Control device, sensing system, control method, and control program

Abstract

To provide a control device of an optical sensor that enhances sensing accuracy.SOLUTION: A processor of a control device controls an optical sensor that receives reflected light corresponding to irradiation light for each scanning line Ls which switches to a scanning direction α in scanning frames Fs. When an integer of 2 or more is defined as N and a region in which N light receiving element rows are arranged in the scanning direction α in the optical sensor is defined as a region of interest ROI for reading out light reception data for each scanning line Ls, the processor is configured to execute: shifting the region of interest ROI for each scanning line Ls by N-1 or less light receiving element rows 47 between scanning frames Fs which continue before and after; and integrating the light reception data read out separately for each scanning frame Fs from the region of interest ROI per each scanning line Ls for scanning frames Fs from the present to the past N-1th frame to output the data as sensing data.SELECTED DRAWING: Figure 6

Description

[Technical Field]

[0001] The present disclosure relates to a control technique for controlling an optical sensor that receives reflected light in response to irradiated light. [Background technology]

[0002] In the control technology disclosed in Patent Document 1, first and second addition areas that partially overlap each other are set as addition areas that add up received light data for each scanning area, so that scanning in the first addition area and scanning in the second addition area are performed continuously for the same scanning area. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2020-118570 Summary of the Invention [Problem to be solved by the invention]

[0004] In the control technology disclosed in Patent Document 1, the sum of received light data for the same scanning area is generated in two separate summation areas that are partially shifted from each other, which makes it possible to increase the resolution by increasing the resolution according to the shift. However, in a single scanning frame that scans the entire scanning area, the scanning time required to complete scanning for each summation area increases, which creates a new problem of a reduced frame rate. Here, higher frame rates and higher resolutions contribute to higher sensing accuracy.

[0005] An object of the present disclosure is to provide a control device for an optical sensor that improves sensing accuracy. Another object of the present disclosure is to provide a sensing system including an optical sensor that improves sensing accuracy. Yet another object of the present disclosure is to provide a control method for an optical sensor that improves sensing accuracy. Yet another object of the present disclosure is to provide a control program for an optical sensor that improves sensing accuracy. [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 correspondence 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 control device having a processor (1b) and controlling an optical sensor (10) that receives reflected light of irradiation light for each scanning line (Ls) that switches in a scanning direction (α) in a scanning frame (Fs), Define N as an integer equal to or greater than 2, If an area in which N rows of light receiving element rows (47) are arranged in the scanning direction in the optical sensor is defined as a region of interest (ROI) from which received light data (Dr) is read out for each scanning line, then: The processor Shifting the region of interest for each scan line by N-1 or less rows of light receiving elements between successive scan frames; The received light data read from the region of interest for each scan line for each scan frame is integrated for the scan frames from the current to the past N-1 frames, and output as sensing data (Ds).

[0008] A second aspect of the present disclosure is an optical sensor (10) that receives reflected light of irradiated light for each scanning line that switches in the scanning direction (α) in a scanning frame (Fs); The sensing system includes a control device (1) of a first embodiment that controls the optical sensor.

[0009] A third aspect of the present disclosure is A control method executed by a processor (1b) for controlling an optical sensor (10) that receives reflected light of irradiation light for each scanning line (Ls) that switches in a scanning direction (α) in a scanning frame (Fs), comprising: Define N as an integer equal to or greater than 2, If an area in which N rows of light receiving element rows (47) are arranged in the scanning direction in the optical sensor is defined as a region of interest (ROI) from which received light data (Dr) is read out for each scanning line, then: Shifting the region of interest for each scan line by N-1 or less rows of light receiving elements between successive scan frames; The received light data read from the region of interest for each scan line for each scan frame is integrated for the scan frames from the current frame to the past N-1 frames, and output as sensing data (Ds).

[0010] A fourth aspect of the present disclosure is A control program stored in a storage medium (1a) includes instructions to be executed by a processor (1b) to control an optical sensor (10) that receives reflected light of irradiated light for each scanning line (Ls) that switches in a scanning direction (α) in a scanning frame (Fs), Define N as an integer equal to or greater than 2, If an area in which N rows of light receiving element rows (47) are arranged in the scanning direction in the optical sensor is defined as a region of interest (ROI) from which received light data (Dr) is read out for each scanning line, then: The command is, Shifting the region of interest for each scan line by N-1 or less rows of light receiving elements between successive scan frames; The received light data read from the region of interest for each scan line for each scan frame is integrated for the scan frames from the current to the past N-1 frames, and output as sensing data (Ds).

[0011] In this way, in the first to fourth aspects, light reception data is read from the region of interest for each scan line for each scan frame in which the scan line switches in the scanning direction. Therefore, if an integer of 2 or greater is defined, the region of interest in which N rows of light receiving elements are arranged in the scanning direction in the optical sensor and light reception data is read for each scan line is shifted by N-1 or fewer rows of light receiving elements between successive scan frames. This allows the scanning time required to read light reception data while shifting the region of interest for each scan line to be shortened as much as possible, since it is a separate time for each scan frame.

[0012] Furthermore, according to the first to fourth embodiments, the received light data read from the region of interest for each scan line for each scan frame is integrated for the scan frames from the current to the past N-1 frames, and output as sensing data. Thus, the sensing data output by integrating the received light data read from the region of interest for each scan line for each scan frame can have increased resolution depending on the shift of the region of interest between successive scan frames.

[0013] The first to fourth embodiments described above can simultaneously increase the frame rate by shortening the scanning time for each scanning frame and increase the resolution by increasing the resolution of the output sensing data, thereby improving the sensing accuracy. [Brief explanation of the drawings]

[0014] [Figure 1] 1 is a block diagram showing the overall configuration of a sensing system according to a first embodiment. [Figure 2] FIG. 2 is a cross-sectional view showing a detailed configuration of the optical sensor according to the first embodiment. [Figure 3] 4 is a time chart for explaining control of the optical sensor according to the first embodiment. [Figure 4] FIG. 2 is a plan view showing the configuration of the light receiving unit according to the first embodiment. [Figure 5]FIG. 2 is a block diagram showing the functional configuration of a control device according to the first embodiment. [Figure 6] 4 is a time chart for explaining control of the optical sensor according to the first embodiment. [Figure 7] 4 is a time chart for explaining control of the optical sensor according to the first embodiment. [Figure 8] 4 is a time chart for explaining control of the optical sensor according to the first embodiment. [Figure 9] 4 is a time chart for explaining control of the optical sensor according to the first embodiment. [Figure 10] 4 is a time chart for explaining control of the optical sensor according to the first embodiment. [Figure 11] FIG. 3 is a schematic diagram for explaining control of an optical sensor according to the first embodiment. [Figure 12] FIG. 3 is a schematic diagram for explaining control of an optical sensor according to the first embodiment. [Figure 13] FIG. 3 is a schematic diagram for explaining control of an optical sensor according to the first embodiment. [Figure 14] FIG. 3 is a schematic diagram for explaining control of an optical sensor according to the first embodiment. [Figure 15] FIG. 3 is a schematic diagram for explaining control of an optical sensor according to the first embodiment. [Figure 16] 4 is a flowchart showing a control flow of the optical sensor according to the first embodiment. [Figure 17] FIG. 10 is a cross-sectional view showing a detailed configuration of an optical sensor according to a second embodiment. [Figure 18] FIG. 10 is a block diagram showing the functional configuration of a control device according to a second embodiment. [Figure 19] FIG. 10 is a schematic diagram for explaining control of an optical sensor according to a second embodiment. [Figure 20] FIG. 10 is a schematic diagram for explaining control of an optical sensor according to a second embodiment. [Figure 21] FIG. 10 is a schematic diagram for explaining control of an optical sensor according to a second embodiment. [Figure 22]10 is a time chart for explaining control of an optical sensor according to a third embodiment. [Figure 23] 10 is a time chart for explaining control of an optical sensor according to a third embodiment. [Figure 24] 10 is a time chart for explaining control of an optical sensor according to a third embodiment. [Figure 25] 10 is a time chart for explaining control of an optical sensor according to a third embodiment. [Figure 26] 10 is a time chart for explaining control of an optical sensor according to a third embodiment. [Figure 27] 10 is a time chart for explaining control of an optical sensor according to a third embodiment. [Figure 28] 10 is a time chart for explaining control of an optical sensor according to a third embodiment. [Figure 29] FIG. 10 is a cross-sectional view showing a detailed configuration of an optical sensor according to a fourth embodiment. [Figure 30] FIG. 10 is a block diagram showing a functional configuration of a control device according to a fourth embodiment. [Figure 31] FIG. 10 is a schematic diagram for explaining control of an optical sensor according to the fourth embodiment. [Figure 32] FIG. 10 is a schematic diagram for explaining control of an optical sensor according to the fourth embodiment. [Figure 33] FIG. 10 is a schematic diagram for explaining control of an optical sensor according to the fourth embodiment. [Figure 34] FIG. 10 is a schematic diagram for explaining control of an optical sensor according to the fourth embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0015] Hereinafter, multiple embodiments of the present disclosure will be described with reference to the drawings. Note that corresponding components in each embodiment are designated by the same reference numerals, and redundant description may be omitted. Furthermore, when only a portion of the configuration is described in each embodiment, the configuration of another previously described embodiment may be applied to the remaining portions of the configuration. Furthermore, in addition to the combinations of configurations explicitly stated in the description of each embodiment, configurations of multiple embodiments may be partially combined together even if not explicitly stated, provided that there is no particular problem with the combination.

