Electromagnetic wave detection device and mobile object

Abstract

To discriminate the reliability of a result of detection performed by one of detection units.SOLUTION: An electromagnetic wave detection device 10 has an irradiation unit 11, an incident unit 12, a first detection unit 13, a second detection unit 14, and a control unit 15. The irradiation unit 11 emits electromagnetic waves in a plurality of different directions in a space. The electromagnetic waves from the space are incident on the incident unit 12. The electromagnetic waves from the space include reflected waves that are the electromagnetic waves emitted by the irradiation unit 11 and reflected on an object in the space. The first detection unit 13 detects at least the reflected waves. The second detection unit 14 detects at least part of the electromagnetic waves incident on the incident unit 12. The control unit 15 discriminates the presence or absence of hindering factors hindering the detection of the reflected waves performed by the first detection unit 13 based on a result of detection performed by the second detection unit 14.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to an electromagnetic wave detection device and a moving object. [Background technology]

[0002] In recent years, devices have been developed that obtain information about the surroundings from the detection results of multiple detectors that detect electromagnetic waves. For example, a device that measures the position of an object in an image by using the reflected waves of electromagnetic waves irradiated onto the object is known (see Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2018-200927 Summary of the Invention [Problem to be solved by the invention]

[0004] Such devices are intended for outdoor use, where some detectors may produce less reliable results, and it would be useful for the device to identify this.

[0005] Therefore, an object of the present disclosure, which has been made in consideration of the above-described problems of the conventional technology, is to determine the reliability of detection results obtained by some detectors that detect electromagnetic waves. [Means for solving the problem]

[0006] In order to solve the above-mentioned problems, an electromagnetic wave detection device according to a first aspect comprises: an irradiation unit that radiates electromagnetic waves in a plurality of different directions in a space; The electromagnetic waves emitted by the irradiation unit include reflected waves reflected by an object in the space. an incident portion to which these electromagnetic waves are incident; a first detection unit that detects at least the reflected wave that is incident on the incident unit; a second detection unit that detects at least a portion of the electromagnetic wave incident on the incident unit; The interference with the detection of the reflected wave by the first detection unit in the entire detection results of the second detection unit. When the sum of the magnitudes of the disturbance factors that cause the noise is equal to or greater than a threshold value, the detection result of the first detection unit is a control unit that outputs a notification regarding the inaccuracy. 、 a switching unit having a plurality of switching elements that can be switched between a first state in which the incident electromagnetic wave is allowed to travel to the first detection unit and a second state in which the incident electromagnetic wave is not allowed to travel to the first detection unit; The control unit sets the switching elements in the region where the reflected wave is incident among the switching elements to the first state, and when the reflected wave is incident on the switching unit via the disturbance factor, sets more of the switching elements to the first state compared to when the reflected wave is incident on the switching unit without via the disturbance factor. do. An electromagnetic wave detection device according to a second aspect comprises: an irradiation unit that radiates electromagnetic waves in a plurality of different directions in a space; The electromagnetic waves emitted by the irradiation unit include reflected waves reflected by an object in the space. an incident portion to which these electromagnetic waves are incident; a first detection unit that detects at least the reflected wave that is incident on the incident unit; a second detection unit that detects at least a portion of the electromagnetic wave incident on the incident unit; The interference with the detection of the reflected wave by the first detection unit in the entire detection results of the second detection unit. When the magnitude of any of the individual disturbance factors that cause the disturbance is equal to or greater than a threshold value, the detection by the first detection unit a control unit that outputs a notification regarding the inaccuracy of the output. 、 The threshold value is set for each region in the entire detection result of the second detection unit, and is smallest at the farthest position corresponding to the farthest position in the space. .

[0008] As described above, the solutions of the present disclosure have been described as devices and systems, but the present disclosure can also be realized in aspects that include these, and can also be realized as methods, programs, and storage media on which programs are recorded that are substantially equivalent to these, and it should be understood that these are also included within the scope of the present disclosure. [Effects of the Invention]

[0009] According to the electromagnetic wave detection device and moving body having the above-described configurations according to the present disclosure, the reliability of the detection results from some of the detection units can be determined. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is a diagram showing a schematic configuration of an electromagnetic wave detection device according to an embodiment of the present invention; [Figure 2] 2 is a state diagram of the electromagnetic wave detection device for explaining the traveling direction of the electromagnetic wave in a first state and a second state of a switching element in a switching unit of the electromagnetic wave detection device of FIG. 1. FIG. [Figure 3] 2 is a timing chart showing the emission and detection times of electromagnetic waves, for explaining the principle of distance measurement by the distance measurement sensor configured by the irradiation unit, first detection unit, and control unit of FIG. 1; [Figure 4] 1. FIG. 4 is a diagram showing an example of a stain present on an image detected by a second detection unit in FIG. [Figure 5] 5 is a diagram for explaining stains in the moving area and outside the moving area in the image of FIG. 4. FIG. [Figure 6] FIG. 5 is a diagram for explaining that the threshold value to be compared with the size of the stain varies depending on the distance from a specific position in the image of FIG. 4. [Figure 7] 2 is a side view of a moving body on which the electromagnetic wave detection device of FIG. 1 is mounted. [Figure 8] 10 is a flowchart illustrating a disturbance factor detection process executed by the control unit of FIG. [Figure 9] FIG. 10 is a diagram showing a schematic configuration of a modified example of the electromagnetic wave detection device according to the present embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0011] Hereinafter, an embodiment of an electromagnetic wave detection device to which the present disclosure is applied will be described with reference to the drawings.

