SETUP SYSTEM, SETUP DEVICE, SETUP METHOD, SETUP PROGRAM, MEASURING SYSTEM, MEASURING DEVICE, MEASURING METHOD, MEASURING PROGRAM, CONTROL SYSTEM, CONTROL DEVICE, CONTROL METHOD, CONTROL PROGRAM

Abstract

To provide a setup system for accurately setting up exposure period data of an imaging unit on a control unit.SOLUTION: A processor of a setup system for setting up a control unit for controlling an imaging unit to be applied to a mobile body is configured to execute: repeating an imaging frame for imaging a plurality of light sources that are sequentially turned on at a predetermined time interval throughout a measurement period which is shorter than an initial period designed as an exposure period in outside scanning of the imaging unit; providing a delay for the measurement period in previous imaging frames at the start of the measurement period in the second and subsequent imaging frames; and storing, on the control unit, data on the exposure period correlated to a completion time from the start of the measurement period to lighting-up of the last light source out of the light sources less than the total number of light sources, in an imaging frame for completion in which the number of captured on-state light sources is less than the total number of light sources.SELECTED DRAWING: Figure 8

Description

[Technical field]

[0001] The techniques disclosed herein relate to a setup technique, a measurement technique, and a control technique related to an imaging unit applied to a moving body. [Background technology]

[0002] As disclosed in Patent Document 1, a moving object is equipped with an imaging unit such as a camera and a control unit for controlling the imaging unit in order to sense the outside world. Such an imaging unit and control unit are required to sense the outside world in real time. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] U.S. Patent No. 10099630 Summary of the Invention [Problem to be solved by the invention]

[0004] In a moving body such as that disclosed in Patent Document 1, it is desirable that the exposure period in the external world scanning of the imaging unit be an actual measured value that is more accurate than a design value, as data stored in the control unit to ensure real-time sensing of the external world.

[0005] An object of the present disclosure is to provide a setup system, a setup device, a setup method, and a setup program for accurately setting up exposure period data of an imaging unit in a control unit.Another object of the present disclosure is to provide a measurement system, a measurement device, a measurement method, and a measurement program for accurately measuring the exposure period of an imaging unit.Another object of the present disclosure is to provide a control system, a control device, a control method, and a control program for controlling an imaging unit to grasp an accurate exposure period. [Means for solving the problem]

[0006] The technical means of the present disclosure for solving the problems will be described below. Note that the claims and the reference characters in parentheses in this section indicate the corresponding relationship with the specific means described in the embodiments described later in detail, and do not limit the technical scope of the present disclosure.

[0007] A first aspect of the present disclosure is A setup system for setting up a control unit (50) that has a processor (18) and controls an imaging unit (30) applied to a moving object (2), comprising: The processor Repeating an imaging frame in which a plurality of light sources (11) are sequentially turned on at set time intervals over a measurement period shorter than an initial period designed as an exposure period in an external field scanning of the imaging unit; A delay equivalent to the measurement period in the previous imaging frames is applied to the start of the measurement period in the second or subsequent imaging frames; In a completed imaging frame in which less than the total number of light sources are imaged in a lit state, data of an exposure period that correlates with the completion time from the start of a measurement cycle to when the last light source among the less than the total number is lit is stored in a control unit.

[0008] A second aspect of the present disclosure is A setup device for setting up a control unit (50) that has a processor (18) and controls an imaging unit (30) applied to a moving object (2), comprising: The processor Repeating an imaging frame in which a plurality of light sources (11) are sequentially turned on at set time intervals over a measurement period shorter than an initial period designed as an exposure period in an external field scanning of the imaging unit; A delay equivalent to the measurement period in the previous imaging frames is applied to the start of the measurement period in the second or subsequent imaging frames; In a completed imaging frame in which less than the total number of light sources are imaged in a lit state, data of an exposure period that correlates with the completion time from the start of a measurement cycle to when the last light source among the less than the total number is lit is stored in a control unit.

[0009] A third aspect of the present disclosure is A setup method executed by a processor (18) for setting up a control unit (50) for controlling an imaging unit (30) applied to a moving object (2), comprising the steps of: Repeating an imaging frame in which a plurality of light sources (11) are sequentially turned on at set time intervals over a measurement period shorter than an initial period designed as an exposure period in an external field scanning of the imaging unit; A delay equivalent to the measurement period in the previous imaging frames is applied to the start of the measurement period in the second or subsequent imaging frames; The method includes storing in the control unit exposure period data that correlates with the completion time from the start of the measurement period to when the last light source among the less than total number of light sources is turned on in a completed imaging frame in which the light sources are imaged in a lit state less than the total number.

[0010] A fourth aspect of the present disclosure is A setup program including instructions stored in a storage medium (17) and executed by a processor (18) for setting up a control unit (50) that controls an imaging unit (30) applied to a moving object (2), The command is, Repeating imaging frames by sequentially lighting a plurality of light sources (11) at set time intervals over a measurement period shorter than an initial period designed as an exposure period in an external field scan of the imaging unit; giving a delay equivalent to the measurement period in the previous imaging frames to the start of the measurement period in the second or subsequent imaging frames; The method includes storing an exposure period in the control unit, which correlates with the completion time from the start of the measurement cycle to when the last light source among the less than total number of light sources is turned on in a completed imaging frame in which the light sources are imaged in a lit state less than the total number.

[0011] According to the first to fourth aspects, imaging frames capturing images of a plurality of light sources sequentially lit at set time intervals are repeated over a measurement period shorter than an initial period designed as an exposure period in the external field scanning of the imaging unit. Here, a delay of the measurement period in the second and subsequent imaging frames is given to the start of the measurement period in the imaging frames up to the previous time. As a result, in the imaging frame of the completed time in which the number of light sources captured in the lit state is less than the total number, the exposure period is correlated with the completion time, which is the actual measured time from the start of the measurement period to the last light source among the less than the total number being lit. Therefore, by storing the exposure period data correlating with the completion time in the imaging frame of the completed time in the control unit, it is possible to realize accurate setup of the exposure period by the storage while suppressing the number of finite light sources required.

[0012] A fifth aspect of the present disclosure is a method for manufacturing a semiconductor device comprising: A measurement system having a processor (18) for measuring an exposure period in an external world scan of an imaging unit (30) applied to a moving object (2), comprising: The processor Repeating an imaging frame in which a plurality of light sources (11) are sequentially turned on at set time intervals over a measurement period shorter than an initial period designed as an exposure period; A delay equivalent to the measurement period in the previous imaging frames is applied to the start of the measurement period in the second or subsequent imaging frames; In a completed imaging frame in which less than the total number of light sources are imaged in a lit state, an exposure period is obtained that correlates with the completion time from the start of the measurement period to when the last light source among the less than the total number is lit.