[0016] (First embodiment) 1, a first embodiment of the present disclosure relates to a sensing system 2 including an optical sensor 10 and a control device 1. The sensing system 2 is mounted on a vehicle 5. The vehicle 5 is a mobile body such as an automobile that can travel on a road with an occupant on board.

[0017] In an autonomous driving control mode, the vehicle 5 is capable of steady or temporary autonomous driving. Here, the autonomous driving control mode may be realized by autonomous driving control, such as conditional driving automation, highly automated driving, or fully automated driving, in which the system performs all driving tasks when activated. The autonomous driving control mode may also be realized by advanced driving assistance control, such as driving assistance or partial driving automation, in which the occupant performs some or all driving tasks. The autonomous driving control mode may be realized by either autonomous driving control or advanced driving assistance control, or by a combination of these, or by switching between them.

[0018] In the following description, unless otherwise specified, the directions of front, rear, up, down, left, and right are defined with respect to the vehicle 5 on a horizontal plane. The horizontal direction refers to a direction parallel to the horizontal plane that serves as the directional reference for the vehicle 5. The vertical direction refers to a vertical direction that is also the up-down direction with respect to the horizontal plane that serves as the directional reference for the vehicle 5.

[0019] The optical sensor 10 is a so-called LiDAR (Light Detection and Ranging / Laser Imaging Detection and Ranging) for acquiring sensing data Ds (see FIG. 5 described later) that can be used for driving control, including automatic control driving modes, of the vehicle 5. The optical sensor 10 is disposed in at least one location on the vehicle 5, for example, the front, left and right side portions, rear portion, upper roof, etc.

[0020] The optical sensor 10 emits light toward a sensing area As (see FIGS. 2 and 5 described below) that corresponds to the installation location and viewing angle in the external space of the vehicle 5. The optical sensor 10 receives reflected light that enters the sensing area As when the emitted light is reflected from the sensing area As. In response to receiving reflected light from the emitted light, the optical sensor 10 senses a target that reflects light within the sensing area As. Here, sensing in this embodiment particularly means measuring at least the reflection point distance from the optical sensor 10 to the target and the reflection intensity from the target.

[0021] A typical sensing target in the optical sensor 10 applied to the vehicle 5 may be at least one of moving objects such as a pedestrian, a cyclist, a non-human animal, and another vehicle. A typical sensing target in the optical sensor 10 applied to the vehicle 5 may be at least one of stationary objects such as a guardrail, a road sign, a roadside structure, and an object fallen on the road.

[0022] As shown in Fig. 2, the optical sensor 10 includes a casing module 11, an illumination module 21, and a light-receiving module 41. The casing module 11 includes a housing 12 and an optical window 13. The housing 12 is formed in the shape of a hollow box, mainly made of a light-blocking material such as metal or synthetic resin. The housing 12 houses the illumination module 21 and the light-receiving module 41 inside. The housing 12 holds the optical window 13, which is formed in the shape of a plate from a light-transmitting material such as glass or synthetic resin.

[0023] The illumination module 21 includes a light-emitting unit 22 and an illumination optical system 28. As shown in FIGS. 2 and 5, the light-emitting unit 22 has a plurality of light-emitting sources 23, each of which emits light in the infrared range to illuminate the sensing area As. The light-emitting sources 23 are arranged in a vertical line. Each light-emitting source 23 is mainly composed of at least one element, such as a laser diode or a light-emitting diode. Each light-emitting source 23 emits light under the control of the control device 1.

[0024] The illumination optical system 28 shown in FIG. 2 includes optical elements such as a microlens array or a diffractive optical element. The illumination optical system 28 exerts an angular dispersion effect to impart a unique illumination direction to the illumination light emitted by each light source 23 in the light-emitting unit 22. Thus, as each light source 23 in the light-emitting unit 22 sequentially emits light, the illumination light emitted from the illumination optical system 28 through the optical window 13 scans the sensing area As temporally and spatially. In this embodiment, in particular, the light emitted by each light source 23, which emits linear illumination light along the horizontal direction, is sequentially switched vertically for each scanning line Ls in each scanning frame Fs shown in FIG. 3. The time progression graph in FIG. 3A shows the control signal of the control device 1 controlling the scanning frame Fs, and the time progression graph in FIG. 3B shows the control signal of the control device 1 controlling the scanning line Ls.

[0025] In response to the sequential emission of light from the light sources 23 in the light-emitting unit 22, outside the optical sensor 10, the direction in which the scanning range scanned by the irradiated light in the sensing area As changes is essentially limited to the vertical direction as the scanning direction α, as shown in Figure 2. In response to this scanning, reflected light incident from the sensing area As through the optical window 13 is guided to the light-receiving module 41.

[0026] The light-receiving module 41 is disposed so as to be shifted in the vertical direction relative to the irradiation module 21. The light-receiving module 41 includes a light-receiving optical system 42 and a light-receiving unit 45. The light-receiving optical system 42 has optical elements such as a single lens or a lens system including a combination of single lenses, or a microlens array. The light-receiving optical system 42 focuses reflected light incident through the optical window 13 onto the light-receiving unit 45.

[0027] 4, the light receiving unit 45 has a plurality of light receiving elements 46 that receive reflected light of the irradiated light emitted by the light emitting unit 22. In particular, the light receiving elements 46 in this embodiment are arranged in a two-dimensional array in the vertical direction or a corresponding oblique direction, and in the horizontal direction. Each light receiving element 46 is mainly composed of a photosensitive element such as a SPAD (Single Photon Avalanche Diode), which is a single photon avalanche diode.

[0028] 2, reflected light incident from the sensing area As through the optical window 13 and collected by the light-receiving optical system 42 is received by the light-receiving unit 45. At this time, particularly in this embodiment, as shown by the diagonal hatching slanting upward to the right in FIG. 4, a row 47 of light-receiving elements 46 (hereinafter referred to as the light-receiving element row) that receives linear reflected light along the horizontal direction in accordance with the irradiated light switches for each scanning line Ls (see FIG. 3 described above) in each scanning frame Fs in the scanning direction α, which is the vertical direction or a corresponding inclined direction thereto, on the light-receiving unit 45 inside the optical sensor 10. Therefore, in the light-receiving element row 47 that switches for each scanning line Ls, a waveform signal corresponding to the reception of reflected light is output from the light-receiving elements 46.