[0012] As shown in FIG. 1, an electromagnetic wave detection device 10 according to an embodiment of the present disclosure includes an irradiation unit 11, an incidence unit 12, a first detection unit 13, a second detection unit 14, and a control unit 15.

[0013] In the following figures, dashed lines connecting each functional block indicate the flow of control signals or information being communicated. The communication indicated by the dashed lines may be wired or wireless. Furthermore, solid lines projecting from each functional block indicate beam-shaped electromagnetic waves.

[0014] The irradiation unit 11 radiates electromagnetic waves in a plurality of different directions in space. By radiating electromagnetic waves in a plurality of different directions in space, the irradiation unit 11 may change the irradiation position of the electromagnetic waves radiated onto the object ob in the space. The irradiation unit 11 may scan the object ob with the radiated electromagnetic waves. In this embodiment, the irradiation unit 11 may configure a scanning distance measuring sensor in cooperation with a first detection unit 13 described later. The irradiation unit 11 may scan the object ob in one-dimensional or two-dimensional directions. In this embodiment, the irradiation unit 11 scans the object ob in two-dimensional directions.

[0015] The irradiation unit 11 is configured so that at least a part of the radiation area of the electromagnetic waves is included in the detection range of the electromagnetic waves in the electromagnetic wave detection device 10. More specifically, the irradiation unit 11 is configured so that at least a part of the radiation area of the radiated electromagnetic waves is included in the detection range of the first detection unit 13. Therefore, at least a part of the electromagnetic waves irradiated to the object ob can be detected by the first detection unit 13.

[0016] The irradiation unit 11 radiates electromagnetic waves in a plurality of different directions in space using, for example, the reflection unit 16. The reflection unit 16 may reflect the electromagnetic waves radiated from the irradiation unit 11 while changing the direction, thereby causing the electromagnetic waves radiated by the irradiation unit 11 to be radiated in a plurality of different directions in space. The reflection unit 16 may change the direction in which the electromagnetic waves are reflected based on the control of the control unit 15, which will be described later. The reflection unit 16 includes, for example, a MEMS (Micro Electro Mechanical Systems) mirror, a polygon mirror, a galvanometer mirror, or the like.

[0017] The irradiation unit 11 may emit at least one of infrared rays, visible light, ultraviolet rays, and radio waves. In this embodiment, the irradiation unit 11 emits infrared rays. The irradiation unit 11 may emit electromagnetic waves in the form of a narrow beam, for example, 0.5°. The irradiation unit 11 may also emit electromagnetic waves in pulses. The irradiation unit 11 may include an LED (Light Emitting Diode), an LD (Laser Diode), or the like. The irradiation unit 11 may switch between emitting and stopping the electromagnetic waves based on the control of the control unit 15, which will be described later.

[0018] The irradiation unit 11 may radiate the electromagnetic waves into space without passing through the incident unit 12. Alternatively, the irradiation unit 11 may radiate the electromagnetic waves into space via the incident unit 12, for example, by providing a mirror or the like on the image side of the incident unit 12.

[0019] Electromagnetic waves from space are incident on the incident unit 12. The electromagnetic waves from space may include reflected waves that are electromagnetic waves emitted by the irradiation unit 11 and reflected by an object in the space. The object in the space may include an object ob. The incident unit 12 may include, for example, at least one of a lens and a mirror, and may form an image of the object ob, which is the subject.

[0020] The first detection unit 13 detects at least a reflected wave, which is the electromagnetic wave emitted by the irradiation unit 11 and reflected by an object in space, included in the electromagnetic wave incident on the incidence unit 12. The first detection unit 13 may detect at least any of the electromagnetic waves of infrared light, visible light, ultraviolet light, and radio waves. The first detection unit 13 may detect electromagnetic waves in the same band as the electromagnetic waves emitted by the irradiation unit 11. The first detection unit 13 may transmit detection information indicating that a reflected wave from an object has been detected to the control unit 15 as a signal.

[0021] More specifically, the first detection unit 13 includes elements that constitute a distance measurement sensor. For example, the first detection unit 13 includes a single element such as an APD (Avalanche PhotoDiode), a PD (PhotoDiode), or a distance measurement image sensor. Alternatively, the first detection unit 13 may include an element array such as an APD array, a PD array, a distance measurement imaging array, or a distance measurement image sensor.

[0022] The reflected wave may be incident on first detection unit 13 using various configurations. For example, a separator 17 provided on the traveling path of the electromagnetic wave that has passed through incident unit 12 may be used to separate the electromagnetic wave incident on separator 17, so that the reflected wave may be incident on first detection unit 13.

[0023] The separator 17 may be provided between the incident section 12 and a primary imaging position, which is an imaging position by the incident section 12 of an image of an object ob that is a predetermined distance away from the incident section 12. The separator 17 may separate the incident electromagnetic wave so that it travels in a first direction d1 and a second direction d2. In this embodiment, the first detector 13 may be configured to be able to detect the electromagnetic wave that travels in the first direction d1.

[0024] More specifically, in this embodiment, the separator 17 transmits a portion of the incident electromagnetic wave, including at least a reflected wave, in a first direction d1, and reflects another portion of the electromagnetic wave in a second direction d2. The separator 17 may transmit a portion of the incident electromagnetic wave in the first direction d1 and transmit another portion of the electromagnetic wave in the second direction d2. Alternatively, the separator 17 may refract a portion of the incident electromagnetic wave in the first direction d1 and refract another portion of the electromagnetic wave in the second direction d2. The separator 17 may be, for example, a half mirror, a beam splitter, a dichroic mirror, a cold mirror, a hot mirror, a metasurface, a deflection element, a prism, or the like.

