JP4260134B2 - Beam irradiation device - Google Patents

Description

  The present invention relates to a beam irradiation apparatus, and is suitable for use in, for example, an inter-vehicle detector, a distance detector, and the like.

  In recent years, inter-vehicle distance detectors and distance detectors using laser light have been used in various devices. For example, in the inter-vehicle detector, the presence or absence of an obstacle and the distance to the obstacle are measured by detecting reflected light when laser light is irradiated from the front of the vehicle. In this case, the laser beam is scanned (scanned) in the vertical and horizontal directions in a target area set in advance in the front space. Then, at each scan position, the time difference between the laser beam irradiation timing and the reflected light reception timing is measured, and the distance to the obstacle ahead of each scan position is calculated from the measurement result.

  In these detectors, a so-called beam irradiation device that irradiates a target region while scanning laser light in the vertical and horizontal directions is used. Here, the scanning of the laser beam is performed using a scanning mechanism using a polygon mirror, a scanning mechanism using a lens actuator, or the like.

  A scanning mechanism using a polygon mirror scans laser light by irradiating the side of the polygon mirror with laser light while rotating the polygon mirror. The polygon mirror has a polygonal cross section, and a mirror is formed on each side surface. By irradiating the side surface with the laser beam while rotating the polygon mirror, the incident angle of the laser beam with respect to each side surface changes, and thereby the reflected light is scanned in the rotation direction of the polygon mirror.

  However, in such a scanning mechanism, it is difficult to scan the beam in a direction parallel to the mirror rotation axis. In this case, for example, a mechanism for changing the inclination of the mirror rotation axis and a structural improvement such as changing the inclination angle of each side surface with respect to the mirror rotation axis in advance are separately required. Furthermore, in this scanning mechanism, the plane accuracy of the mirror surface and the mirror rotation state greatly affect the beam scanning state. Therefore, in order to achieve highly accurate scanning operation, high-precision plane processing technology and high performance Application of a motor is required.

On the other hand, for example, in a scanning mechanism using a lens actuator as shown in Patent Document 1, beam scanning is performed by driving a lens, so that a two-dimensional scanning operation can be realized with a relatively simple configuration. . In addition, since this scanning mechanism does not require the use of a high-precision planar processing technique or a high-performance motor, the cost can be reduced as compared with the case where a polygon mirror is used.
Japanese Patent Laid-Open No. 11-83988

  According to a first aspect of the present invention, there is provided a light source that emits laser light, a light source control unit that controls the light source so that the laser light is irradiated to a target region at a predetermined interval, and a laser light emitted from the light source. A lens for irradiating the target area; a displacement means for displacing the lens in a direction orthogonal to at least the optical axis of the laser light; and driving the displacement means to cause the laser light to fall within the target area. A scanning unit that scans the irradiation position, a separating unit that separates a part of the laser light that has passed through the lens, a laser beam that is separated by the separating unit, and a light receiving position of the separated light on the light receiving surface. Detecting means for detecting, correcting means for correcting the scanning position of the laser beam irradiated to the target area based on the light receiving position detected by the detecting means, and the detecting means The difference between the issued light receiving position and the target position is the beam irradiation apparatus characterized by having a determining means and in rough road running at more than twice the value of the stable driving.

  Therefore, the present invention provides a beam irradiation apparatus that can determine a traveling state with a simple configuration and set vehicle control conditions based on the determination result in order to realize a smooth and stable scanning operation. The task is to do.

  In view of the above problems, the present invention has the following features.

  The invention of claim 1 is a beam irradiation apparatus, a light source that emits laser light, a light source control unit that controls the light source so that the laser light is irradiated to a target region at a predetermined interval, and the light source A lens for irradiating the laser beam emitted from the laser beam toward the target area, a displacement means for displacing the lens in a direction orthogonal to at least the optical axis of the laser light, and driving the displacement means to emit the laser light to the target area. Scanning means for scanning to an intended irradiation position in the target area, separating means for separating a part of the laser light that has passed through the lens, and receiving the laser light separated by the separating means and on the light receiving surface Detection means for detecting the light receiving position of the separated light, and correction means for correcting the scanning position of the laser light applied to the target area based on the light receiving position detected by the detection means , Characterized by having a determining means for determining driving situations on the basis of a difference between the detected receiving position and a target position by said detecting means.

  With this feature, it is possible to determine a traveling state such as whether or not the vehicle is currently traveling on a rough road by realizing an accurate scanning operation using laser light and monitoring the scanning light.

  A second aspect of the present invention is the beam irradiation apparatus according to the first aspect, further comprising vehicle control information setting means for setting vehicle control information during traveling based on the result of the determination means. It is characterized by that.

  With this feature, it is possible to set a parameter for travel control based on the determined travel situation.

  A third aspect of the present invention is the beam irradiation apparatus according to the second aspect, wherein the vehicle control information is information for controlling a height of a vehicle.