[0029] 2 and 5, the light receiving unit 45 has an output circuit 48 that processes pulse signals from each light receiving element 46. The output circuit 48 executes a readout process for each scanning line Ls of each scanning frame Fs, in accordance with control from the control device 1, to read out light receiving data Dr. In this process, particularly in this embodiment, the readout process samples and combines waveform signals from the light receiving elements 46 in response to reception of reflected light in the light receiving element array 47, which switches for each scanning line Ls, to construct the light receiving data Dr for each scanning line Ls. The output circuit 48 then outputs the light receiving data Dr constructed by the readout process to the control device 1.

[0030] The control device 1 shown in FIGS. 1, 2, and 5 controls each light-emitting source 23 of the light-emitting unit 22 and the output circuit 48 of the light-receiving unit 45 to generate sensing data Ds based on the light-receiving data Dr output from the output circuit 48 for each scan line Ls in each scan frame Fs. To this end, the control device 1 is mainly configured with at least one dedicated computer and is connected to the light-emitting unit 22 and the light-receiving unit 45 via at least one of a LAN (Local Area Network), a wire harness, an internal bus, and the like. The control device 1 may be entirely housed inside the housing 12 (example of FIG. 1). The control device 1 may be entirely disposed in the vehicle 5 outside the housing 12. The control device 1 may also be distributed across the inside of the housing 12 and the external vehicle 5.

[0031] The dedicated computer constituting the control device 1 may be a sensor ECU (Electronic Control Unit) specialized for controlling the optical sensor 10. The dedicated computer constituting the control device 1 may be a driving control ECU (Electronic Control Unit) that controls the driving of the vehicle 5. The dedicated computer constituting the control device 1 may be a navigation ECU that navigates the driving route of the vehicle 5. The dedicated computer constituting the control device 1 may be a locator ECU that estimates the self-state quantity of the vehicle 5.

[0032] 1, the dedicated computer constituting the control device 1 has at least one memory 1a and one processor 1b. The memory 1a is at least one type of non-transitory tangible storage medium, such as a semiconductor memory, a magnetic medium, or an optical medium, that non-temporarily stores computer-readable programs and data. The processor 1b includes at least one type of core, such as a central processing unit (CPU), a graphics processing unit (GPU), a reduced instruction set computer (RISC)-CPU, a data flow processor (DFP), or a graph streaming processor (GSP).

[0033] The processor 1b executes a plurality of instructions contained in a control program stored in the memory 1a. As a result, the control device 1 controls the optical sensor 10, which receives reflected light from the irradiated light for each scanning line Ls that switches in the scanning direction α in the scanning frame Fs, to construct a plurality of functional blocks for outputting sensing data Ds. In this manner, the control device 1 constructs a plurality of functional blocks by having the processor 1b execute a plurality of instructions according to the control program stored in the memory 1a. The functional blocks constructed by the control device 1 include an area control block 100 and an output control block 110, as shown in FIG. 5.

[0034] The region control block 100 controls the output circuit 48 of the light receiving unit 45 to set a region of interest (ROI) for each scanning line Ls for each scanning frame Fs. As shown by the bold frame in Figures 6 to 9, the region of interest ROI is defined as a region in which multiple rows of light receiving element arrays 47, from which light receiving data Dr is read for each scanning line Ls in each scanning frame Fs, are arranged in the scanning direction α. ​​Here, if N is defined as an integer greater than or equal to 2, the number of rows of light receiving element arrays 47 in the region of interest ROI is set to N rows so that the total number of rows of light receiving element arrays 47 in the scanning direction α is a multiple of N or the sum of a multiple of N and a number equal to or less than N-1. In particular, in the region of interest ROI of this embodiment, the number of rows of light receiving element arrays 47 is controlled to three (N=3).

[0035] In the region control block 100, the region of interest ROI for each scan line Ls is shifted by N-1 or fewer rows of light receiving element arrays 47 between two consecutive scan frames Fs. Here, the region of interest ROI for each scan line Ls is integrated by the output control block 110, as will be described in detail later, in multiple scan frames Fs in which the shifted region of interest ROI for each scan line Ls is integrated into N frames, which corresponds to the number N of rows of light receiving element arrays 47 in the region of interest ROI, as shown in Figures 6 to 9. From a time perspective, the integration unit of the scan frames Fs is defined as N frames, from the current scan frame Fs to at least one scan frame Fs that is the N-1th frame in the past.

[0036] As the N scanning frames Fs that serve as such an integration unit, one base frame Fsb and two shift frames Fss1 and Fss2 are defined, particularly in this embodiment where N=3. Therefore, the region control block 100 controls the number of shift columns by which the light receiving element columns 47 are shifted in the region of interest ROI of each of the shift frames Fss1 and Fss2, based on the region of interest ROI in the base frame Fsb, to be N-1 columns or less.

[0037] 6 and 7, in the base frame Fsb, the first region of interest ROI corresponding to the leading scanning line Ls is controlled to shift from the first light receiving element row 47 to the Nth light receiving element row 47 relative to the reference point O in the scanning direction α. ​​Correspondingly, in the base frame Fsb, the second and subsequent regions of interest ROI corresponding to subsequent scanning lines Ls are sequentially controlled to shift from the immediately preceding region of interest ROI by the Nth light receiving element row 47 in the scanning direction α, so that they do not overlap with each other. As a result, the regions of interest ROI of each ordinal number in the base frame Fsb are controlled to the reference positions for shifting the regions of interest ROI of each ordinal number in the shift frames Fss1 and Fss2, as described below.

[0038] As shown in Figures 6 and 8, in the next shift frame Fss1 following the base frame Fsb, the first region of interest ROI corresponding to the first scanning line Ls is controlled to shift from the second photosensitive element row 47 to the Nth photosensitive element row 47 relative to the reference point O in the scanning direction α. ​​Accordingly, in the shift frame Fss1, the second and subsequent regions of interest ROI corresponding to the subsequent scanning lines Ls are sequentially controlled to shift from the immediately preceding region of interest ROI by the Nth photosensitive element row 47 in the scanning direction α, so that they do not overlap with each other. As a result, the region of interest ROI of each ordinal number in the shift frame Fss1 is controlled to be shifted in the scanning direction α by one photosensitive element row 47 (N-1 rows or less) relative to the reference point O and the reference position of the region of interest ROI with the same ordinal number in the immediately preceding base frame Fsb (see Figures 6 and 7).

[0039] As shown in Figures 6 and 9, in a subsequent shift frame Fss2 following the previous shift frame Fss1, the first region of interest ROI corresponding to the leading scan line Ls is shifted from the third photosensitive element row 47 to the Nth photosensitive element row 47 with respect to the reference point O in the scanning direction α. ​​Accordingly, in the shift frame Fss2, the second and subsequent regions of interest ROI corresponding to the subsequent scan lines Ls are sequentially shifted in the scanning direction α by Nth photosensitive element row 47 from the region of interest ROI with the immediately preceding ordinal number, so that they do not overlap with each other. As a result, the region of interest ROI with each ordinal number in the shift frame Fss2 is shifted in the scanning direction α by one photosensitive element row 47 (N-1 rows or less) from the shift position of the region of interest ROI with the same ordinal number in the immediately preceding shift frame Fss1 (see Figures 6 and 8).

[0040] At this time, the region of interest ROI with each ordinal number in the shift frame Fss2 in Figures 6 and 9 can be said to be shifted in the scanning direction α by two rows of 47 photoreceptor elements relative to the reference point O and the reference position of the region of interest ROI with the same ordinal number in the reference frame Fsb two frames before (see Figures 6 and 7). Furthermore, the shifted shift frame Fss2 is followed by a new reference frame Fsb as the next scanning frame Fs, as shown in Figure 10. The region of interest ROI with each ordinal number in this new reference frame Fsb is shifted in the opposite direction to the scanning direction α by two rows of 47 photoreceptor elements relative to the shift position of the region of interest ROI with the same ordinal number in the immediately preceding shift frame Fss2.

