a diagram illustrating an example of a waveform of a single saturated object peak, and Fig. 13 is a diagram illustrating an example of a waveform in which a saturated object peak and an internal reflection peak are combined due to an object 30 being located very close to the distance measuring device 10. Each saturated waveform will be described with reference to Figs. 12 and 13.

[0054] In Fig. 12, a virtual object peak is shown by a dashed line superimposed on the saturated waveform. The virtual object peak is a waveform that is assumed based on the light receiving intensity at the light receiving unit 180 if it is assumed that the light receiving unit 180 is not saturated. In an actual light receiving signal, a saturated waveform is output. Such a saturated waveform due to a single object peak may appear after the second peak after the pulse is emitted from the light source 14 and the internally reflected light is received. The rising portion of such a saturated waveform closely reflects the shape and position of the beginning of the rising of the virtual object peak.

[0055] In FIG. 13, the internal reflection peak component and the virtual object peak component due to the reflected light from the object 30 located at a close distance from the distance measuring device 10 are indicated by dashed lines. When comparing the internal reflection peak component and the virtual object peak component, the peak positions are shifted. Specifically, the peak position of the internal reflection peak component is earlier than the peak position of the virtual object peak component (i.e., closer to the emission timing of the pulsed light). This is because it takes slightly longer to receive the reflected light from the object 30 than the internal reflection light. In the actual light receiving signal, a saturated waveform is output as a result of adding up the internal reflection peak component and the object peak component. Such a saturated waveform resulting from the combination of the saturated object peak and the internal reflection peak may appear as the first peak after the pulse is emitted from the light source 14. In addition, when the object peak and the internal reflection peak are combined, the shape of the rising part of the saturated waveform is influenced by both the internal reflection peak component and the virtual object peak component.

[0056] As described above, the origin of the waveform is different between estimating the peak position of a single saturated object peak and estimating the peak position of an object peak from a saturated waveform formed by combining a saturated object peak with an internal reflection peak. Therefore, it is preferable to correct the tentative peak position using different correction parameters in each of these cases. In the distance measuring device 10 according to this embodiment, the estimation unit 121 specifies the correction parameter based further on whether the saturated waveform is due to the first pulse reception (hereinafter referred to as "first pulse reception") at the light receiving unit 180 after the emission of the pulsed light. This can improve the estimation accuracy of the peak position.

[0057] FIG. 14 is a diagram illustrating the reference information according to the present embodiment. In the example of this figure, in the reference information, a correction parameter is associated with each of a plurality of combinations of whether or not the saturated waveform is due to the first pulse light reception and the saturation width. The reference information of this example can also be generated by performing experimental measurements in advance under conditions that cause reflection from a close-range object, as in the example of the first embodiment. In addition, as shown in FIG. 8, in the reference information, a correction parameter may be associated with each of a plurality of combinations of whether or not the saturated waveform is due to the first pulse light reception, the configuration of the optical system, and the saturation width. In addition, when the reference information is a formula, the reference information includes a formula to be used when the saturated waveform is due to the first pulse light reception and a formula to be used when the saturated waveform is not due to the first pulse light reception. In addition, if the saturation width is the same, the correction parameter when the saturated waveform is due to the first pulse light reception is set to be larger than the correction parameter when the saturated waveform is not due to the first pulse light reception.

[0058] In this embodiment, the estimation unit 121 uses the acquired light reception signal to determine whether or not the saturated waveform is due to the first pulse light reception. Specifically, when the first reference number or more of light reception values ​​exceeding a predetermined noise threshold continue for the first time after the emission of the pulse light, the estimation unit 121 determines that the light reception values ​​exceeding the noise threshold constitute a peak due to the first pulse light reception. The noise threshold can be a value slightly larger than the noise level of the light reception signal. If the light reception value determined to exceed the saturation threshold in S12 is included in the light reception values ​​that constitute the peak due to the first pulse light reception, the estimation unit 121 determines that the saturated waveform is due to the first pulse light reception. Then, the estimation unit 121 specifies the correction parameter using the determination result. For example, the estimation unit 121 specifies the correction parameter corresponding to the combination of the determination result for the target saturated waveform and the saturation width in the reference information as the correction parameter used to correct the tentative peak position. Then, the tentative peak position is corrected using the specified correction parameter in the same manner as in the first embodiment to obtain an estimated peak position.

[0059] According to this embodiment, the same actions and effects as those of the first embodiment can be obtained. In addition, according to this embodiment, the estimation unit 121 specifies the correction parameters based on whether or not the saturated waveform is due to the first pulse light reception at the light receiving unit 180 after the emission of the pulse light. Therefore, the peak position can be estimated with higher accuracy.

[0060] (Third embodiment) The distance measuring device 10 according to the third embodiment is the same as the distance measuring device 10 according to at least one of the first and second embodiments, except that the peak intensity of the received pulsed light is estimated based on the saturation width of the saturated waveform, and the estimated peak intensity and the estimated peak position are used to estimate at least one of the reflection intensity and the reflectance of the target 30. This will be described in detail below.