[0013] A sixth aspect of the present disclosure is a method for manufacturing a semiconductor device comprising: A measurement device having a processor (18) and configured to measure an exposure period in an external world scan of an imaging unit (30) applied to a moving body (2), comprising: The processor Repeating an imaging frame in which a plurality of light sources (11) are sequentially turned on at set time intervals over a measurement period shorter than an initial period designed as an exposure period; A delay equivalent to the measurement period in the previous imaging frames is applied to the start of the measurement period in the second or subsequent imaging frames; In a completed imaging frame in which less than the total number of light sources are imaged in a lit state, an exposure period is obtained that correlates with the completion time from the start of the measurement period to when the last light source among the less than the total number is lit.

[0014] A seventh aspect of the present disclosure is a method for manufacturing a semiconductor device comprising: A method for measuring an exposure period in an external scanning of an imaging unit (30) applied to a moving object (2), the method comprising the steps of: Repeating an imaging frame in which a plurality of light sources (11) are sequentially turned on at set time intervals over a measurement period shorter than an initial period designed as an exposure period; A delay equivalent to the measurement period in the previous imaging frames is applied to the start of the measurement period in the second or subsequent imaging frames; The method includes obtaining an exposure period that correlates with the completion time from the start of the measurement cycle to the last light source among the less than total number of light sources being turned on in a completed imaging frame in which the light sources are imaged in a lit state less than the total number.

[0015] An eighth aspect of the present disclosure is a method for manufacturing a semiconductor device comprising: A measurement program including instructions stored in a storage medium (17) and executed by a processor (18) for measuring an exposure period in an external field scan of an imaging unit (30) applied to a moving object (2), The command is, Repeating an imaging frame for capturing an image by using a plurality of light sources (11) that are sequentially turned on at set time intervals over a measurement period that is shorter than an initial period designed as an exposure period; giving a delay equivalent to the measurement period in the previous imaging frames to the start of the measurement period in the second or subsequent imaging frames; The method includes acquiring an exposure period that correlates with the completion time from the start of the measurement cycle to when the last light source among the less than total number of light sources is turned on in a completed imaging frame in which the light sources are imaged in a lit state less than the total number.

[0016] According to the fifth to eighth aspects, the imaging frames capturing images of a plurality of light sources sequentially lit at set time intervals are repeated over a measurement period shorter than an initial period designed as an exposure period in the external field scanning of the imaging unit. Here, the start of the measurement period in the second and subsequent imaging frames is delayed by the measurement period in the imaging frames up to the previous time. As a result, in the imaging frame of the completed round in which the number of light sources captured in the lit state is less than the total number, the exposure period is correlated with the completion time, which is the actual measured time from the start of the measurement period to the last light source among the less than the total number being lit. Therefore, by acquiring an exposure period that is correlated with the completion time in the imaging frame of the completed round, it is possible to realize accurate measurement of the exposure period by the acquisition while suppressing the number of light sources required.

[0017] A ninth aspect of the present disclosure is a method for manufacturing a semiconductor device comprising: A control system having a processor (18) for controlling an imaging unit (30) applied to a moving object (2), comprising: The processor Repeating an imaging frame in which a plurality of light sources (11) are sequentially turned on at set time intervals over a measurement period shorter than an initial period designed as an exposure period in an external field scanning of the imaging unit; The start of the measurement period in the second and subsequent imaging frames is delayed by an amount equivalent to the measurement period in the imaging frames up to the previous time.

[0018] A tenth aspect of the present disclosure is A control device having a processor (18) for controlling an imaging unit (30) applied to a moving object (2), The processor Repeating an imaging frame in which a plurality of light sources (11) are sequentially turned on at set time intervals over a measurement period shorter than an initial period designed as an exposure period in an external field scanning of the imaging unit; The start of the measurement period in the second and subsequent imaging frames is delayed by an amount equivalent to the measurement period in the imaging frames up to the previous time.

[0019] An eleventh aspect of the present disclosure is a method for manufacturing a semiconductor device comprising: A control method executed by a processor (18) for controlling an imaging unit (30) applied to a moving object (2), comprising: Repeating an imaging frame in which a plurality of light sources (11) are sequentially turned on at set time intervals over a measurement period shorter than an initial period designed as an exposure period in an external field scanning of the imaging unit; This includes providing a delay equivalent to the measurement cycle in the previous imaging frames to the start of the measurement cycle in the second and subsequent imaging frames.

[0020] A twelfth aspect of the present disclosure is a method for manufacturing a semiconductor device comprising: A control program including instructions stored in a storage medium (17) and executed by a processor (18) for controlling an imaging unit (30) applied to a moving object (2), The command is, Repeating imaging frames by sequentially lighting a plurality of light sources (11) at set time intervals over a measurement period shorter than an initial period designed as an exposure period in an external field scan of the imaging unit; This includes giving a delay equivalent to the measurement cycle in the previous imaging frames to the start of the measurement cycle in the second and subsequent imaging frames.

[0021] According to the ninth to twelfth aspects, imaging frames capturing images of a plurality of light sources sequentially lit at set time intervals are repeated over a measurement period shorter than an initial period designed as an exposure period in the external field scanning of the imaging unit. Here, a delay of the measurement period in the second and subsequent imaging frames is given to the start of the measurement period in the imaging frames up to the previous time. As a result, in the imaging frame of the completed round in which the number of light sources captured in the lit state is less than the total number, the exposure period is correlated with the completion time, which is the actual measured time from the start of the measurement period to the last light source among the less than the total number is lit. Therefore, it is possible to grasp the exposure period that is correlated with the completion time in the imaging frame of the completed round while suppressing the necessary number of finite light sources. [Brief description of the drawings]

[0022] [Figure 1] 1 is a block diagram showing an overall configuration of a setup system according to a first embodiment. [Diagram 2] 1 is a schematic diagram showing a moving body equipped with an imaging unit to which a setup system according to a first embodiment is applied; [Diagram 3] FIG. 2 is a schematic diagram for explaining an imaging unit according to the first embodiment. [Figure 4] FIG. 2 is a schematic diagram for explaining a light-emitting unit according to the first embodiment. [Diagram 5] FIG. 2 is a schematic diagram for explaining a light-emitting unit according to the first embodiment. [Figure 6] FIG. 2 is a block diagram for explaining a setup control unit according to the first embodiment. [Figure 7] 4 is a flowchart showing a processing flow according to the first embodiment. [Figure 8] 5 is a flowchart showing a measurement subroutine according to the first embodiment. [Figure 9] FIG. 4 is a schematic diagram for explaining a measurement subroutine according to the first embodiment. [Figure 10] FIG. 4 is a schematic diagram for explaining a measurement subroutine according to the first embodiment. [Figure 11]10 is a flowchart showing a measurement subroutine according to a second embodiment. [Figure 12] FIG. 10 is a schematic diagram for explaining a measurement subroutine according to the second embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0023] Hereinafter, multiple embodiments of the present disclosure will be described with reference to the drawings. In addition, by assigning the same reference numerals to corresponding components in each embodiment, duplicated descriptions may be omitted. In addition, when only a part of the configuration is described in each embodiment, the configuration of the other embodiment described above can be applied to the other parts of the configuration. Furthermore, in addition to the combination of configurations explicitly stated in the description of each embodiment, configurations of multiple embodiments can be partially combined together even if not explicitly stated, as long as there is no particular problem with the combination.