[0041] As shown in Fig. 5, the region control block 100 generates a light-emission control signal Cs for each scan line Ls of each scan frame Fs in order to control the sequential light emission of each light-emitting source 23 in the light-emitting unit 22 in synchronization with the control of the region of interest ROI. At this time, the light-emitting sources 23 to be light-emitting targets are arranged in multiples for each scan frame Fs in the vertical direction corresponding to the scanning direction α, with overlapping light-emitting positions avoided, as shown in Figs. 11 to 13. In particular, in the vertical direction in this embodiment, the light-emitting source 230 to be light-emitting targets in the base frame Fsb, the light-emitting source 231 to be light-emitting targets in the shift frame Fss1, and the light-emitting source 232 to be light-emitting targets in the shift frame Fss2 are arranged in this order, repeating this pattern.

[0042] The irradiation directions of the light irradiated by the sequential emission of these light sources 230, 231, and 232 are set to different directions by passing through the irradiation optical system 28, as shown in Fig. 14. As a result, the footprints of the light irradiated by the sequential emission of light from the light source 230, 231, the light source 231, and the light source 232, 230 that are aligned in the vertical direction overlap in the sensing area As. Furthermore, as shown in Fig. 15, each of the light source 230, 231, and the irradiation optical system 28 is configured to receive reflected light with a waveform Wr that spreads approximately uniformly on both sides in the scanning direction α from a peak aligned with a representative position prr of a light-receiving pixel Pr, which will be described in detail later.

[0043] With this configuration of the light-emitting unit 22, as shown in Fig. 11, in the reference frame Fsb, the region of interest ROI of each ordinal number shifts sequentially by each scanning line Ls, and the reflected light is guided to the region of interest ROI of each ordinal number, which is illuminated by the sequential light emission of each individual light-emitting source 230 in response to the light-emission control signal Cs. As shown in Fig. 12, in the shift frame Fss1, the region of interest ROI of each ordinal number shifts sequentially by each scanning line Ls, and the reflected light is guided to the region of interest ROI of each ordinal number, which is illuminated by the sequential light emission of each individual light-emitting source 232. In all of these frames Fsb, Fss1, and Fss2, the reflected light is received by all N rows of light-receiving elements 47 in each ordinal number, as shown by cross-hatching in Figs. 11 to 13. In response to this light reception, light reception data Dr is read out from the region of interest ROI by the output control block 110, as will be described in detail later.

[0044] As shown in FIG. 5, the output control block 110 controls the output circuit 48 of the light receiving unit 45 to configure a set number of light receiving elements 46 in each light receiving element array 47 in the region of interest (ROI) to form a light receiving pixel Pr. As shown by the diagonal hatching in FIG. 15, the light receiving pixel Pr is defined as a read unit, from which received light data Dr is read out sequentially in a readout direction β, which is perpendicular to the scanning direction α and runs horizontally. Therefore, a plurality of light receiving pixels Pr are defined in the region of interest (ROI) so that they are aligned in the readout direction β. Here, if M is defined as an integer greater than or equal to 2, the number of light receiving elements 46 aligned in the readout direction β in the light receiving pixel Pr is set to M so that the total number of light receiving elements 46 aligned in the readout direction β is a multiple of M or a sum of a multiple of M and a number equal to or less than M-1. In particular, in the region of interest ROI of this embodiment, the number of light receiving elements 46 set for each light receiving element array 47 is controlled to be the same as the number of rows N of the light receiving element array 47, i.e., three (M=N=3), which is the same as the number of light receiving elements 46 arranged in the scanning direction α.

[0045] As shown in FIG. 5, the output control block 110 generates sensing data Ds by integrating the light reception data Dr read from the region of interest ROI for each scan line Ls for each scanning frame Fs of the integration unit. At this time, the reading of the light reception data Dr from the region of interest ROI is performed for each light receiving pixel Pr in the same region ROI. Therefore, by defining a representative position prr at the center position of the light receiving pixel Pr in each direction α and β as shown in FIG. 15, the light reception data Dr read from the light receiving pixel Pr is associated with the representative position prr. As a result, the light reception data Dr at the representative position prr read for each light receiving pixel Pr from the region of interest ROI for each scanning frame Fs of the integration unit is integrated with each other to generate sensing data Ds such as image data.

[0046] Here, the representative positions prr of the light receiving pixels Pr in each region of interest ROI in the base frame Fsb, each region of interest ROI in the shift frame Fss1, and each region of interest ROI in the shift frame Fss2 do not overlap with each other due to the shift processing in the region control block 100. As a result, integration of the light receiving data Dr read out in units of light receiving pixels Pr from each region of interest ROI in the base frame Fsb, each region of interest ROI in the shift frame Fss1, and each region of interest ROI in the shift frame Fss2 generates sensing data Ds with an increased number of pixels and high resolution and high resolution.

[0047] Preferably, the output control block 110 integrates the light receiving data Dr read out from the region of interest ROI in units of light receiving pixels Pr for each scanning frame Fs of the integration unit after compensating the representative position prr (see FIG. 15 described above) serving as the sensing position in accordance with the traveling speed of the vehicle 5. At this time, if the traveling speed of the vehicle 5 exceeds zero speed or a creeping speed that can be simulated as zero speed, the light receiving data Dr read out in units of light receiving pixels Pr and the associated representative position prr are compensated so as to be aligned by correcting for a shift in the sensing position due to the traveling speed. Particularly in this embodiment, compensation of the representative position prr is performed on the light receiving data Dr read out in the two scanning frames Fs subsequent to the first scanning frame Fs among all scanning frames Fs of the integration unit, which are shifted in time from the first scanning frame Fs.

[0048] Here, an algorithm such as ICP (Iterative Closest Point) may be used for the alignment to compensate for the representative position prr. The traveling speed used for the alignment to compensate for the representative position prr may be acquired based on at least one of, for example, speed information detected by a sensor of the vehicle 5 and movement amount information of the point cloud position (i.e., corresponding to the representative position prr in this embodiment) between the received light data Dr. Furthermore, in addition to the traveling speed, various types of motion information of the vehicle 5, such as steering information, may be used for the alignment to compensate for the representative position prr.

[0049] When the traveling speed of the vehicle 5 is zero or slower, the output control block 110 integrates the light receiving data Dr read out in units of light receiving pixels Pr from the region of interest ROI for each integration unit scanning frame Fs without compensating for the sensing position. This makes it possible to reduce the power consumption required for the alignment process to compensate for the sensing position when the vehicle 5 is stopped, for example, when starting.

[0050] 5, the output control block 110 outputs the generated sensing data Ds. At this time, the sensing data Ds may be output to another control device, such as an ECU, different from the dedicated computer constituting the control device 1, and utilized for control in the other control device. The sensing data Ds may be stored in a memory 1a disposed inside or outside the optical sensor 10 (in the example of FIG. 5) and utilized as needed.

[0051] The control method in which the control device 1 controls the optical sensor 10 through cooperation of the blocks 100 and 110 is executed according to the control flow shown in Fig. 16. This control flow starts when the vehicle 5 starts and ends when the vehicle 5 comes to a complete stop. Note that each "S" in this control flow represents a plurality of steps executed by a plurality of commands included in the control program.

[0052] In S101, the region control block 100 initializes the index i to 0. Here, when i=0, the scanning frame Fs from which the received light data Dr is to be read is selected as the reference frame Fsb. On the other hand, when i=1, the scanning frame Fs from which the received light data Dr is to be read is selected as the previous shift frame Fss1. Furthermore, when i=2, the scanning frame Fs from which the received light data Dr is to be read is selected as the subsequent shift frame Fss2.

[0053] In S102, the region control block 100 synchronously controls the sequential shifting of the region of interest ROI and the sequential emission of each light source 23 for each scan line Ls of the scan frame Fs corresponding to index i. At this time, in the base frame Fsb where i=0, the region control block 100 sequentially controls the light source 230 for the same frame Fsb to emit light in accordance with the region of interest ROI of each ordinal number that is sequentially controlled to its respective reference position. Meanwhile, in the shift frame Fss1 where i=1, the region control block 100 sequentially controls the light source 231 for the same frame Fss1 to emit light in accordance with the region of interest ROI of each ordinal number that is sequentially controlled to a position shifted by 47 light receiving element rows from the base frame Fsb. Furthermore, in the shift frame Fss2 where i=2, the region control block 100 sequentially causes each light source 232 for the same frame Fss2 to emit light in accordance with each ordinal region of interest ROI, which is sequentially controlled to a position shifted by 47 rows of light receiving elements from the shift frame Fss1.