[0025] The switching unit 18 may be provided on the path of the electromagnetic wave that passes through the incident unit 12 and reaches the first detection unit 13. In a configuration in which the above-described separation unit 17 is provided, the switching unit 18 may be provided on the path of the electromagnetic wave that travels in the first direction d1 from the separation unit 17. The switching unit 18 may be provided at or near the primary imaging position of the image of the object ob that is separated from the incident unit 12 by a predetermined position by the incident unit 12 in the second direction d2 from the separation unit 17.

[0026] The switching unit 18 may have an action surface as on which the electromagnetic wave that has passed through the incident unit 12 and the separation unit 17 is incident. The action surface as may be configured by a plurality of switching elements se arranged two-dimensionally. The action surface as is a surface that causes an action, such as reflection or transmission, on the electromagnetic wave in at least one of a first state and a second state described below. The switching unit 18 may be switchable for each switching element se between a first state in which the electromagnetic wave incident on the action surface as travels in a third direction d3 and a second state in which the electromagnetic wave travels in a fourth direction d4. More specifically, the switching unit 18 may include a reflective surface that reflects the electromagnetic wave for each switching element se. The switching unit 18 may switch between the first state and the second state for each switching element se by changing the orientation of the reflective surface for each switching element se.

[0027] The switching unit 18 may include, for example, a DMD (Digital Micromirror Device). The DMD can drive minute reflecting surfaces that constitute the acting surface as to switch the reflecting surface for each switching element se to an inclination of either +12° or 12° with respect to the acting surface as. The acting surface as may be parallel to the surface of a substrate on which the minute reflecting surfaces of the DMD are mounted.

[0028] The switching unit 18 may switch between the first state and the second state for each switching element se based on control by the control unit 15, which will be described later. For example, as shown in FIG. 2 , the switching unit 18 can simultaneously switch some switching elements se1 to the first state to cause the electromagnetic wave incident on the switching element se1 to travel in the third direction d3, and can simultaneously switch some switching elements se2 to the second state to cause the electromagnetic wave incident on the switching element se2 to travel in the fourth direction d4. The electromagnetic wave traveling in the third direction travels toward the first detection unit 13. The electromagnetic wave traveling in the fourth direction does not travel toward the first detection unit 13.

[0029] 1, a post-stage optical system 19 may be provided between the first detection unit 13 and the switching unit 18. The post-stage optical system 19 may include, for example, at least one of a lens and a mirror. The post-stage optical system 19 may form an image of the object ob as electromagnetic waves whose traveling direction has been switched by the switching unit 18.

[0030] In addition, in the configuration where the first detection unit 13 is a single element constituting the distance measuring sensor described above, it is sufficient that the first detection unit 13 can detect electromagnetic waves, and it is not necessary that an image of an object is formed on the detection surface. Therefore, the first detection unit 13 does not need to be provided at the secondary imaging position, which is the imaging position by the post-stage optical system 19. In other words, in this configuration, the first detection unit 13 may be located anywhere on the path of the electromagnetic waves that travel in the third direction d3 by the switching unit 18 and then travel via the post-stage optical system 19, as long as the first detection unit 13 is located at a position where electromagnetic waves from all angles of view can be incident on the detection surface.

[0031] The second detector 14 detects at least a portion of the electromagnetic wave incident on the incident unit 12. At least a portion of the electromagnetic wave may be incident on the second detector 14 by various methods. For example, the electromagnetic wave may be separated using the separator 17 as described above, and the reflected wave may be incident on the second detector 14.

[0032] In a configuration employing the separator 17, the second detector 14 may be provided on the path of the electromagnetic wave traveling in the first direction d1 from the separator 17. Furthermore, the second detector 14 may be provided at or near the imaging position of the image of the object ob, which is a predetermined distance away from the incident unit 12, formed by the incident unit 12 in the first direction d1 from the separator 17.

[0033] The second detection unit 14 may include an element array. For example, the second detection unit 14 may include an imaging element such as an image sensor or an imaging array, capture an image formed by electromagnetic waves on a detection surface, and generate image information corresponding to the captured object ob. More specifically, the second detection unit 14 may capture an image of visible light. The second detection unit 14 may transmit the generated image information to the control unit 15 as a signal.

[0034] The second detection unit 14 may capture images other than visible light, such as images of infrared light, ultraviolet light, and radio waves. The second detection unit 14 may include a distance measurement sensor. In a configuration in which the second detection unit 14 includes a distance measurement sensor, the electromagnetic wave detection device 10 can obtain image-like distance information from the second detection unit 14. The second detection unit 14 may also include a thermosensor, etc. In a configuration in which the second detection unit 14 includes a thermosensor, the electromagnetic wave detection device 10 can obtain image-like temperature information from the second detection unit 14.

[0035] The control unit 15 includes one or more processors and a memory. The processor may include at least one of a general-purpose processor that loads a specific program to execute a specific function and a dedicated processor specialized for a specific process. The dedicated processor may include an application-specific integrated circuit (ASIC). The processor may include a programmable logic device (PLD). The PLD may include a field-programmable gate array (FPGA). The control unit 15 may include at least one of a system-on-a-chip (SoC) and a system in a package (SiP) in which one or more processors work together.