[0024] First embodiment The setup system 1 of the first embodiment shown in Fig. 1 controls the imaging unit 30 mounted on a moving body 2 as shown in Fig. 2 to measure an exposure period Te (see Fig. 9 described later) in an external world scan of the imaging unit 30, thereby setting up a moving body control unit 50 that controls the imaging unit 30. That is, in setting up the mobile body control unit 50, the setup system 1 functions as both a control system that controls the imaging unit 30 and a measurement system that measures the exposure period Te of the imaging unit 30. In the following description, the horizontal direction of the setup system 1 and the moving body 2 on a horizontal plane is simply referred to as the horizontal direction, and the vertical direction of the setup system 1 and the moving body 2 on the horizontal plane is simply referred to as the vertical direction.

[0025] Here, the moving body 2 is a vehicle such as an automobile or truck that can travel on a road with an occupant on board. The moving body 2 is provided with an autonomous driving mode that is classified into levels according to the degree of manual intervention by the occupant in the driving task. The autonomous driving mode may be realized by autonomous driving control, such as conditional driving automation, advanced driving automation, or full driving automation, in which a system performs all driving tasks when activated. The autonomous driving mode may be realized by advanced driving assistance control, such as driving assistance or partial driving automation, in which an occupant performs some or all driving tasks. The autonomous driving mode may be realized by either one of the autonomous driving control and the advanced driving assistance control, a combination of them, or a switch between them.

[0026] At least one imaging unit 30 mounted on the moving body 2 acquires outside world information by scanning and capturing an image of the outside world, which is the surrounding environment of the moving body 2. In particular, the imaging unit 30 is a rolling shutter type camera. In such an imaging unit 30, as shown in FIG. 3, a pixel row in which a plurality of pixels are arranged in a lateral direction X corresponding to the horizontal direction is set as a scanning line Ls, and a plurality of scanning lines Ls are sequentially switched in a vertical direction Y corresponding to the vertical direction. Therefore, the imaging unit 30 controls an exposure period Te for acquiring each pixel value for each scanning line Ls that is sequentially switched in one imaging frame F. Here, the exposure period Te means a time during which each pixel constituting a pixel row is actually exposed for each scanning line Ls. The imaging unit 30 outputs each pixel value thus acquired for each scanning line Ls as image data D for one imaging frame F.

[0027] 2, a mobile object control unit 50 applied to the mobile object 2 is connected to the imaging unit 30 via at least one of a LAN (Local Area Network) line, a wire harness, an internal bus, and a wireless communication line, for example. The mobile object control unit 50 is configured to include at least one dedicated computer.

[0028] The dedicated computer constituting the mobile object control unit 50 may be a sensing control ECU (Electronic Control Unit) that controls a sensor system of the mobile object 2 including the imaging unit 30. The dedicated computer constituting the mobile object control unit 50 may be an imaging control circuit that controls an imaging device of the imaging unit 30. The dedicated computer constituting the mobile object control unit 50 may be a driving control ECU that controls the driving of the mobile object 2. The dedicated computer constituting the mobile object control unit 50 may be a navigation ECU that navigates the travel route of the mobile object 2. The dedicated computer constituting the mobile object control unit 50 may be a locator ECU that estimates the self-state quantity of the mobile object 2. The dedicated computer constituting the mobile object control unit 50 may be a computer other than the mobile object 2 that constitutes, for example, an external center or a mobile terminal that can communicate via a communication device of the mobile object 2.

[0029] The dedicated computer constituting the mobile control unit 50 has at least one processor 52 and one memory 54. The processor 52 includes at least one type of core selected from the group consisting of a central processing unit (CPU), a graphics processing unit (GPU), a reduced instruction set computer (RISC)-CPU, a data flow processor (DFP), and a graph streaming processor (GSP). The memory 54 is at least one type of non-transitory tangible storage medium selected from the group consisting of a semiconductor memory, a magnetic medium, and an optical medium, which non-temporarily stores computer-readable programs and data.

[0030] The processor 52 reads out data stored in the memory 54 regarding the exposure period Te of the imaging unit 30 during control in the mobile body 2. The exposure period Te is thereby used to ensure real-time sensing of the outside world by being synchronized with other sensing information in the mobile body control unit 50. In particular, when multiple imaging units 30 are mounted on the mobile body 2, the exposure period Te is used for synchronization between those imaging units 30.

[0031] The setup system 1 shown in Fig. 1 is installed in a setup facility. Here, the setup facility may be a production facility for setting up the mobile body control unit 50 before the imaging unit 30 is mounted on the mobile body 2. The setup facility may be a maintenance facility for re-setting up the mobile body control unit 50 during maintenance of the imaging unit 30 after it is mounted on the mobile body 2. The setup system 1 used in such a setup facility is constructed to include a light emitting unit 10, a position adjustment unit 14, and a setup control unit 16.

[0032] As shown in Fig. 1 and Fig. 4, the light emitting unit 10 includes a plurality of light sources 11 (in the example of Fig. 1 and Fig. 4, the total number N is 10) and a light emitting circuit 12. Each light source 11 is mainly composed of an LED (Light Emitting Diode) that emits visible light of a predetermined wavelength. In particular, the light sources 11 are arranged in a row at equal intervals in the horizontal direction corresponding to the lateral direction X in which the pixels are arranged in the scan line Ls.

[0033] The light-emitting circuit 12 is composed of an LED flasher, a pulse generator, etc., and is connected to each light source 11 and the setup control unit 16. The light-emitting circuit 12 sequentially lights up each of the light sources 11 that are off using the LED flasher in accordance with a control signal received from the setup control unit 16. At this time, the light-emitting circuit 12 selects the light source 11 that is to be turned on and then maintained in a light-emitting state in the order from the light source 11 at the starting end, which is one end in the horizontal direction (the left end in FIG. 5), to the light source 11 at the other end in the horizontal direction (the right end in FIG. 5), as shown in FIG. 5.