[0054] In S102, the output control block 110 also synchronously controls the reading of light reception data Dr from the region of interest ROI controlled by the region control block 100 for each scan line Ls in the scanning frame Fs corresponding to index i. At this time, the light reception data Dr is temporarily stored in the light reception storage area 1ar (see FIG. 5) of the memory 1a in association with the representative position prr for each light reception pixel Pr in the position-controlled region of interest ROI. Here, the light reception storage area 1ar of the memory 1a arranged inside and / or outside the optical sensor 10 is ensured with a storage capacity sufficient to temporarily store and hold the light reception data Dr for N frames of scanning frames Fs, which are the integration unit. As the memory 1a for ensuring such a storage capacity for the light reception storage area 1ar, for example, a DDR SDRAM (Double Data Rate Synchronous Dynamic Random Access Memory) or the like may be adopted.

[0055] In the next step S103, the output control block 110 determines whether the current traveling speed of the vehicle 5 exceeds zero speed or exceeds a slow-moving speed (the control flow in FIG. 16 is an example of a determination criterion where exceeding zero speed is used). If a positive determination is made as a result, the control flow proceeds to step S104.

[0056] In S104, the output control block 110 compensates the sensing positions of the current and past light receiving data Dr read out for the scanning frames Fs of the current integration unit in S102, with all N frames of scanning frames Fs from the current frame to the past N-1 frames being treated as the current integration unit. At this time, for the light receiving data Dr related to frames Fsb, Fss1, and Fss2 for i=0, 1, and 2 that make up the current integration unit, the representative position prr for each light receiving pixel Pr is compensated in accordance with the current traveling speed of the vehicle 5.

[0057] Furthermore, in S105, the output control block 110 integrates the received light data Dr for frames Fsb, Fss1, and Fss2 for i=0, 1, and 2 compensated in the previous S104 as the scanning frame Fs of the current integration unit from the present to the past N-1 frames. As a result, the output control block 110 in S105 generates and outputs sensing data Ds.

[0058] If a negative determination is made in S103 in response to the execution of S104 and S105, the control flow proceeds to S106. In S106, the output control block 110 integrates the current and past light reception data Dr read out in S102 for frames Fsb, Fss1, and Fss2 for i=0, 1, and 2 as the current integration unit for the scanning frames Fs from the current to the past N-1 frames, without compensating for the sensing positions. As a result, the output control block 110 in S106 generates and outputs sensing data Ds.

[0059] After the execution of either S105 or S106 is completed, the control flow proceeds to S107. In S107, the region control block 100 determines whether the index i is 2. If the result is a negative determination, the control flow proceeds to S108, where the region control block 100 increments the index i by 1 (i=i+1), and then the control flow returns to S102. On the other hand, if the result is a positive determination, the control flow returns to S101.

[0060] (Action and effect) The effects of the first embodiment described above will be explained below.

[0061] In the first embodiment, for each scanning frame Fs in which the scanning line Ls switches in the scanning direction α, received light data Dr is read from the region of interest ROI for each scanning line Ls. If an integer greater than or equal to 2 is defined, then the region of interest ROI from which received light data Dr is read for each scanning line Ls, with N rows of light receiving elements 47 arranged in the scanning direction α in the optical sensor 10, is shifted by N-1 or fewer rows of light receiving elements 47 between successive scanning frames Fs. This allows the scanning time required to read received light data Dr while shifting the region of interest ROI for each scanning line Ls to be shortened as much as possible, since it is a separate time for each scanning frame Fs.

[0062] Furthermore, according to the first embodiment, the received light data Dr read from the region of interest ROI for each scan line Ls for each scan frame Fs is integrated over the scan frames Fs from the current frame to the past N-1 frames, and output as sensing data Ds. Thus, the sensing data Ds output by integrating the received light data Dr read from the region of interest ROI for each scan line Ls for each scan frame Fs can have increased resolution depending on the shift of the region of interest ROI between successive scan frames Fs.

[0063] The first embodiment described above can achieve both an increase in frame rate by shortening the scanning time for each scanning frame Fs and an increase in resolution by increasing the resolution of the output sensing data Ds, thereby improving sensing accuracy.

[0064] According to the first embodiment, the received light data Dr read from the region of interest ROI for each scan line Ls for each scan frame Fs is integrated after the sensing position is compensated according to the traveling speed of the vehicle 5 on which the optical sensor 10 is mounted. This makes it possible to integrate the received light data Dr read from the region of interest ROI for each scan line Ls for each scan frame Fs after suppressing the shift in sensing position, which is a concern as the traveling speed increases. This ensures the reliability of the high-resolution sensing data Ds compatible with a high frame rate, making it possible to improve sensing accuracy.

[0065] According to the first embodiment, in the region of interest ROI, a set number of light receiving elements 46 are included in each light receiving element array 47 to form light receiving pixels Pr, which are readout units of light receiving data Dr. Therefore, in sensing data Ds obtained by integrating the light receiving data Dr read out from the light receiving pixels Pr in the region of interest ROI for each scanning line Ls for each scanning frame Fs, the resolution can be increased by increasing the number of pixels according to the shift of the region of interest ROI. Therefore, it is possible to ensure high resolution compatible with a high frame rate and to improve sensing accuracy.

[0066] In each scanning frame Fs according to the first embodiment, the received light data Dr read out in response to light reception by all N rows of the light receiving element arrays 47 for each scanning line Ls is integrated. This allows the received light data Dr read out from the region of interest ROI for each scanning line Ls for each scanning frame Fs to be generated with a high S / N ratio by using all rows of the light receiving element arrays 47 in the same region ROI, and then integrated. Therefore, in addition to high resolution compatible with a high frame rate, the output of highly sensitive sensing data Ds makes it possible to improve sensing accuracy.

[0067] Second Embodiment The second embodiment is a modification of the first embodiment.

[0068] As shown in FIG. 17, the irradiation module 2021 of the second embodiment includes an irradiation optical system 28 similar to that of the first embodiment, a light emitting unit 2022 having a single light source 2023, a collimator 2024, and a scanning unit 2025.

[0069] Specifically, the collimator 2024 is mainly composed of a collimating lens that exhibits a collimating effect on the illumination light emitted by the single light source 2023. The collimator 2024 collimates the illumination light into a line along the horizontal direction. The scanning unit 2025 is mainly composed of a scanning mechanism that includes a reflecting mirror, such as a single-surface mirror or a polygon mirror, that imparts a variable illumination direction to the illumination light collimated by the collimator 2024. Under the control of the control device 1, the scanning unit 2025 variably adjusts the projection point of the illumination light onto the illumination optical system 28 in the vertical direction along the scanning direction α.

[0070] By variably adjusting the projection point for the irradiation optical system 28, the irradiation light emitted from the system 28 through the optical window 13 scans the sensing area As both temporally and spatially. In this embodiment in particular, the irradiation direction of the irradiation light emitted in a line along the horizontal direction by the light emitted from the single light source 2023 is switched sequentially for each scanning line Ls in each scanning frame Fs. As a result, outside the optical sensor 10, the scanning direction α in which the scanning range scanned by the irradiation light in the sensing area As changes is substantially limited to the vertical direction.

[0071] 18 , the region control block 2100 of the second embodiment generates a light emission control signal Cs for each scan line Ls of each scan frame Fs in order to control the light emitting unit 2022 and the scanning unit 2025 in synchronization with the control of the region of interest ROI. At this time, the control of the light emitting unit 2022 and the scanning unit 2025 by the light emission control signal Cs is a control for switching the irradiation direction by the scanning unit 2025 with respect to the irradiation light emitted by the light source 2023.