[0036] The control unit 15 may acquire information about the surroundings of the electromagnetic wave detection device 10 based on the electromagnetic waves detected by the second detection unit 14 and the first detection unit 13. The information about the surroundings may be, for example, image information, distance information, temperature information, etc. In this embodiment, the control unit 15 may acquire distance information by measuring the distance to an object located in the radiation direction of the irradiation unit 11 based on the detection information detected by the first detection unit 13. More specifically, the control unit 15 may generate distance information using a ToF (Time-of-Flight) method, as described below. In this embodiment, the control unit 15 acquires the electromagnetic waves detected by the second detection unit 14 as image information. In this embodiment, the control unit 15 may calculate the radiation direction based on a drive signal input to the reflection unit 16 to change the direction in which the electromagnetic waves are reflected.

[0037] As shown in FIG. 3 , the control unit 15 may input an electromagnetic wave emission signal to the irradiation unit 11 to cause the irradiation unit 11 to emit a pulsed electromagnetic wave (see the “Electromagnetic Wave Emission Signal” column). The irradiation unit 11 may irradiate an electromagnetic wave based on the input electromagnetic wave emission signal (see the “Irradiation Unit Radiation Amount” column). The electromagnetic wave emitted by the irradiation unit 11 and reflected by the reflection unit 16 to be irradiated onto a given irradiation area is reflected in the irradiation area. The control unit 15 may switch at least some of the switching elements se within an imaging area in the switching unit 18 by the incidence unit 12 of the reflected wave from the irradiation area to a first state, and switch the other switching elements se to a second state. The switching of the switching elements se may be performed before the irradiation unit 11 emits an electromagnetic wave. Every time the irradiation unit 11 emits a pulsed electromagnetic wave, the control unit 15 may switch the switching elements se to a first state according to the next radiation direction of the electromagnetic wave from the reflection unit 16. That is, at least some of the switching elements se in the imaging area of the switching unit 18 for the reflected wave of the electromagnetic wave next radiated from the irradiation unit 11 may be switched to the first state, and the other switching elements se may be switched to the second state. When the first detection unit 13 detects the electromagnetic wave reflected in the irradiation area (see the "Detected amount of electromagnetic wave" column), it notifies the control unit 15 of the detection information, as described above.

[0038] The control unit 15 may include a time measurement LSI (Large Scale Integrated circuit) and may measure the time ΔT from the time T1 when the irradiating unit 11 emits electromagnetic waves to the time T2 when the detection information is acquired (see the "Acquisition of Detection Information" section). The control unit 15 may calculate the distance to the irradiation position by multiplying the time ΔT by the speed of light and dividing by 2. Note that the control unit 15 may calculate the irradiation position based on the drive signal output to the reflecting unit 16, as described above. The control unit 15 may create image-like distance information by changing the radiation direction and calculating the distance to each irradiation position corresponding to the radiation direction.

[0039] As described above, the electromagnetic wave detection device 10 is configured to generate distance information using Direct ToF, which irradiates a laser beam and directly measures the time it takes for the beam to return, but is not limited to this configuration. For example, the electromagnetic wave detection device 10 may generate distance information using Flash ToF, which irradiates an electromagnetic wave at a constant cycle and indirectly measures the time it takes for the beam to return from the phase difference between the irradiated electromagnetic wave and the returned electromagnetic wave. The electromagnetic wave detection device 10 may also generate distance information using other ToF methods, such as Phased ToF.

[0040] The control unit 15 may determine whether or not there is an interference factor that prevents the first detection unit 13 from detecting the reflected wave, based on the detection result of the second detection unit 14. The detection result of the second detection unit 14 is, for example, image information as described above. The interference factor is, for example, dirt adhering to the surface of the incident unit 12 of the electromagnetic wave detection device 10 or a transparent member such as a windshield or windshield that is arranged in front of the electromagnetic wave detection device 10 in a mobile object or the like in which the electromagnetic wave detection device 10 is installed. The dirt is, for example, water droplets such as raindrops, mud, dust, etc. Such dirt can prevent the electromagnetic wave from entering the second detection unit 14. Furthermore, such dirt can prevent the reflected wave from entering the first detection unit 13.

[0041] 4, in a configuration in which the second detection unit 14 detects image information, the control unit 15 may determine whether or not a stain UC is present in the image IM detected by the second detection unit 14. The control unit 15 may determine whether or not a stain is present in the image IM by various methods.

[0042] The control unit 15 may, for example, calculate the spatial frequency for each partial region constituting the image IM. A partial region may be a pixel constituting the image IM, or may be a region where multiple adjacent pixels are gathered. The control unit 15 may determine that a stain UC exists in a partial region where the spatial frequency is equal to or less than a frequency threshold.

[0043] Alternatively, the control unit 15 may determine whether or not a stain UC exists in a partial region based on color, brightness, etc. Alternatively, the control unit 15 may determine whether or not a stain UC exists in an IM image by machine learning.

[0044] The control unit 15 may delete the detection results of the first detection unit 13 for the reflected waves that are affected by the disturbance factor among the reflected waves that are incident from the object ob toward the incident unit 12. In other words, the control unit 15 may delete the detection results of the first detection unit 13 for the reflected waves that are incident via the disturbance factor. The control unit 15 may create image-like distance information excluding the detection results of the first detection unit 13 for that radiation direction. Instead of deleting the detection results of the first detection unit 13 for that radiation direction, the control unit 15 may generate distance information by attaching a flag indicating that the detection results are less reliable than the detection results for other radiation directions.