[0034] In the light-emitting circuit 12, the lighting intervals of the light sources 11 are adjusted in synchronization with the clock pulses generated by the pulse generator so as to control the set time interval Δt given by a control signal from the setup control unit 16 to be equal time intervals from the start timing tms. After all the light sources 11 have been turned on in this manner, the light-emitting circuit 12 turns off all the light sources 11. In addition, in Figs. 1, 4, and 5 and Figs. 9 and 10 described below, the light sources 11 that are turned off are indicated by white circles, while the light sources 11 that are turned on are indicated by black circles. In Fig. 5, the reference symbols of the light sources 11 are omitted in the sub-diagrams (b) to (k) other than the sub-diagram (a) in which the first light source 11 is turned on.

[0035] The position adjustment unit 14 shown in Fig. 1 is composed of an adjustment mechanism and an adjustment circuit for adjusting the relative positional relationship of the imaging unit 30 with respect to the light-emitting unit 10, and is connected to the setup control unit 16. In particular, the position adjustment unit 14 adjusts the attitude of the imaging unit 30 positioned on the movable table 15 with respect to the light-emitting unit 10 whose position is fixed, thereby realizing adjustment of the relative positional relationship. Here, the attitude of the imaging unit 30 is adjustable in at least two-dimensional directions, namely, the horizontal direction of the setup system 1 corresponding to the lateral direction X of the scanning line Ls, and the vertical direction of the setup system 1 corresponding to the longitudinal direction Y of the scanning line Ls. Of course, the attitude of the imaging unit 30 may be adjustable in three-dimensional directions including the horizontal and vertical directions.

[0036] The position adjustment unit 14 adjusts the relative positional relationship of the imaging unit 30 with respect to the light-emitting unit 10 in accordance with a control signal received from the setup control unit 16. At this time, the position adjustment unit 14 adjusts the attitude of the imaging unit 30 in response to switching of the scanning line Ls in the imaging unit 30 so that a row of light sources 11 can be imaged by the pixel row constituting the switching destination scanning line Ls. By this attitude adjustment, the relative positional relationship of the imaging unit 30 with respect to each light source 11 of the light-emitting unit 10 is adjusted in accordance with the scanning line Ls for measuring the exposure period Te.

[0037] The setup control unit 16 is connected to the imaging unit 30 and the mobile control unit 50 via at least one of, for example, a LAN (Local Area Network) line, a wire harness, and a wireless communication line. The setup control unit 16 includes at least one dedicated computer. The dedicated computer constituting the setup control unit 16 has at least one memory 17 and one processor 18. The memory 17 is at least one type of non-transitory tangible storage medium, for example, a semiconductor memory, a magnetic medium, an optical medium, etc., that non-temporarily stores computer-readable programs and data, etc. The processor 18 includes at least one type of, for example, a CPU, a GPU, a RISC-CPU, etc., as a core.

[0038] In the setup control unit 16, the processor 18 executes a plurality of instructions included in a processing program stored in the memory 17 as a setup program including a control program and a measurement program in order to measure the exposure period Te of the imaging unit 30 and set up the mobile object control unit 50. In this way, the setup control unit 16 controls the imaging unit 30 to measure the exposure period Te, thereby constructing a plurality of functional blocks for setting up the mobile object control unit 50. The plurality of functional blocks constructed in the setup control unit 16 include a scanning block 100, a measurement block 110, and a storage block 120, as shown in FIG. 6.

[0039] In order to set up the mobile object control unit 50 by controlling the imaging unit 30 and measuring the exposure period Te through the cooperation of these blocks 100, 110, and 120, a setup method including a control method and a measurement method is executed according to the process flow shown in Fig. 7. Here, the process flow is started in response to an execution command from an operator who operates the setup system 1, or an execution command automatically issued by the setup system 1. Note that each "S" in the process flow refers to a plurality of steps executed by a plurality of commands included in the above-mentioned control program.

[0040] In S10 of the process flow, the scanning block 100 selects a scanning line Ls for measuring the exposure period Te in the following S30. At this time, in the first S10 from the start of the process flow, the scanning block 100 selects the first scanning line Ls in the vertical direction Y. On the other hand, in S10 from the second time onwards and up to the final time from the start of the process flow, the scanning block 100 selects the scanning line Ls that is next in the vertical direction Y to the scanning line Ls in the previous S10.

[0041] In S20 of the process flow, the scanning block 100 transmits a control signal to the position adjustment unit 14 so as to control the relative positional relationship of the imaging unit 30 with respect to each light source 11 of the light emitting unit 10 in accordance with the scanning line Ls selected in S10.

[0042] In S30 of the process flow, the measurement block 110 executes a measurement subroutine to measure the exposure period Te of the scanning line Ls selected in S10, as shown in Fig. 8. In S301 of the measurement subroutine, the measurement block 110 transmits a shutter trigger signal to the imaging unit 30 to start scanning for each scanning line Ls in the current imaging frame F, which is the first since the start of the measurement subroutine. Thus, every time the shutter trigger signal is received, the imaging unit 30 executes scanning for each scanning line Ls corresponding to each shutter trigger signal at the actual exposure period Te, thereby feedback-outputting the generated image data D to the setup control unit 16.

[0043] In S301, the measurement block 110, in synchronization with the transmission of the shutter trigger signal for the scan line Ls selected in S10, further transmits a control signal to the light-emitting unit 10 to sequentially turn on each light source 11 in the current imaging frame F, which is the first imaging frame. At this time, the control signal transmitted to the light-emitting unit 10 instructs each light source 11 to be turned on at each elapse of a set time interval Δt from the start timing tes of the exposure period Te, which is started in response to the shutter trigger signal as shown in FIG.

[0044] Here, in S301, the time from the start timing tes of the exposure period Te to the lighting timing of the last light source 11 in the lighting order is defined as a measurement period Tm shorter than the initial period Ti designed as the exposure period Te as shown in Fig. 5. Therefore, the measurement block 110 in S301 sets the measurement period Tm and the set time interval Δt so that the total number N of light sources 11 are sequentially turned on at the set time interval Δt from the start timing tms that is substantially simultaneous with the exposure period Te to the measurement period Tm that is shorter than the initial period Ti as shown in Fig. 9 in the current imaging frame F, which is the first time. At this time, the measurement period Tm is set to the product of the total number N of light sources 11 and the set time interval Δt. In addition, the shortening time of the measurement period Tm with respect to the initial period Ti and the set time interval Δt are adjusted in accordance with at least one of the variation in the exposure period Te assumed in the design and the error in the exposure period Te that is allowable in the design, and the total number N of light sources 11.

[0045] As a result, in the initial imaging frame F, the total number N of light sources 11 are imaged in a lit state as shown in Fig. 9. However, if the number of light sources 11 imaged in a lit state in the initial imaging frame F is less than the total number N, in S301, the measurement cycle Ti and the set time interval Δt that enable the total number N of light sources 11 to be imaged in a lit state are reset, and the initial imaging frame F is redone. The number of light sources 11 imaged in a lit state can be obtained by performing image processing, such as binarization processing, on the image data D from the imaging unit 30 in the imaging frame F.