[0061] When identifying the same object 30 in multiple different frames or when identifying what the object 30 is, it is effective to use the reflectance of the object 30. This is because reflectance is one of the indices that indicate the characteristics of an object. For example, when objects 30 having approximately the same reflectance are detected in approximately the same position or moving in multiple consecutive frames, those objects 30 can be recognized as the same individual. In addition, for example, an object 30 having a predetermined reflectance can be determined to be highly likely to be a road sign or the like. The distance measuring device 10 according to this embodiment has a function of calculating and outputting the reflectance of the object 30 based on the light receiving result for each emitted pulse. Alternatively, the distance measuring device 10 may output information indicating the reflection intensity of the object 30 based on the light receiving result for each emitted pulse. When the distance measuring device 10 according to this embodiment is attached to a moving body such as a vehicle, the information output from the distance measuring device 10 may be used for automatic driving or driving assistance of the moving body.

[0062] The reflectance of the object 30 can be calculated using the reflection intensity from the object 30 and the distance from the distance measuring device 10 to the object 30. The reflection intensity can usually be specified using the peak intensity in the received light signal, but if the object peak is saturated, the peak intensity cannot be read directly from the received light signal. In contrast, the estimation unit 121 according to this embodiment estimates the peak intensity of the pulsed light using the saturation width of the saturated waveform. Specifically, the estimation unit 121 estimates the peak intensity of the pulsed light using the saturation width and the intensity reference information. Since there is a correlation between the saturation width and the peak intensity, the peak intensity can be estimated by this method.

[0063] The intensity reference information is information in which each of a plurality of saturation widths is associated with an estimated peak intensity. Specifically, in the intensity reference information, a larger saturation width is associated with a larger estimated peak intensity. The intensity reference information may be a table or a formula that can calculate an estimated peak intensity from a saturation width. Furthermore, in the intensity reference information, the range of the saturation width may be associated with an estimated peak intensity. The intensity reference information is stored in advance in a storage unit (e.g., storage device 808) accessible from the estimation unit 121.

[0064] The intensity reference information can be created based on a result of a prior experimental measurement and stored in the storage unit. For example, a first light receiving unit with the same conditions as the light receiving unit 180 of the distance measuring device 10 and a second light receiving unit with a larger detection range than the first light receiving unit are prepared. Then, the same pulsed light is incident on the first light receiving unit and the second light receiving unit to obtain a light receiving waveform by each light receiving unit. At this time, a pulsed light with an intensity that obtains a saturated waveform only in the first light receiving unit is incident. Then, the saturation width is specified by processing performed by the estimation unit 121 for the saturated waveform obtained in the first light receiving unit. Meanwhile, the peak intensity of the non-saturated light receiving waveform obtained in the second light receiving unit is specified. Then, the specified peak intensity and the saturation width are associated. Such association is performed using multiple pulsed lights, and the peak intensity is associated with each of the multiple saturation widths. When the intensity reference information is a formula, the intensity reference information may be obtained by fitting the obtained relationship between the peak intensity and the saturation width.

[0065] The estimation unit 121 according to this embodiment detects a saturated waveform in the received light signal and specifies the saturation width of the saturated waveform in the same manner as described above in the first embodiment. Then, as described above, the estimation unit 121 estimates the peak intensity using the saturation width and the intensity reference information. The estimation unit 121 may further calculate the reflectance of the object 30 using the distance to the object 30 calculated using the peak position estimated for the saturated waveform and the estimated peak intensity. An existing method can be used to calculate the reflectance.

[0066] For a peak that is not saturated, the control unit 120 can specify the peak intensity using an existing method and calculate at least one of the reflection intensity and the reflectance.

[0067] According to this embodiment, the same actions and effects as those of the first embodiment can be obtained. In addition, according to this embodiment, the distance measuring device 10 estimates the peak intensity of the pulsed light based on the saturation width of the saturated waveform, and estimates at least one of the reflection intensity and the reflectance of the object 30 using the estimated peak intensity and the estimated peak position. Therefore, more information about the object 30 can be obtained.

[0068] Although the embodiment and examples have been described above with reference to the drawings, these are merely examples of the present invention, and various configurations other than those described above can also be adopted.