[0045] Based on the presence of a disturbance factor, the control unit 15 may output a notification regarding the inaccuracy of the detection result of the first detection unit 13 to an external device such as a control device of a mobile body described later. The notification regarding the inaccuracy is, for example, a warning and a stop command.

[0046] If an interference factor is present, the control unit 15 may output a notification regarding inaccuracy based on the position of the interference factor in the entire detection results of the second detection unit 14. The entire detection results of the second detection unit 14 are, for example, an image IM. The position of the interference factor is, for example, the position of a stain UC in the image IM. In this configuration, the control unit 15 outputs a notification regarding inaccuracy, for example, when a stain UC1 is present in an area recognized as the ground and an area of an object on the ground in the image IM, as shown in FIG. 5. Alternatively, the control unit 15 does not output a notification regarding inaccuracy, for example, even if a stain UC2 is present only outside the movement area, such as the sky, in the image IM. In other words, the control unit 15 outputs a notification regarding inaccuracy, for example, when an interference factor, a stain UC, is present in the movement area in the entire detection results of the second detection unit 14, which is the image IM. The movement area is an area in the image IM where a moving object, described later, may be located after movement, in other words, an area within which the moving object can move. The moving area is, for example, an area in the image IM excluding the sky, and includes at least the road on which the moving object travels.

[0047] When a disturbance factor is present, the control unit 15 may output a notification regarding inaccuracy based on the magnitude of the disturbance factor in the entire detection results of the second detection unit 14. As described above, the entire detection results of the second detection unit 14 are, for example, the image IM. Furthermore, the position of the disturbance factor is, for example, the position of a stain UC in the image IM. In this configuration, the control unit 15 outputs a notification regarding inaccuracy, for example, when a stain UC that is relatively large relative to the image IM is present. Alternatively, the control unit 15 does not output a notification regarding inaccuracy, for example, when the size of the largest detected stain UC is relatively small relative to the image IM.

[0048] More specifically, if the magnitude of the disturbance factor is equal to or greater than a threshold, the control unit 15 may determine that a relatively large disturbance factor exists and output a notification regarding the inaccuracy. As described above, the entire detection result of the second detection unit 14 is, for example, an image IM. The position of the disturbance factor is, for example, the position of a stain UC within the image IM. In this configuration, the magnitude of the disturbance factor may be measured by the number of pixels recognized as a stain UC or the number of pixels corresponding to the maximum diameter of the area recognized as a stain. The threshold may be determined, for example, with respect to the number of pixels in the image IM.

[0049] The threshold may be set for the magnitude of each disturbance factor in the entire detection results of the second detection unit 14. In such a configuration, the control unit 15 may output a notification regarding inaccuracy when the magnitude of any of the individual disturbance factors in the entire detection results of the second detection unit 14 is equal to or greater than the threshold. Furthermore, the image IM may be divided into multiple regions of a predetermined size, and the threshold may be set for the magnitude of each disturbance factor in each region, or the total magnitude of all disturbance factors. In such a configuration, different thresholds may be set depending on the positions of the multiple regions in the image IM. For example, a lower threshold may be set for a relatively important region (the center of the image IM). The control unit 15 may output a notification regarding inaccuracy when the disturbance region present in any region is equal to or greater than the threshold set for that region.

[0050] Alternatively, the threshold may be set for the sum of the magnitudes of all disturbance factors in the image IM. In such a configuration, the control unit 15 may output a notification of inaccuracy when the sum of the magnitudes of all disturbance factors in the image IM is equal to or greater than the threshold, or when the disturbance factors occupy a proportion of the image IM equal to or greater than the threshold. Furthermore, the image IM may be divided into multiple regions of a predetermined size, and a notification of inaccuracy may be output when the sum of values obtained by applying a predetermined weight to the magnitudes of the contaminants UC present in each region is equal to or greater than the threshold. In such a configuration, different weights may be set depending on the positions of the multiple regions in the image IM. For example, a larger weight may be set for a relatively important region (the center of the image IM).

[0051] Alternatively, the threshold value may be changed according to the moving speed of a moving object on which the electromagnetic wave detection device 10 (described later) is mounted. Specifically, the threshold value may be set lower as the moving object moves faster.

[0052] Alternatively, the electromagnetic wave detection device 10 may have an illuminance sensor and set the threshold value according to the amount of external light (i.e., sunlight). For example, the threshold value may be set to be lower when the amount of external light is high.

[0053] In a configuration in which the threshold is set for the magnitude of each disturbance factor, the threshold may decrease toward a specific position in the entire detection result of the second detection unit 14. As described above, the entire detection result of the second detection unit 14 is, for example, an image IM. The position of the disturbance factor is, for example, the position of a stain UC within the image IM. In such a configuration, for example, as shown in FIG. 6, the farthest position FP of the travel path that can be recognized in the image IM may be determined to be a specific position. Therefore, even if the sizes are the same, the size of a stain UC3 close to the farthest position FP may be equal to or greater than the threshold, while the size of a stain UC4 farther from the farthest position FP may be less than the threshold. In other words, the threshold may be set lower as the area approaches the farthest position FP. In other words, the threshold may be set lower for areas in the image IM farther from the electromagnetic wave detection device 10. That is, the threshold is set smallest at the farthest position FP. This setting is intended to address the fact that the intensity of reflected light tends to decrease closer to the farthest position FP, and the presence of disturbance factors is likely to reduce the reliability of the detection result of the first detection unit 13.

[0054] When the control unit 15 confirms the presence of an interference factor, it may switch more switching elements se to the first state when the reflected wave traveling from the object ob to the incident unit 12 enters the switching unit 18 via the interference factor compared to when the reflected wave enters without passing through the interference factor.