[0072] Specifically, reflected light is guided to each ordinal region of interest ROI that shifts sequentially for each scanning line Ls in the base frame Fsb in response to the scanning unit 2025 switching the irradiation direction of the light emitted by the light source 2023, as shown in Fig. 19. Similarly, reflected light is guided to each ordinal region of interest ROI that shifts sequentially for each scanning line Ls in the shift frame Fss1 in response to the scanning unit 2025 switching the irradiation direction of the light emitted by the light source 2023, as shown in Fig. 20. Reflected light is guided to each ordinal region of interest ROI that shifts sequentially for each scanning line Ls in the shift frame Fss2 in response to the scanning unit 2025 switching the irradiation direction of the light emitted by the light source 2023, as shown in Fig. 21. In each of these frames Fsb, Fss1, and Fss2, in each region of interest ROI for each scanning line Ls, reflected light is received by all N rows of light receiving element arrays 47, as shown by cross-hatching in FIGS.

[0073] In the second embodiment, in S102 of the control flow, the region control block 2100 synchronously controls the sequential shifting of the region of interest ROI and the sequential switching of the light emission of the light-emitting unit 2022 and the irradiation direction by the scanning unit 2025 for each scan line Ls of the scanning frame Fs corresponding to index i. At this time, in the base frame Fsb where i=0, the region control block 2100 causes the scanning unit 2025 to sequentially switch the irradiation direction of the irradiation light to match each ordinal region of interest ROI that is sequentially controlled to its respective reference position. Meanwhile, in the shift frame Fss1 where i=1, the region control block 2100 causes the scanning unit 2025 to sequentially switch the irradiation direction of the irradiation light to match each ordinal region of interest ROI that is sequentially controlled to a position shifted by 47 light receiving element rows from the base frame Fsb. Furthermore, in shift frame Fss2 where i=2, the region control block 2100 causes the scanning unit 2025 to sequentially switch the irradiation direction of the irradiating light in accordance with each ordinal region of interest ROI, which is sequentially controlled to a position shifted by 47 rows of light receiving elements from shift frame Fss1.

[0074] In S102 of this control flow, the reading of the light reception data Dr in response to light reception is controlled by the output control block 110, as in the first embodiment. In the second embodiment as described above, it is possible to achieve the same effects as in the first embodiment.

[0075] (Third embodiment) The third embodiment is a modification of the second embodiment.

[0076] As shown in FIGS. 22 and 23 , in the third embodiment, the number of photodetector arrays 47 shifted between successive scan frames Fs increases as the vehicle 5 travels at higher speeds. Specifically, in the reference frame Fsb, as shown in FIGS. 22 to 24 , regardless of whether the vehicle 5 travels at a low speed (Vl) within the determination speed range or a high speed (Vh) outside the determination speed range, the region of interest ROI for each ordinal number is controlled to a reference position similar to that in the first embodiment. Here, the determination speed range is defined as a range below or below a threshold speed, for example, a slow speed or a low speed such as 30 km / h. In this embodiment, if the travel speed changes from either within or outside the determination speed at the time when either shift frame Fss1 or Fss2 is executed as the current scan frame Fs, the travel speed determination result remains unchanged until the next reference frame Fsb.

[0077] 22 and 25, in the shift frame Fss1 when the traveling speed of the vehicle 5 is within the determination speed range, the region of interest ROI of each ordinal number is controlled in the same manner as in the first embodiment. That is, in the shift frame Fss1, depending on the traveling speed within the determination speed range, the region of interest ROI of each ordinal number is shifted in the scanning direction α by one light receiving element row 47 (N-1 rows or less) relative to the reference point O and the region of interest ROI of the same ordinal number in the immediately preceding reference frame Fsb (see FIGS. 22 and 24).

[0078] 23 and 26, in the shift frame Fss1 when the traveling speed of the vehicle 5 is outside the determination speed range, the first region of interest ROI corresponding to the leading scan line Ls is controlled to shift from the third light receiving element row 47 to the Nth light receiving element row 47 relative to the reference point O in the scanning direction α. ​​Accordingly, in the shift frame Fss1 when the traveling speed is outside the determination speed range, the second and subsequent regions of interest ROI corresponding to the subsequent scan lines Ls are sequentially controlled to shift from the immediately preceding region of interest ROI by the Nth light receiving element row 47 in the scanning direction α, so that they do not overlap with each other. As a result, in the shift frame Fss1, in response to a traveling speed outside the determination speed range, the region of interest ROI of each ordinal number is shifted in the scanning direction α by two light receiving element row 47s (N-1 or less) relative to the reference point O and the region of interest ROI with the same ordinal number in the immediately preceding reference frame Fsb (see FIGS. 23 and 24).

[0079] 22 and 27, in the shift frame Fss2 when the traveling speed of the vehicle 5 is within the determination speed range, the region of interest ROI of each ordinal number is controlled in the same manner as in the first embodiment. That is, in the shift frame Fss2, depending on the traveling speed within the determination speed range, the region of interest ROI of each ordinal number is shifted in the scanning direction α by one row of 47 light receiving elements (N-1 rows or less) relative to the region of interest ROI of the same ordinal number in the immediately preceding shift frame Fss1 (see FIGS. 22 and 25). At this time, the region of interest ROI of each ordinal number in the shift frame Fss2 is shifted in the scanning direction α by two rows of 47 light receiving elements relative to the reference point O and the region of interest ROI of the same ordinal number in the reference frame Fsb two frames earlier (see FIGS. 22 and 24). Furthermore, in the new reference frame Fsb that follows the shifted shift frame Fss2, the region of interest ROI with each ordinal number is shifted in the direction opposite to the scanning direction α by two rows of light receiving elements (47) relative to the region of interest ROI with the same ordinal number in the immediately preceding frame Fss2.

[0080] 23 and 28, in the shift frame Fss2 when the traveling speed of the vehicle 5 is outside the determination speed range, the first region of interest ROI corresponding to the leading scan line Ls is controlled to shift from the fifth light receiving element row 47 to the Nth light receiving element row 47 with respect to the reference point O in the scanning direction α. ​​Accordingly, in the shift frame Fss2 when the traveling speed is outside the determination speed range, the second and subsequent regions of interest ROI corresponding to the subsequent scan lines Ls are sequentially controlled to be shifted by Nth light receiving element row 47 from the region of interest ROI with the immediately preceding ordinal number, so that they do not overlap with each other. As a result, in the shift frame Fss2, in response to a traveling speed outside the determination speed range, the region of interest ROI with each ordinal number is shifted in the scanning direction α by two light receiving element row 47s (N-1 or less) away from the region of interest ROI with the same ordinal number in the immediately preceding shift frame Fss1 (see FIGS. 23 and 26).

[0081] In this case, in the shift frame Fss2 of Figures 23 and 28, the region of interest ROI with each ordinal number is shifted in the scanning direction α by 47 columns of four photoreceptor elements relative to the reference point O and the region of interest ROI with the same ordinal number in the reference frame Fsb two frames earlier (see Figures 23 and 24). By increasing the number of shift columns in this way, it is possible to reduce memory access and power consumption for temporarily storing the received light data Dr at traveling speeds outside the determination speed range. Furthermore, in the new reference frame Fsb subsequent to the shifted shift frame Fss2, the region of interest ROI with each ordinal number is shifted in the opposite direction to the scanning direction α by 47 columns of four photoreceptor elements relative to the shift position of the region of interest ROI with the same ordinal number in the immediately preceding frame Fss2.

[0082] In the third embodiment, in S102 of the control flow, the region control block 2100 synchronously controls, for each scan line Ls of the scan frame Fs corresponding to index i, the sequential shift of the region of interest ROI and the sequential switching of the illumination orientation according to the light emission and the traveling speed of the vehicle 5. At this time, regardless of the traveling speed, in the reference frame Fsb where i=0, the region control block 2100 sequentially switches the illumination orientation in accordance with each ordinal region of interest ROI that is sequentially controlled to its respective reference position.

[0083] In the shift frame Fss1 where i=1, the region control block 2100 sequentially switches the irradiation orientation to match each ordinal region of interest ROI, which is sequentially controlled to a position shifted by 47 minutes from the reference frame Fsb by one row of light receiving elements, when the traveling speed is within the determination speed range. On the other hand, in the shift frame Fss1 where the region control block 2100 sequentially switches the irradiation orientation to match each ordinal region of interest ROI, which is sequentially controlled to a position shifted by 47 minutes from the reference frame Fsb by two rows of light receiving elements, when the traveling speed is outside the determination speed range.