[0046] 8, in S302 of the measurement subroutine, the measurement block 110 repeats the current imaging frame F, which is the second or subsequent imaging frame F from the start of the measurement subroutine for the scanning line Ls selected in S10. Thus, in S302, in the current imaging frame F, the measurement block 110 transmits a shutter trigger signal for each scanning line Ls to the imaging unit 30 in the same manner as in S301, thereby realizing a feedback output of image data D to the setup control unit 16.

[0047] In S302, the measurement block 110 transmits, in synchronization with the transmission of the shutter trigger signal for the scan line Ls selected in S10, to the light-emitting unit 10 a control signal for sequentially turning on each light source 11 in the current imaging frame F, which is the second or subsequent imaging frame. The control signal transmitted to the light-emitting unit 10 at this time instructs each light source 11 to be turned on one by one at each elapse of a set time interval Δt from the start timing tms of the measurement period Tm, which is delayed as shown in FIG. 10 from the start timing tes of the exposure period Te responsive to the shutter trigger signal.

[0048] Here, in S302, the measurement period Tm is set to a common value with S301. At the same time, in S302, the delay time Td given to the start timing tms of the measurement period Tm is defined as the measurement period Tm in the imaging frames F up to the previous time for the current time. Therefore, the measurement block 110 in S302 sets the delay time Td by multiplying the total number N of the light sources 11, the time interval Δt set by S301, and the number of imaging frames F executed up to the previous time. As a result of such setting, if the current time is the second imaging frame F (see FIG. 10), the set value of the measurement period Tm in the single imaging frame F up to the previous time becomes the delay time Td. On the other hand, if the current time is the third or subsequent imaging frame F, the integrated value of the measurement period Tm in the imaging frames F up to the previous time becomes the delay time Td.

[0049] As a result, in the second and subsequent imaging frames F, there are cases where the total number of light sources 11 captured in the lit state is N (not shown), and cases where the total number of light sources 11 captured in the lit state is less than N (including the case where no light sources 11 are captured in the lit state, i.e., 0) as shown in FIG. 10. Therefore, in S303 of the measurement subroutine as shown in FIG. 8, the measurement block 110 judges whether the imaging frame F executed in S302 is a completed imaging frame (hereinafter referred to as a completed frame) Ff in which the total number of light sources 11 captured in the lit state is less than N (including the case where 0) based on the image data D from the imaging unit 30. As a result, if a negative judgment is made, the measurement subroutine returns to S302. On the other hand, if a positive judgment is made, the measurement subroutine proceeds to S304.

[0050] In S304 of the measurement subroutine, the measurement block 110 measures the actual exposure period Te in the scanning line Ls selected in S10 based on the image data D of the completed frame Ff determined in S303. At this time, the measurement block 110 acquires a completion time Tc from the start timing tms of the measurement period Tm in the completed frame Ff until the last light source 11 in the lighting order is turned on among the light sources 11 less than the total number N of light sources imaged in the lit state, as shown in Fig. 10.

[0051] Here, in S304, the completion time Tc is set to the multiplication value of the number of images n of the light source 11 captured in the lighted state in the completed frame Ff and the set time interval Δt set in S301. Then, the measurement block 110 in S304 acquires the exposure period Te correlating with the completion time Tc. At this time, the measurement block 110 determines the total time of the delay time Td set in S302 in the completed frame Ff and the completion time Tc obtained by multiplying the number of images n and the set time interval Δt as the exposure period Te. As a result, the sum of the measurement period Tm in all the imaging frames F before the completed frame Ff and the completion time Tc in the completed frame Ff is acquired as the actual measured true value of the exposure period Te.

[0052] When the execution of S304 is thus completed, the measurement subroutine for the scan line Ls selected in S10 ends, and the process flow shown in Fig. 7 proceeds to S40. In S40 of the process flow, the storage block 120 stores data of the exposure period Te measured in S304 of the measurement routine in the memory 54 of the mobile body control unit 50. At this time, the data of the exposure period Te may be stored in a memory 54 integrated with the imaging unit 30 as the memory 54 of a dedicated computer constituting the mobile body control unit 50. The data of the exposure period Te may be stored in a memory 54 separate from the imaging unit 30 as the memory 54 of a dedicated computer constituting the mobile body control unit 50.

[0053] In S50 of the process flow, the scanning block 100 judges whether the measurement of the exposure period Te for all the scanning lines Ls and the data storage are completed. As a result, while a negative judgment is made, the process flow returns to S10. On the other hand, if a positive judgment is made, the process flow ends. As described above, the imaging frame F is repeated multiple times for each measurement subroutine for each scanning line Ls while adjusting the start of the set time interval Δt for sequentially turning on the light source 11, and thus the measurement of the exposure period Te for all the scanning lines Ls and the data storage are completed.

[0054] (Action and effect) The effects of the first embodiment described above will be described below.

[0055] According to the first embodiment, imaging frames F capturing images of a plurality of light sources 11 sequentially turned on at set time intervals Δt are repeated over a measurement period Tm shorter than an initial period Ti designed as an exposure period Te in external world scanning of the imaging unit 30. Here, a delay of the measurement period Tm in the second and subsequent imaging frames F is given to the start of the measurement period Tm in the imaging frames F up to the previous time. As a result, in a completion frame Ff in which the number of light sources 11 captured in a turned-on state is less than the total number N, the exposure period Te correlates with the completion time Tc, which is the actual measured time from the start of the measurement period Tm to the last light source 11 out of the total number N being turned on.

[0056] Therefore, according to the first embodiment in which the exposure period Te correlated with the completion time Tc in the completed frame Ff is acquired, it is possible to realize accurate grasping and measurement of the exposure period Te by said acquisition while reducing the required number of finite light sources 11. At the same time, according to the first embodiment in which the exposure period Te correlated with the completion time Tc in the completed frame Ff is stored in the mobile body control unit 50, it is also possible to realize accurate setup of the exposure period Te by said storage while reducing the required number of finite light sources 11.

[0057] According to the first embodiment, the sum of the delay time Td and the completion time Tc in the completed frame Ff is measured and stored as data of the exposure period Te. This makes it possible to accurately measure and set up the exposure period Te with a relatively low-load process.

[0058] According to the first embodiment, the imaging frame F is repeated for each of a plurality of scanning lines Ls in the rolling shutter imaging unit 30. This allows a series of processes from delay corresponding to the repetition of the imaging frame F to measurement and storage to be performed for each scanning line Ls, so that it is possible to realize accurate measurement and setup of the exposure period Te for each scanning line Ls. Moreover, according to the first embodiment, the relative positional relationship of the imaging unit 30 with respect to each light source 11 is controlled according to each scanning line Ls, so that it is possible to realize accurate measurement and setup of the exposure period Te for all scanning lines Ls while miniaturizing each light source 11 as much as possible.