[0055] 7, the electromagnetic wave detecting device 10 may be mounted on a moving body 20. The electromagnetic wave detecting device 10 may be installed so as to be able to detect electromagnetic waves in front of the moving body 20, for example.

[0056] The mobile object 20 may include, for example, a vehicle, a ship, an aircraft, etc. Vehicles may include, for example, automobiles, industrial vehicles, rail vehicles, residential vehicles, fixed-wing aircraft that travel on runways, etc. Automobiles may include, for example, passenger cars, trucks, buses, motorcycles, trolleybuses, etc. Industrial vehicles may include, for example, industrial vehicles for agriculture and construction. Industrial vehicles may include, for example, forklifts, golf carts, etc. Agricultural industrial vehicles may include, for example, tractors, cultivators, transplanters, binders, combines, lawn mowers, etc. Construction industrial vehicles may include, for example, bulldozers, scrapers, excavators, crane trucks, dump trucks, road rollers, etc. Vehicles may include vehicles that are powered by human power. Vehicle classifications are not limited to the above examples. For example, automobiles may include industrial vehicles that can travel on roads. The same vehicle may be included in multiple classifications. Ships may include, for example, marine jets, boats, and tankers. Aircraft may include, for example, fixed-wing aircraft, rotary-wing aircraft, etc.

[0057] The electromagnetic wave detection device 10 may be mounted inside the mobile object 20, for example, and detect electromagnetic waves incident from outside the mobile object 20 through the windshield. The electromagnetic wave detection device 10 may be disposed in front of the rearview mirror or on the dashboard. The electromagnetic wave detection device 10 may be fixed to any of the front bumper, fender grille, side fender, light module, and hood of the mobile object 20.

[0058] The moving object 20 may include a notification unit 21 and a driving support unit 22.

[0059] When the control unit 15 of the electromagnetic wave detection device 10 recognizes the presence of a disturbance, more specifically, when a notification regarding inaccuracy is received from the electromagnetic wave detection device 10, the notification unit 21 may issue a warning to the occupant. The notification unit 21 may be, for example, a display capable of displaying a warning image, a speaker capable of emitting a warning sound, or a lamp capable of leaving the warning lit. When issuing the notification, the notification may include a method for removing the disturbance and the location of the disturbance that caused the notification regarding inaccuracy to be output (i.e., its location on the incident unit 12, the windshield, etc.). By showing the location of the disturbance to be removed together with the image IM displayed on the display, the occupant can quickly remove the disturbance.

[0060] The driving support unit 22 may stop the movement of the mobile object 20 when the control unit 15 of the electromagnetic wave detection device 10 determines that a disturbance factor exists, more specifically, when a notification regarding inaccuracy is received from the electromagnetic wave detection device 10. The driving support unit 22 may be a device that supports the driver's driving, such as an auto-cruise system.

[0061] Next, the interference factor detection process executed by the control unit 15 in this embodiment will be described using the flowchart of FIG. 8. For convenience, the interference factor detection process will be described using an example configuration in which the entire detection result of the second detection unit 14 is an image IM and the location of the interference factor is the location of a stain UC within the image IM. The interference factor detection process starts every time the second detection unit 14 acquires the entire detection result, more specifically, one frame of image information. Alternatively, the interference factor detection process may start periodically. Therefore, even if a notification regarding inaccuracy is acquired from the electromagnetic wave detection device 10, if the interference factor is removed by a wiper or the like, the output of the notification regarding inaccuracy may be stopped, or a notification indicating that the interference factor has been removed may be output.

[0062] In step S100, the control unit 15 determines whether or not there is a stain UC in the image IM corresponding to the acquired image information. If there is no stain UC in the entire image IM, the disturbance factor detection process ends. If there is at least one stain UC in the image IM, the process proceeds to step S101.

[0063] In step S101, the control unit 15 determines whether the stains UC whose presence was confirmed in step S100 are located only outside the moving area in the image IM. If the stains UC are located only outside the moving area, the disturbance factor detection process ends. If the stains UC are not located only outside the moving area and at least one stain UC is located in the moving area, the process proceeds to step S102.

[0064] In step S102, the control unit 15 calculates the size of the stain UC that has been determined to be located in the movement area in step S103. After the calculation, the process proceeds to step S103.

[0065] In step S103, the control unit 15 determines a threshold value for each stain UC based on the position in the image IM of the stain UC whose size was calculated in step S102. After the determination, the process proceeds to step S104. Note that the control unit 15 may determine the threshold value corresponding to the position where the stain UC is detected by reading out the threshold value for the position in the image IM stored in a memory provided in the electromagnetic wave detection device 10.

[0066] In step S104, the control unit 15 compares the size of the dirt UC calculated in step S102 with the threshold value corresponding to the dirt UC determined in step S103. The control unit 15 determines whether the size of all the dirt UC is less than the threshold value corresponding to each dirt UC. If the size of all the dirt UC is less than the threshold value corresponding to each dirt UC, the interference factor detection process ends. If the size of at least one dirt UC is equal to or greater than the corresponding threshold, the process proceeds to step S105.

[0067] In step S105, the control unit 15 outputs a notification regarding the inaccuracy to the external device, and after outputting the notification, the disturbance factor detection process ends.

[0068] The electromagnetic wave detection device 10 of this embodiment configured as described above determines whether or not there is an interfering factor that prevents the first detection unit 13 from detecting the reflected wave, based on the detection result of the second detection unit 14. With this configuration, the electromagnetic wave detection device 10 can detect an interfering factor that cannot be determined based only on the detection result of the first detection unit 13. Therefore, the electromagnetic wave detection device 10 can determine the reliability of the detection results by some of the detection units.