[0084] In the shift frame Fss2 where i=2, the region control block 2100 sequentially switches the irradiation orientation in accordance with each ordinal region of interest ROI, which is sequentially controlled to a position shifted by 47 minutes by one row of light receiving elements from the shift frame Fss1, when the traveling speed is within the determination speed range. On the other hand, in the shift frame Fss2, the region control block 2100 sequentially switches the irradiation orientation in accordance with each ordinal region of interest ROI, which is sequentially controlled to a position shifted by 47 minutes by two rows of light receiving elements from the shift frame Fss1, when the traveling speed is outside the determination speed range.

[0085] According to the third embodiment described above, the higher the traveling speed of the vehicle 5 equipped with the optical sensor 10, the more the number of rows of the light receiving element array 47 that are shifted between successive scanning frames Fs increases. This allows for the detection data Dr read from the region of interest ROI for each scanning line Ls for each scanning frame Fs to be integrated after absorbing as much as possible the shift in the sensing position that is a concern as the traveling speed increases in accordance with the shift of the region ROI. This ensures the reliability of the high-resolution sensing data Ds that is compatible with a high frame rate, enabling improved sensing accuracy.

[0086] (Fourth embodiment) The fourth embodiment is a modification of the first embodiment.

[0087] As shown in FIG. 29, an irradiation module 4021 of the fourth embodiment includes an irradiation optical system 28 similar to that of the first embodiment, and also includes a light-emitting unit 4022 in which the arrangement of multiple light sources 4023 differs from that of the first embodiment.

[0088] Accordingly, the region control block 4100 of the fourth embodiment shown in Fig. 30 generates a light-emission control signal Cs for each scan line Ls in each scanning frame Fs in order to control the sequential emission of each light-emitting source 4023 in the light-emitting unit 4022 in synchronization with the control of the region of interest ROI. In this case, a plurality of light-emitting sources 4023 to be subjected to light emission for each scanning line Ls are arranged in the vertical direction corresponding to the scanning direction α so that a common light-emitting source 4023 emits light for the region of interest ROI with the same ordinal number in each scanning frame Fs. Furthermore, as shown in Fig. 31, each light-emitting source 4023 and the irradiation optical system 28 are configured to receive reflected light with a non-uniform waveform Wr that has a wider base on the shift side in the scanning direction α than on the opposite side from a peak aligned with the representative position prr of the light-receiving pixel Pr in the reference frame Fsb.

[0089] 32, reflected light is guided to each ordinal region of interest ROI that shifts sequentially for each scanning line Ls in the base frame Fsb in response to illumination light emitted sequentially from each individual light source 4023. At this time, in each ordinal region of interest ROI, the reflected light is received by all N rows of light receiving element arrays 47, as shown by cross-hatching in FIG.

[0090] 33, in the shift frame Fss1, reflected light is guided to each region of interest ROI of each ordinal number that is sequentially shifted for each scanning line Ls, in response to illumination light emitted by each individual light source 4023. At this time, in each region of interest ROI of each ordinal number, the reflected light is received by two rows of light receiving elements 47, each of which is equal to or less than (N-1) rows, as shown by cross-hatching in FIG.

[0091] 34, in the shift frame Fss2, reflected light is guided to each ordinal region of interest ROI that is sequentially shifted for each scanning line Ls, in response to illumination light emitted by each individual light source 4023. At this time, in each ordinal region of interest ROI, the reflected light is received by one row of light receiving element arrays 47, which is equal to or less than (N-1) rows, as shown by cross-hatching in FIG.

[0092] In the fourth embodiment, in S102 of the control flow, the region control block 4100 synchronously controls the sequential shifting of the region of interest ROI and the sequential switching of each light-emitting source 4023 for each scan line Ls of the scan frame Fs corresponding to index i. At this time, in the base frame Fsb where i=0, the region control block 4100 sequentially controls each light-emitting source 4023 to emit light in accordance with each ordinal region of interest ROI that is sequentially controlled to its respective reference position. Meanwhile, in the shift frame Fss1 where i=1, the region control block 4100 sequentially controls each light-emitting source 4023 to emit light in accordance with each ordinal region of interest ROI that is sequentially controlled to a position shifted by 47 light receiving element columns from the base frame Fsb. Furthermore, in the shift frame Fss2 where i=2, the region control block 4100 sequentially controls each light-emitting source 4023 to emit light in accordance with each ordinal region of interest ROI that is sequentially controlled to a position shifted by 47 light receiving element columns from the shift frame Fss1.

[0093] In S102 of this control flow, the readout of the light reception data Dr in response to light reception is controlled by the output control block 110, as in the first embodiment. According to the fourth embodiment described above, the number of shift columns of the light receiving element array 47 in the region of interest ROI in the shift frames Fss1 and Fss2 is controlled to be N−1 columns or less, with the region of interest ROI in the base frame Fsb as the reference. Therefore, the light reception data Dr read out in response to light reception by all N columns of the light receiving element array 47 for each scan line Ls in the base frame Fsb is integrated with the light reception data Dr read out in response to light reception by N−1 or fewer columns of the light receiving element array 47 for each scan line Ls in the shift frames Fss1 and Fss2. This allows the light reception data Dr read out from the region of interest ROI for each scan line in each scanning frame Fs to be integrated while suppressing light reception saturation in the light receiving element array 47 in the same region ROI. Therefore, in addition to improving the sensing accuracy due to the high frame rate and high resolution, it is possible to expand the dynamic range of the sensing data Ds.

[0094] (Other embodiments) Although multiple 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 that does not deviate from the gist of the present disclosure.

[0095] In the modifications of the first to fourth embodiments, the dedicated computer constituting the control device 1 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 an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), a system on a chip (SOC), a programmable gate array (PGA), and a complex programmable logic device (CPLD). Furthermore, such a digital circuit may have a memory that stores a program.

[0096] In the modifications of the first to fourth embodiments, the number N of photodetector arrays 47 constituting the region of interest ROI, which is the number of frames that form the integration unit of scanning frames Fs, may be 2 or 4 or more. Here, when the number of frames in the integration unit is 2, the same as N, shift frame Fss2 may be omitted. Furthermore, when the number of frames in the integration unit is 4 or more, the same as N, scanning frames Fs in which the number of shift columns of the region of interest ROI relative to the base frame Fsb is different from that of shift frames Fss1 and Fss2 may be integrated.

[0097] In the modified examples of the first to fourth embodiments, particularly in the modified example of the third embodiment in which the deviation of the sensing position can be absorbed and integrated by shifting according to the traveling speed, the compensation of the sensing position according to the traveling speed in steps S103 to S105 may be omitted. In the modified example of the third embodiment, the determination result of the traveling speed may be switched according to the traveling speed changing from one side inside or outside the determination speed to the other side at the timing when either the shift frame Fss1 or Fss2 is executed.

[0098] In a modification of the third embodiment, the light-emitting unit 22 of the first embodiment is employed instead of the light-emitting unit 2022 of the second embodiment, so that regions of interest ROI in which the number of shift columns increases according to a traveling speed outside the determination speed range may also be associated with individual light-emitting sources 23. In a modification of the third embodiment, the light-emitting unit 4022 of the fourth embodiment is employed instead of the light-emitting unit 2022 of the second embodiment, so that the light-emitting source 4023 common to regions of interest ROI of the same ordinal number may be different or common between when the traveling speed is within the determination speed range and when it is outside the determination speed range.

[0099] In the modified examples of the first to fourth embodiments, the scanning direction α may be set to the horizontal direction both outside and inside the optical sensor 10. In this case, the readout direction β in the light receiving unit 45 may be set to the vertical direction or a corresponding inclined direction inside the optical sensor 10. In the modified examples of the first to fourth embodiments, the irradiation optical system 28 may be configured mainly with a scanning device such as a liquid crystal scanner, which can control the irradiation direction of the irradiation light by the control device 1.