[0059] Second Embodiment The second embodiment is a modification of the first embodiment. In the process flow of the second embodiment, steps S305 to S307 are added after step S304 in the measurement subroutine as shown in FIG.

[0060] Specifically, in S305 of the measurement subroutine according to the second embodiment, the measurement block 110 repeats the imaging frame F that is the first or subsequent additional frame with respect to the completed frame Ff as the current additional frame Fa. Thus, in S305, in the current additional frame Fa, the measurement block 110 transmits a shutter trigger signal for each scanning line Ls to the imaging unit 30 in the same manner as in S301, thereby realizing feedback output of image data D to the setup control unit 16.

[0061] In S305, the measurement block 110 transmits to the light-emitting unit 10 a control signal for sequentially turning on each light source 11 in the current additional frame Fa in synchronization with the transmission of the shutter trigger signal for the scan line Ls selected in S10. At this time, the control signal transmitted to the light-emitting unit 10 instructs each light source 11 to be turned on one by one at each elapse of a set time interval Δta from the start timing tms of a measurement period Tma, which is delayed from the start timing tes of an exposure period Te in response to the shutter trigger signal by a delay different from that of S302, as shown in FIG.

[0062] Here, in S305, the set time interval Δta in the additional frame Fa is shortened from the set time interval Δt (for example, 100 μs, etc.) in S301 and S302. At this time, the set time interval Δta is adjusted to be equal to or less than the variation of the exposure period Te assumed in the design, or equal to or less than the error of the exposure period Te that is allowable in the design (for example, 10 μs, etc.). At the same time, the measurement period Tma is set to the multiplication value of the total number N of the light sources 11 and the set time interval Δta. Therefore, in S305, the measurement period Tma in the additional frame Fa is shortened from the measurement period Tm in S301 and S302. Note that the length of the time axis shown in FIG. 12 of the second embodiment is enlarged to make the explanation easier to understand than the length of the time axis shown in FIG. 9 and FIG. 10 of the first embodiment. Also, in FIG. 12 as in the first embodiment, the light sources 11 that are turned off are indicated by white circles, while the light sources 11 that are turned on are indicated by black circles.

[0063] Furthermore, in S305, the delay time Tda given to the start timing tms of the measurement cycle Tm is defined as the measurement cycles Tm, Tma for the previous imaging frames F excluding the completed frame Ff. Therefore, the measurement block 110 in S305 sets the delay time Tda by multiplying the total number N of light sources 11, the set time interval Δt or Δta for each previous imaging frame F excluding the completed frame Ff, and the number of executions of the previous imaging frames F excluding the completed frame Ff.

[0064] As a result of the setting in S305, if there is one imaging frame F before the completed frame Ff and this is the first added frame Fa, the set value of the measurement period Tm in the imaging frame F before the completed frame Ff becomes the delay time Td. On the other hand, if there are multiple imaging frames F before the completed frame Ff and this is the first added frame Fa, the integrated value of the measurement period Tm in the multiple imaging frames F before the completed frame Ff becomes the delay time Td.

[0065] Furthermore, if there is one imaging frame F prior to the completed frame Ff and this is the second additional frame Fa, the delay time Td is the sum of the set value of the measurement period Tm in the imaging frame F prior to the completed frame Ff and the set value of the measurement period Tma in the previous additional frame Fa. On the other hand, if there are multiple imaging frames F prior to the completed frame Ff and this is the second additional frame Fa, the delay time Td is the sum of the integrated value of the measurement period Tm in the multiple imaging frames F prior to the completed frame Ff and the set value of the measurement period Tma in the previous additional frame Fa.

[0066] In addition, if there is one imaging frame F before the completed frame Ff and this is the third or subsequent additional frame Fa, the sum of the set value of the measurement period Tm in the imaging frame F before the completed frame Ff and the integrated value of the measurement period Tma in the multiple additional frames Fa up to the previous time becomes the delay time Td. On the other hand, if there are multiple imaging frames F before the completed frame Ff and this is the third or subsequent additional frame Fa, the sum of the integrated value of the measurement period Tm in the multiple imaging frames F before the completed frame Ff and the integrated value of the measurement period Tma in the multiple additional frames Fa up to the previous time becomes the delay time Td.

[0067] As a result, even in the additional frame Fa, although not shown, there are cases where the total number of light sources 11 captured in the lit state is N, and cases where the total number of light sources 11 captured in the lit state is less than N (including the case where no light sources 11 are captured in the lit state, i.e., 0) as shown in FIG. 12. Therefore, in S306 of the measurement subroutine as shown in FIG. 11, the measurement block 110 judges whether the additional frame Fa executed in S305 is a re-completed imaging frame (hereinafter referred to as a re-completed frame) Faf in which the total number of light sources 11 captured in the lit state is less than N (including the case where 0) based on the image data D from the imaging unit 30. As a result, if a negative judgment is made, the measurement subroutine returns to S305. On the other hand, if a positive judgment is made, the measurement subroutine proceeds to S307.

[0068] In S307 of the measurement subroutine, the measurement block 110 remeasures the actual exposure period Te in the scanning line Ls selected in S10 based on the image data D of the re-completed frame Faf determined in S305. At this time, the measurement block 110 acquires a re-completion time Tca from the start timing tms of the measurement period Tma in the re-completed frame Faf to the lighting of the last light source 11 in the lighting order among the light sources 11 less than the total number N imaged in the lit state, as shown in Fig. 12.

[0069] Here, in S307, the recompletion time Tca is set to the multiplication value of the number of images na of the light source 11 captured in the recompletion frame Faf in the lit state and the set time interval Δta shortened in S305. Therefore, the measurement block 110 in S305 reacquires the total time of the delay time Tda and the recompletion time Tca in the recompletion frame Faf, which is a more precise actual measurement of the completion time Tc in the completion frame Ff, as the exposure period Te correlating with the completion time Tc. That is, the measurement block 110 re-determines the exposure period Te by summing up the recompletion time Tca obtained by multiplying the number of images na and the set time interval Δta with the delay time Tda set in the recompletion frame Faf in S305. As a result, the sum of the measurement period Tm of all the imaging frames F before the recompletion frame Faf, excluding the completion frame Ff, and the recompletion time Tca in the recompletion frame Faf is updated as the measurement value of the exposure period Te.

[0070] When the execution of S307 is thus completed, in the second embodiment, the measurement subroutine ends, and the process flow proceeds to S40 as in the first embodiment (see FIG. 7), and the data of the exposure period Te updated by S307 is stored in the memory 54 of the mobile body control unit 50. Thereafter, the process flow ends in response to the completion of measurement of the exposure period Te for all scan lines Ls and data storage by execution of S50 similar to the first embodiment.