[0069] Furthermore, based on the presence of a disturbance, the electromagnetic wave detection device 10 of this embodiment outputs a notification regarding the inaccuracy of the detection result of the first detection unit 13. With this configuration, the electromagnetic wave detection device 10 can notify an external device that performs control based on the detection result of the first detection unit 13 or a user who desires the detection result that the reliability of the detection result of the first detection unit 13 has decreased.

[0070] Furthermore, the electromagnetic wave detection device 10 of this embodiment outputs a notification regarding inaccuracy based on the position of the disturbance factor in all of the detection results of the second detection unit 14. For an external device or a user obtaining the notification regarding inaccuracy, the detection results of the first detection unit 13 may be necessary for some positions in all of the detection results of the second detection unit 14, and the detection results of the first detection unit 13 for other positions may be unnecessary. In such an external situation, the electromagnetic wave detection device 10 having the above-described configuration can output a notification regarding inaccuracy only when the disturbance factor is present in a position where the detection results of the first detection unit 13 are necessary.

[0071] Furthermore, the electromagnetic wave detection device 10 of this embodiment outputs a notification regarding inaccuracy when the magnitude of each or the total magnitude of the disturbance factors in the overall detection results of the second detection unit 14 is equal to or greater than a threshold. When the disturbance factors are relatively small, the reliability of the detection results of the first detection unit 13 does not decrease to the extent that the detection results become unusable. In such an event, the electromagnetic wave detection device 10 having the above-described configuration can output a notification regarding inaccuracy when the reliability of the detection results decreases to the extent that the detection results become unusable for external devices or users.

[0072] Furthermore, in the electromagnetic wave detection device 10 of this embodiment, the threshold is smallest at the farthest position among all the detection results of the second detection unit 14. The first detection unit 13 and the second detection unit 14 detect electromagnetic waves affected by objects in space. Therefore, at the farthest position, the size of the object corresponding to the electromagnetic waves detected by the first detection unit 13, in other words, the set of adjacent irradiation positions or radiation directions with approximately the same detection results, is small. In response to such an event, the electromagnetic wave detection device 10 having the above-described configuration reduces the threshold for an object that is relatively small in the detection results of the second detection unit 14 due to its distance from the electromagnetic wave detection device 10 in real space. Therefore, the electromagnetic wave detection device 10 can more appropriately output a notification regarding inaccuracy by taking into account the distance in real space.

[0073] Furthermore, the electromagnetic wave detection device 10 of this embodiment can switch some of the switching elements se in the switching unit 18 to the first state and some of the switching elements se to the second state. With this configuration, the electromagnetic wave detection device 10 can cause the first detection unit 13 to detect information based on the electromagnetic waves for each portion of the target ob that emits the electromagnetic waves incident on each switching element se. As described above, the control unit switches at least the switching elements se in the imaging area where the reflected waves form an image to the first state. In the switching, the number of switching elements se switched to the first state may not be single, but may be multiple. The more switching elements se switched to the first state, the greater the amount of light of the reflected waves traveling to the first detection unit 13. Therefore, when the control unit 15 determines that the size of the stain UC in the image IM is smaller than the threshold, the number of switching elements se that are set to the first state among the switching elements se where the reflected waves incident through the stain UC form an image may be increased according to the size of the stain UC. When the number of switching elements se that are switched to the first state is increased, the radio wave detection device 10 may withhold output of a notification regarding inaccuracy until the size of the contamination UC becomes equal to or greater than the threshold value.

[0074] Furthermore, the moving body 20 of this embodiment includes a notification unit 21 that issues a warning when the presence of an obstruction factor is recognized. With this configuration, the moving body 20 can notify the occupant that the reliability of the first detection unit 13 has decreased.

[0075] Furthermore, the moving body 20 of this embodiment includes a driving assistance unit 22 that stops movement when the presence of an obstruction factor is detected. With this configuration, the moving body 20 can stop driving assistance based on the detection result of the first detection unit 13 when the reliability of the detection result is relatively low. Therefore, the moving body 20 improves the safety of driving assistance provided by the driving assistance unit 22.

[0076] Although the embodiments of the present disclosure have been described based on the drawings and examples, it should be noted that those skilled in the art would easily be able to make various modifications or alterations based on the present disclosure. Therefore, it should be noted that these modifications and alterations are within the scope of the present disclosure. For example, the functions of each component or step can be rearranged so as not to cause logical inconsistencies, and multiple components or steps can be combined or divided into one. Although the embodiments of the present disclosure have been described primarily in terms of an apparatus, the embodiments of the present disclosure can also be realized as a method including steps executed by each component of the apparatus. The embodiments of the present disclosure can also be realized as a method, a program, or a storage medium having a program recorded thereon, executed by a processor provided in the apparatus. It should be understood that these are also encompassed within the scope of the present disclosure.

[0077] For example, in the switching unit 18 of this embodiment, in the first state, electromagnetic waves incident on the action surface as are reflected in the third direction d3, and in the second state, electromagnetic waves incident on the action surface as are reflected in the fourth direction d4, but other configurations may also be adopted.