[0100] In the modifications of the first to fourth embodiments, the vehicle 5 to which the sensing system 2 is applied may be, for example, an autonomous robot capable of transporting luggage or collecting information by autonomous or remote driving. In addition to the above description, the control device 1 according to the above-described embodiments and modifications may be implemented in the form of a semiconductor device (for example, a semiconductor chip) that is configured to be mountable on the vehicle 5 and has at least one processor 1b and one memory 1a.

[0101] (Additional remarks) This specification discloses the following technical ideas and combinations thereof.

[0102] (Technical thought 1) A control device having a processor (1b) and controlling an optical sensor (10) that receives reflected light of irradiation light for each scanning line (Ls) that switches in a scanning direction (α) in a scanning frame (Fs), Define N as an integer equal to or greater than 2, If an area in which N rows of light receiving element rows (47) are arranged in the scanning direction in the optical sensor is defined as a region of interest (ROI) from which light receiving data (Dr) is read out for each scanning line, then: The processor: shifting the region of interest for each scan line by N-1 or less rows of the light receiving elements between successive scan frames; and outputting the received light data read out from the region of interest for each scanning line for each scanning frame as sensing data (Ds) by integrating the received light data for the scanning frames from the current to the past N-1 frames.

[0103] This technical idea 1 and the technical ideas 2 to 7 described below may be realized in the form of a control method and a control program.

[0104] (Technical thought 2) The outputting of the sensing data includes: The control device according to technical idea 1 includes integrating the received light data read from the region of interest for each scanning line for each scanning frame after compensating the sensing position according to the traveling speed of the vehicle (5) on which the optical sensor is mounted.

[0105] (Technical Thought 3) Shifting the region of interest comprises: The control device according to Technical Idea 1 or 2 includes increasing the number of rows of the light receiving elements that are shifted between successive scanning frames as the traveling speed of the vehicle (5) on which the optical sensor is mounted increases.

[0106] (Technical Thought 4) The outputting of the sensing data includes: A control device described in any one of technical ideas 1 to 3, which includes integrating the light reception data read out in response to light reception by all N rows of the light receiving element arrays for each scanning line in each scanning frame.

[0107] (Technical Thought 5) Shifting the region of interest comprises: controlling the number of shift columns by which the light receiving element columns are shifted in the region of interest in shift frames (Fss1, Fss2) as the other scanning frames to be N-1 columns or less, using the region of interest in a reference frame (Fsb) as the scanning frame as a reference; The outputting of the sensing data includes: A control device described in any one of Technical Ideas 1 to 3, which includes integrating the light reception data read out in response to light reception by all N columns of light receiving element arrays for each scanning line in the reference frame, and the light reception data read out in response to light reception by N-1 or fewer columns of light receiving element arrays for each scanning line in the shift frame.

[0108] (Technical Thought 6) a set number of light receiving elements (46) in each of the light receiving element rows in the region of interest constitute a light receiving pixel (Pr) which is a readout unit of the light receiving data; The outputting of the sensing data includes: A control device according to any one of technical ideas 1 to 5, which includes integrating the light receiving data read out from the light receiving pixels in the region of interest for each scanning line for each scanning frame.

[0109] (Technical Thought 7) The outputting of the sensing data includes: The control device according to any one of Technical Ideas 1 to 6, including storing the sensing data by outputting it to a storage medium (1a).

[0110] (Technical Thought 8) an optical sensor (10) that receives reflected light of irradiated light for each scanning line that switches in the scanning direction (α) in a scanning frame (Fs); and a control device (1) according to any one of Technical Ideas 1 to 7 for controlling the optical sensor. [Explanation of symbols]

[0111] 1: control device, 1a: memory, 1b: processor, 5: vehicle, 10: optical sensor, 46: light receiving element, 47: light receiving element array, Dr: light receiving data, Ds: sensing data, Fs: scanning frame, Fsb: reference frame, Fss1, Fss2: shift frames, Ls: scanning line, Pr: light receiving pixel, ROI: region of interest, α: scanning direction

Claims

1. A control device having a processor (1b) and controlling an optical sensor (10) that receives reflected light of irradiation light for each scanning line (Ls) that switches in a scanning direction (α) in a scanning frame (Fs), An integer equal to or greater than 2 is defined as N, If an area in which N rows of light receiving element rows (47) are arranged in the scanning direction in the optical sensor is defined as a region of interest (ROI) from which light receiving data (Dr) is read out for each scanning line, then: The processor: shifting the region of interest for each scan line by N-1 or less rows of the light receiving elements between successive scan frames; A control device configured to output the received light data read out from the region of interest for each scanning line for each scanning frame as sensing data (Ds) by integrating the received light data for the scanning frames from the current to the past N-1 frames.

2. The outputting of the sensing data includes: The control device according to claim 1, further comprising: integrating the received light data read from the region of interest for each scanning line for each scanning frame after compensating the sensing position according to the traveling speed of the vehicle (5) on which the optical sensor is mounted.

3. Shifting the region of interest comprises: The control device according to claim 1 or 2, further comprising increasing the number of rows of the light receiving elements that are shifted between successive scanning frames as the traveling speed of the vehicle (5) on which the optical sensor is mounted increases.

4. The outputting of the sensing data includes:

3. The control device according to claim 1, further comprising: integrating the light reception data read out in response to light reception by all N rows of the light receiving element arrays for each scanning line in each scanning frame.

5. Shifting the region of interest comprises: controlling the number of shift columns by which the light receiving element columns are shifted in the region of interest in shift frames (Fss1, Fss2) as the other scanning frames to be N-1 columns or less, using the region of interest in a reference frame (Fsb) as the scanning frame as a reference; The outputting of the sensing data includes: The control device according to claim 1 or 2, further comprising: integrating the light reception data read out in response to light reception by all N rows of light receiving element arrays for each scanning line in the reference frame, and the light reception data read out in response to light reception by N-1 or fewer rows of light receiving element arrays for each scanning line in the shift frame.

6. A set number of light receiving elements (46) are arranged in each of the light receiving element rows in the region of interest to form light receiving pixels (Pr) that are readout units of the light receiving data; The outputting of the sensing data includes: The control device according to claim 1 or 2, further comprising: integrating the light receiving data read out from the light receiving pixels in the region of interest for each of the scan lines for each of the scan frames.

7. The outputting of the sensing data includes:

3. The control device according to claim 1, further comprising storing the sensing data by outputting it to a storage medium (1a).

8. an optical sensor (10) that receives reflected light of irradiated light for each scanning line that switches in the scanning direction (α) in a scanning frame (Fs); A sensing system comprising: a control device (1) according to claim 1 or 2 that controls the optical sensor.

9. A control method executed by a processor (1b) for controlling an optical sensor (10) that receives reflected light of irradiation light for each scanning line (Ls) that switches in a scanning direction (α) in a scanning frame (Fs), comprising: An integer equal to or greater than 2 is defined as N, If an area in which N rows of light receiving element rows (47) are arranged in the scanning direction in the optical sensor is defined as a region of interest (ROI) from which light receiving data (Dr) is read out for each scanning line, then: shifting the region of interest for each scan line by N-1 or less rows of the light receiving elements between successive scan frames; A control method including: integrating the received light data read out from the region of interest for each scanning line for each scanning frame for the scanning frames from the current to the past N-1 frames, and outputting the data as sensing data (Ds).

10. A control program stored in a storage medium (1a) includes instructions to be executed by a processor (1b) to control an optical sensor (10) that receives reflected light of irradiation light for each scanning line (Ls) that switches in a scanning direction (α) in a scanning frame (Fs), An integer equal to or greater than 2 is defined as N, If an area in which N rows of light receiving element rows (47) are arranged in the scanning direction in the optical sensor is defined as a region of interest (ROI) from which light receiving data (Dr) is read out for each scanning line, then: The instruction: shifting the region of interest for each scan line by N-1 or less rows of the light receiving elements between successive scan frames; A control program including: integrating the received light data read from the region of interest for each scanning line for each scanning frame for the scanning frames from the current to the past N-1 frames, and outputting the data as sensing data (Ds).

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