[0069] This application claims priority based on Japanese Patent Application No. 2021-209383, filed on December 23, 2021, the disclosure of which is incorporated herein in its entirety. Below, examples of reference forms are given. 1. A distance measuring device that detects pulsed light emitted from a light source and reflected by an object with a light receiving unit, an estimation unit that estimates a peak position of the pulsed light using a saturated waveform that is a light reception waveform in which a part of a light reception signal is saturated, the saturated waveform being generated by the light receiving unit that receives the pulsed light, The estimation unit is Identifying a tentative peak position using a plurality of data points including a saturation start point of the saturated waveform; determining a correction parameter based on a saturation width of the saturated waveform; The tentative peak position is corrected using the identified correction parameter, thereby estimating the peak position of the pulsed light. Ranging device. 2. In the distance measuring device according to 1., The estimation unit specifies the correction parameter based on whether the saturated waveform is due to the first pulse light reception at the light receiving unit after the emission of the pulse light. Ranging device. 3. In the distance measuring device according to 1. or 2., The estimation unit specifies the correction parameters based on a configuration of an optical system of the distance measuring device. Ranging device. 4. In the distance measuring device according to any one of 1. to 3., estimating a peak intensity of the received pulsed light based on a saturation width of the saturated waveform; Using the estimated peak intensity and the estimated peak position, at least one of the reflection intensity and the reflectance of the object is estimated. Ranging device. 5. A distance measuring method in which a pulsed light emitted from a light source and reflected by an object is detected by a light receiving unit, an estimation step of estimating a peak position of the pulsed light using a saturated waveform, which is a light reception waveform generated by the light receiving unit that receives the pulsed light and in which a light reception signal is saturated in a part; In the estimation step, Identifying a tentative peak position using a plurality of data points including a saturation start point of the saturated waveform; determining a correction parameter based on a saturation width of the saturated waveform; The tentative peak position is corrected using the identified correction parameter, thereby estimating the peak position of the pulsed light. Distance measurement method. [Explanation of symbols]

[0070] 10 Ranging device 13 Condenser lens 14 Light source 15 Perforated mirror 16 Movable mirror 18 Photodetector 20 Transparent material 30 Objects 73 Saturation waveform 80 Integrated Circuits 120 Control section 121 Estimation Department 140 Light emitting part 141 Drive circuit 160 Scanning Range 163 Drive circuit 164 Movable reflector 180 Light receiving part 181 Detection circuit

Claims

1. A distance measuring device that detects pulsed light emitted from a light source and reflected by an object with a light receiving unit, an estimation unit that estimates a peak light reception timing of the pulsed light using a saturated waveform that is a light reception waveform in which a part of a light reception signal is saturated, the saturated waveform being generated by the light receiving unit that receives the pulsed light; a distance calculation unit that calculates a distance from the distance measuring device to the object using the estimated peak light receiving timing, The estimation unit is Identifying a tentative peak light receiving timing using a plurality of data points including a saturation start point of the saturated waveform; determining a correction parameter based on a saturation width of the saturated waveform; The tentative peak light receiving timing is corrected using the identified correction parameter, thereby estimating the peak light receiving timing of the pulsed light. Ranging device.

2. 2. The distance measuring device according to claim 1, The estimation unit specifies the correction parameter based on whether the saturated waveform is due to the first pulse light reception at the light receiving unit after the emission of the pulse light. Ranging device.

3. 3. The distance measuring device according to claim 1, The estimation unit specifies the correction parameters based on a configuration of an optical system of the distance measuring device. Ranging device.

4. 3. The distance measuring device according to claim 1, estimating a peak intensity of the received pulsed light based on a saturation width of the saturated waveform; At least one of the reflection intensity and the reflectance of the object is estimated using the estimated peak intensity and the estimated peak light receiving timing. Ranging device.

5. In the distance measuring device according to claim 1 or 2, The estimation unit identifies the correction parameters further based on reference information; The reference information is information in which a correction parameter is associated with each of the plurality of saturation widths. Ranging device.

6. In the distance measuring device according to claim 1 or 2, The estimation unit corrects the tentative peak light-receiving timing by shifting the tentative peak light-receiving timing by the specified correction parameter. Ranging device.

7. In the distance measuring device according to claim 1 or 2, The estimation unit specifies a peak timing of a Gaussian curve or a quadratic curve passing through the plurality of data points as the tentative peak light-receiving timing. Ranging device.

8. In the distance measuring device according to claim 1 or 2, The estimation unit is a data point in the saturated waveform at which the received light value first exceeds a predetermined saturation threshold is determined as the start point of saturation, and a last data point thereafter at which the received light value exceeds the saturation threshold is determined as the end point of saturation; The width from the start point of saturation to the end point of saturation is defined as the saturation width of the saturated waveform. Ranging device.

9. A distance measuring method in which pulsed light emitted from a light source and reflected by an object is detected by a light receiving unit, comprising: an estimation step of estimating a peak light receiving timing of the pulsed light using a saturated waveform, which is a light receiving waveform generated by the light receiving unit that receives the pulsed light and in which a light receiving signal is partially saturated; a distance calculation step of calculating a distance from the distance measuring device to the object using the estimated peak light receiving timing; In the estimation step, Identifying a tentative peak light receiving timing using a plurality of data points including a saturation start point of the saturated waveform; determining a correction parameter based on a saturation width of the saturated waveform; The tentative peak light receiving timing is corrected using the identified correction parameter, thereby estimating the peak light receiving timing of the pulsed light. Distance measurement method.

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