[0071] (Action and effect) The effects of the second embodiment described above will be described below.

[0072] According to the second embodiment, at least one additional frame Fa, which has a measurement period Tma and a set time interval Δta shorter than those of the imaging frames F up to the completion time (i.e., before the completion frame Ff), is repeated for the completion frame Ff. Here, a delay of the measurement period Tma in the additional frame Fa is given to the start of the measurement period Tm, Tma in the imaging frames F up to the previous time excluding the completion frame Ff.

[0073] As a result, in an additional frame Fa in which the number of light sources 11 captured in a lit state is less than the total number N, the sum of the re-completion time Tca from the start of the measurement cycle Tma until the last light source 11 out of the total number less than N is lit, and the delay time Tda in the additional frame Fa represents the exposure cycle Te. That is, the true total value of the re-completion time Tca and the delay time Tda, which is obtained by precisely measuring the completion time Tc, can be given as the exposure cycle Te that correlates with the completion time Tc in the completion frame Ff. Therefore, by updating the exposure cycle Te in this way, it is possible to realize a highly accurate setup of the exposure cycle Te by the update.

[0074] According to the second embodiment, the imaging frames F including the additional frames Fa are repeated for each of a plurality of scanning lines Ls in the rolling shutter imaging unit 30. This allows not only the imaging frames F up to the completion frame Ff, but also a series of processes from delays corresponding to the repetition of the additional frames Fa to measurement and storage to be executed for each scanning line Ls, so that it becomes possible to realize measurement and setup of the exposure period Te with high accuracy for each scanning line Ls.

[0075] (Other embodiments) Although several embodiments have been described above, the present disclosure should not be construed as being limited to those embodiments, and can be applied to various embodiments and combinations within the scope not departing from the gist of the present disclosure.

[0076] In a modified example, the dedicated computer constituting at least one of the control units 16, 50 may have at least one of a digital circuit and an analog circuit as a processor. Here, the digital circuit is at least one of ASIC (Application Specific Integrated Circuit), FPGA (Field Programmable Gate Array), SOC (System on a Chip), PGA (Programmable Gate Array), CPLD (Complex Programmable Logic Device), etc. Furthermore, such a digital circuit may have a memory that stores a program.

[0077] In a modified example, the imaging unit 30 may be a LiDAR (Light Detection and Ranging / Laser Imaging Detection and Ranging) that outputs image data D by scanning the outside world in response to irradiation of scanning light such as infrared light. In this case, each light source 11 may emit light in response to the scanning light of the imaging unit 30.

[0078] In a modified example, the rolling shutter imaging unit 30 may use a pixel row in which a plurality of pixels are arranged in a vertical direction Y corresponding to the vertical direction as a scanning line Ls, and sequentially switch between a plurality of scanning lines Ls arranged in a horizontal direction X corresponding to the horizontal direction. In this case, the light sources 11 may be arranged in a row at equal distances in the vertical direction corresponding to the vertical direction Y in which the plurality of pixels are arranged in the scanning line Ls. In this case, in S10 of the processing flow, the scanning line Ls may be selected in the horizontal direction X.

[0079] In a modified example, a global shutter type imaging unit 30 that simultaneously scans a plurality of scanning lines Ls may be employed. In the process flow in this case, after a specific scanning line Ls, such as the top, among the plurality of scanning lines Ls, is selected in S10, the execution of S20 and S50 may be omitted. Also, in the process flow in which a rolling shutter type imaging unit 30 is employed, after a specific scanning line Ls, such as the top, among the plurality of scanning lines Ls, is selected in S10, the execution of S20 and S50 may be omitted.

[0080] The position adjustment unit 14 in the modified example may adjust the attitude of the light-emitting unit 10 positioned on the movable table 15 with respect to the imaging unit 30 whose position is fixed, thereby adjusting the relative positional relationship of the imaging unit 30 with respect to the light-emitting unit 10. The position adjustment unit 14 in the modified example may adjust the relative positional relationship of the imaging unit 30 with respect to the light-emitting unit 10 by independently adjusting the attitude of the imaging unit 30 positioned on the movable table 15 and the attitude of the light-emitting unit 10 positioned on another movable table.

[0081] In the modified example, the moving body 2 to which the imaging unit 30 and the moving body control unit 50 are applied may be, for example, a traveling robot whose traveling can be remotely controlled. In addition to the forms described above, the setup system 1 that also functions as a control system and a measurement system in the above-mentioned embodiments and modified examples may be implemented as a device (e.g., a processing ECU) mounted on the moving body 2. Furthermore, the setup system 1 that also functions as a control system and a measurement system in the above-mentioned embodiments and modified examples may be implemented as a semiconductor device (e.g., a semiconductor chip) having at least one processor 18 and one memory 17. [Explanation of symbols]

[0082] 1: Setup system, 2: Moving object, 11: Light source, 17: Memory, 18: Processor, 30: Imaging unit, 50: Control unit, 54: Memory

Claims

1. A setup system for setting up a control unit (50) having a processor (18) and controlling an imaging unit (30) applied to a moving object (2), comprising: The processor, Repeating an imaging frame in which a plurality of light sources (11) are sequentially turned on at set time intervals over a measurement period that is shorter than an initial period designed as an exposure period in an external field scan of the imaging unit; giving a delay of the measurement period in the imaging frames up to the previous time to the start of the measurement period in the second or subsequent imaging frames; and storing in the control unit data of the exposure cycle that correlates with the completion time from the start of the measurement cycle to when the last of the less than total number of light sources is turned on in the imaging frame of a completed time in which the light sources are imaged in a lit state, the data correlating with the completion time from the start of the measurement cycle to when the last of the less than total number of light sources is turned on.

2. The exposure period is obtained by:

2. The setup system according to claim 1, further comprising storing a total time of the completion time and a delay time by which the start of the measurement cycle is delayed in the imaging frame of the completion time as data of the exposure cycle.

3. The processor, repeating at least one additional imaging frame, in which the measurement cycle and the set time interval are shorter than those of the imaging frames up to the completion time, on the imaging frames of the completion time; and giving a delay to a start of the measurement period in the imaging frame of the additional time by a delay equivalent to the measurement period in the imaging frames up to the previous time excluding the imaging frame of the completed time, The storage of the exposure period data includes:

3. The setup system according to claim 1 or 2, further comprising: updating, in the imaging frame of the additional time in which the number of light sources imaged in an on state is less than the total number, as the exposure period by a sum of a re-completion time from the start of the measurement cycle to when the last of the less than total number of light sources is turned on and a delay time by which the start of the measurement cycle is delayed in the imaging frame of the additional time.

4. The repetition of the imaging frames includes: The setup system according to any one of claims 1 to 3, further comprising repeating the imaging frame for each of a plurality of scan lines in the imaging unit of a rolling shutter type.