[0078] 9, the switching unit 181 may transmit electromagnetic waves incident on the action surface as in the first state so that the electromagnetic waves travel in the third direction d3. More specifically, the switching unit 181 may include a shutter for each switching element, the shutter having a reflecting surface that reflects the electromagnetic waves in the fourth direction. In the switching unit 181 configured in this way, by opening and closing the shutter for each switching element, it is possible to switch between traveling in the third direction d3 and traveling in the fourth direction d4 for each switching element.

[0079] An example of switching unit 181 configured in this way is a switching unit including a MEMS shutter in which a plurality of openable and closable shutters are arranged in an array. Another example of switching unit 181 is a switching unit including a liquid crystal shutter that can switch between a reflective state that reflects electromagnetic waves and a transmissive state that transmits electromagnetic waves in accordance with the liquid crystal orientation.

[0080] Furthermore, in this embodiment, the electromagnetic wave detection device 10 has a configuration in which the reflecting unit 16 is caused to scan the beam-like electromagnetic waves emitted from the irradiating unit 11, thereby causing the first detecting unit 13 to function as a scanning-type active sensor in cooperation with the reflecting unit 16. However, the electromagnetic wave detection device 10 is not limited to this configuration. For example, even if the electromagnetic wave detection device 10 does not have the reflecting unit 16 and is configured to irradiate radial electromagnetic waves from the irradiating unit 11 and acquire information without scanning, effects similar to those of this embodiment can be obtained.

[0081] In this disclosure, descriptions such as "first" and "second" are identifiers for distinguishing the configuration. In this disclosure, the configurations distinguished by descriptions such as "first" and "second" can have their numbers exchanged. For example, the first camera can exchange the identifiers "first" and "second" with the second camera. The exchange of identifiers is performed simultaneously. The configurations remain distinguished even after the identifier exchange. Identifiers may be deleted. A configuration from which an identifier has been deleted is distinguished by a symbol. The description of identifiers such as "first" and "second" in this disclosure should not be used solely to interpret the order of the configurations or to justify the existence of an identifier with a smaller number. [Explanation of symbols]

[0082] 10. Electromagnetic wave detection device 11 Irradiation unit 12 Input part 13 First detection unit 14 Second detection unit 15 Control Unit 16 Reflector 17 Separation part 18 Switching section 19 Post-stage optical system 20 Mobile 21. Information Department 22 Driving Support Department as action surface d1 First direction d2 Second direction d3 Third direction d4 Fourth direction IM Image ob target UC, UC1, UC2, UC3, UC4 dirt

Claims

1. an irradiation unit that radiates electromagnetic waves in a plurality of different directions in a space; The electromagnetic waves emitted by the irradiation unit include reflected waves reflected by an object in the space. an incident portion to which these electromagnetic waves are incident; a first detection unit that detects at least the reflected wave that is incident on the incident unit; a second detection unit that detects at least a portion of the electromagnetic wave incident on the incident unit; The interference with the detection of the reflected wave by the first detection unit in the entire detection results of the second detection unit. When the sum of the magnitudes of the disturbance factors that cause the noise is equal to or greater than a threshold value, the detection result of the first detection unit is a control unit that outputs a notification regarding the inaccuracy; a switching unit having a plurality of switching elements that can be switched between a first state in which the incident electromagnetic wave is allowed to travel to the first detection unit and a second state in which the incident electromagnetic wave is not allowed to travel to the first detection unit; The control unit sets the switching elements in the region where the reflected wave is incident among the switching elements to the first state, and when the reflected wave is incident on the switching unit via the disturbance factor, sets more of the switching elements to the first state than when the reflected wave is incident on the switching unit without via the disturbance factor. Electromagnetic wave detection device.

2. an irradiation unit that radiates electromagnetic waves in a plurality of different directions in a space; an incident unit to which electromagnetic waves from the space are incident, the electromagnetic waves including reflected waves that are the electromagnetic waves radiated by the irradiation unit and reflected by an object in the space; a first detection unit that detects at least the reflected wave that is incident on the incident unit; a second detection unit that detects at least a portion of the electromagnetic wave incident on the incident unit; a control unit that outputs a notification regarding the inaccuracy of the detection result of the first detection unit when the magnitude of any of the individual disturbance factors that hinder the detection of the reflected wave by the first detection unit in the entire detection result of the second detection unit is equal to or greater than a threshold, The threshold value is set for each region in the entire detection result of the second detection unit, and is set to the smallest at the farthest position corresponding to the farthest position in the space. Electromagnetic wave detection device.

3. 2. The electromagnetic wave detection device according to claim 1, a switching unit having a plurality of switching elements that can be switched between a first state in which the incident electromagnetic wave is allowed to travel to the first detection unit and a second state in which the incident electromagnetic wave is not allowed to travel to the first detection unit; the control unit sets the switching elements in the region where the reflected wave is incident among the switching elements to the first state, and when the reflected wave is incident on the switching unit via the disturbance factor, sets more of the switching elements to the first state compared to when the reflected wave is incident on the switching unit without via the disturbance factor. Electromagnetic wave detection device.

4. 3. The electromagnetic wave detection device according to claim 1, The notification regarding the inaccuracy is a warning to a passenger of a vehicle in which the electromagnetic wave detection device is installed or a stop command to be output to a control device of the vehicle in which the electromagnetic wave detection device is installed. Electromagnetic wave detection device.

5. 3. The electromagnetic wave detection device according to claim 1, the control unit determines whether or not there is an interfering factor that hinders the detection of the reflected wave by the first detection unit based on the detection result of the second detection unit, and outputs a notification regarding the inaccuracy of the detection result of the first detection unit based on the position of the interfering factor in the entire detection result of the second detection unit. Electromagnetic wave detection device.

Images