5. The processor, The setup system of claim 4 , further configured to control a relative positional relationship of the imaging unit to each of the light sources for each of the scan lines.

6. A setup device for setting up a control unit (50) that has a processor (18) and controls an imaging unit (30) applied to a moving object (2), comprising: The processor, Repeating an imaging frame in which a plurality of light sources (11) are sequentially turned on at set time intervals over a measurement period that is shorter than an initial period designed as an exposure period in an external field scan of the imaging unit; giving a delay of the measurement period in the imaging frames up to the previous time to the start of the measurement period in the second or subsequent imaging frames; and storing in the control unit data of the exposure cycle that correlates with the completion time from the start of the measurement cycle to when the last of the less than total number of light sources is turned on in the imaging frame of a completed cycle in which the light sources are imaged in a lit state are less than the total number.

7. A setup method executed by a processor (18) for setting up a control unit (50) for controlling an imaging unit (30) applied to a moving object (2), comprising the steps of: Repeating an imaging frame in which a plurality of light sources (11) are sequentially turned on at set time intervals over a measurement period that is shorter than an initial period designed as an exposure period in an external field scan of the imaging unit; giving a delay of the measurement period in the imaging frames up to the previous time to the start of the measurement period in the second or subsequent imaging frames; and storing in the control unit data of the exposure cycle that correlates with the completion time from the start of the measurement cycle to when the last of the less than total number of light sources is turned on in the imaging frame of a completed time in which the light sources are imaged in a lit state, the data correlating with the completion time from the start of the measurement cycle to when the last of the less than total number of light sources is turned on.

8. A setup program including instructions stored in a storage medium (17) and executed by a processor (18) for setting up a control unit (50) that controls an imaging unit (30) applied to a moving object (2), The instruction: Repeating an imaging frame for capturing an image using a plurality of light sources (11) that are sequentially turned on at set time intervals over a measurement period that is shorter than an initial period designed as an exposure period in an external field scan of the imaging unit; giving a delay of the measurement period in the imaging frames up to the previous time to the start of the measurement period in the second or subsequent imaging frames; and storing the exposure period in the control unit in a completed imaging frame in which less than the total number of light sources are imaged in a lit state, the exposure period correlating with the completion time from the start of the measurement cycle to the last of the less than the total number of light sources being lit.

9. A measurement system having a processor (18) for measuring an exposure period in an external scanning of an imaging unit (30) applied to a moving object (2), comprising: The processor, Repeating an imaging frame in which a plurality of light sources (11) are sequentially turned on at set time intervals over a measurement period that is shorter than an initial period designed as the exposure period; giving a delay of the measurement period in the imaging frames up to the previous time to the start of the measurement period in the second or subsequent imaging frames; and acquiring the exposure period that correlates with the completion time from the start of the measurement cycle to the last of the less than total number of light sources being turned on in the imaging frame of a completed time in which less than the total number of light sources are imaged in a lit state.

10. A measurement device having a processor (18) for measuring an exposure period in an external field scan of an imaging unit (30) applied to a moving body (2), comprising: The processor, Repeating an imaging frame in which a plurality of light sources (11) are sequentially turned on at set time intervals over a measurement period that is shorter than an initial period designed as the exposure period; giving a delay of the measurement period in the imaging frames up to the previous time to the start of the measurement period in the second or subsequent imaging frames; and acquiring the exposure period that correlates with the completion time from the start of the measurement cycle to the last of the less than total number of light sources being turned on in the imaging frame of a completed time in which less than the total number of light sources are imaged in a lit state.

11. A method for measuring an exposure period in an external scanning of an imaging unit (30) applied to a moving object (2), the method comprising the steps of: Repeating an imaging frame in which a plurality of light sources (11) are sequentially turned on at set time intervals over a measurement period that is shorter than an initial period designed as the exposure period; giving a delay of the measurement period in the imaging frames up to the previous time to the start of the measurement period in the second or subsequent imaging frames; and acquiring the exposure period in the imaging frame of a completed time in which less than the total number of light sources are imaged in a lit state, the exposure period correlating with the completion time from the start of the measurement cycle to the last of the less than the total number of light sources being lit.

12. A control unit for controlling an imaging unit (30) applied to a moving object (2), A control unit having a storage medium (54) in which data of the exposure period acquired by the measurement method according to claim 11 is stored.

13. A measurement program including instructions stored in a storage medium (17) and executed by a processor (18) for measuring an exposure period in an external field scan of an imaging unit (30) applied to a moving body (2), The instruction: Repeating an imaging frame for capturing an image by using a plurality of light sources (11) that are sequentially turned on at set time intervals over a measurement period that is shorter than an initial period designed as the exposure period; giving a delay of the measurement period in the imaging frames up to the previous time to the start of the measurement period in the second or subsequent imaging frames; and acquiring the exposure period that correlates with the completion time from the start of the measurement cycle to the last of the less than total number of light sources being turned on in the imaging frame of a completed time in which the light sources imaged in a lit state are less than the total number.

14. A control system having a processor (18) for controlling an imaging unit (30) applied to a moving object (2), comprising: The processor, Repeating an imaging frame in which a plurality of light sources (11) are sequentially turned on at set time intervals over a measurement period that is shorter than an initial period designed as an exposure period in an external field scan of the imaging unit; and imparting a delay equivalent to the measurement period in the imaging frames up to the previous time to the start of the measurement period in the second or subsequent imaging frames.

15. A control device having a processor (18) for controlling an imaging unit (30) applied to a moving object (2), comprising: The processor, Repeating an imaging frame in which a plurality of light sources (11) are sequentially turned on at set time intervals over a measurement period that is shorter than an initial period designed as an exposure period in an external field scan of the imaging unit; and imparting a delay equivalent to the measurement period in the imaging frames up to the previous time to the start of the measurement period in the second or subsequent imaging frames.

16. A control method executed by a processor (18) for controlling an imaging unit (30) applied to a moving object (2), comprising: Repeating an imaging frame in which a plurality of light sources (11) are sequentially turned on at set time intervals over a measurement period that is shorter than an initial period designed as an exposure period in an external field scan of the imaging unit; imparting a delay equivalent to the measurement period in the imaging frames up to the previous time to the start of the measurement period in the second or subsequent imaging frames.

17. A control program including instructions stored in a storage medium (17) and executed by a processor (18) for controlling an imaging unit (30) applied to a moving object (2), The instruction: Repeating an imaging frame for capturing an image using a plurality of light sources (11) that are sequentially turned on at set time intervals over a measurement period that is shorter than an initial period designed as an exposure period in an external field scan of the imaging unit; and delaying the start of the measurement period in the second or subsequent imaging frames by an amount equivalent to the measurement period in the imaging frames up to the previous time.

Images