  With this feature, the height of the vehicle can be adjusted according to the traveling situation.

  A fourth aspect of the present invention is the beam irradiation apparatus according to the second aspect, wherein the vehicle control information is information for controlling a damping force of the damper.

  With this feature, the damping force of the damper can be adjusted according to the running situation.

  As described above, according to the present invention, it is possible to provide a beam irradiation apparatus that can determine a traveling state with a simple configuration and set vehicle control information based on the determination result.

Embodiments of the present invention will be described below with reference to the drawings.
Example 1
First, FIG. 1 shows a configuration of a beam irradiation apparatus according to the embodiment. As shown, the beam irradiation apparatus includes a DSP (Digital Signal Processor) control circuit 10 and a DAC (Digital Analog).
Converter) 20, laser drive circuit 30, actuator drive circuit 40, beam irradiation head 50, PSD (Position Sensitive Detector) signal processing circuit 60, ADC (Analog Digital Converter) 70, and vehicle travel control circuit 80. ing.

  The DSP control circuit 10 outputs digital signals for controlling the driving of the laser driving circuit 30 and the actuator driving circuit 40 to the DAC 20.

  The DAC 20 converts the digital signal input from the DSP control circuit 10 into an analog signal (control signal) and outputs the analog signal to the laser driving circuit 30 and the actuator driving circuit 40.

  The laser drive circuit 30 drives the semiconductor laser 100 in the beam irradiation head 50 in accordance with a control signal input from the DAC 20.

  The actuator drive circuit 40 drives the lens actuator 300 in the beam irradiation head 50 in accordance with the control signal input from the DAC 20.

  The beam irradiation head 50 irradiates the target area set in the front space while scanning the laser beam. As shown, the beam irradiation head 50 includes a semiconductor laser 100, an aperture 200, a lens actuator 300, a beam splitter 400, a condenser lens 500, and a PSD 600.

  Laser light emitted from the semiconductor laser 100 is shaped into a desired shape by the aperture 200 and then incident on the irradiation lens supported by the lens actuator 300. Here, the irradiation lens is supported by the lens actuator 300 so as to be displaceable in the YZ plane direction of FIG. Therefore, the emission angle of the laser light that has passed through the irradiation lens changes in the YZ plane direction in accordance with the driving of the lens actuator 300. Thereby, the laser beam is scanned in the target area.

  Part of the laser light that has passed through the irradiation lens is reflected by the beam splitter 400 and is separated from the irradiation laser light (laser light irradiated to the target region). The separated laser light (separated light) is converged on the PSD 600 through the condenser lens 500. The PSD 600 has a light receiving surface parallel to the XY plane of FIG. 1, and outputs a current corresponding to the convergence position of the separated light on this light receiving surface. Here, the convergence position of the separated light on the light receiving surface and the irradiation position of the irradiation laser light on the target area have a one-to-one correspondence. Therefore, the current output from the PSD 600 corresponds to the irradiation position of the irradiation laser light on the target area. The configuration of the PSD 600 and the current output operation will be described in detail later with reference to FIGS.

  The output current from the PSD 600 is input to the PSD signal processing circuit 60. The PSD signal processing circuit 60 outputs a voltage signal representing the convergence position of the separated light from the input current to the ADC 70.

  The ADC 70 converts the input voltage signal into a digital signal and outputs the digital signal to the DSP control circuit 10. The DSP control circuit 10 detects the convergence position of the separated light on the light receiving surface based on the input voltage signal.

  The DSP control circuit 10 has a table (scan table) for scanning the irradiation position of the laser beam within the target area, and the convergence of the separated light on the light receiving surface when the laser beam is scanned according to this table. A table (orbit table) indicating the position trajectory is provided.

  The DSP control circuit 10 outputs a signal for controlling the actuator drive circuit 40 to the DAC 20 while referring to the scan table during the laser light scanning operation.

  At the same time, the convergence position of the separated light on the light receiving surface is detected based on the signal input from the ADC 70, and the detected position is compared with the intended convergence position specified by the trajectory table. A signal for controlling the actuator drive circuit 40 is output to the DAC 20 so that the position is drawn to the intended convergence position. By this servo operation, the irradiation laser light scans the target area so as to follow the trajectory defined by the scan table. The details of the servo operation will be described later with reference to FIG.

  Further, the DSP control circuit 10 outputs a signal for setting the emission of the semiconductor laser 100 in a pulse (rectangular) shape to the laser driving circuit 30 via the DAC 20 during the laser light scanning operation. Here, the pulse shape means a state in which emission for a certain period and turning off the output of the semiconductor laser 100 are repeatedly performed for each block in the target region. Therefore, the irradiation laser light is emitted for each block in the target area.

  At the same time, the convergence position of the separated light on the light receiving surface is monitored.

  The vehicle travel control circuit 80 is, for example, a circuit that controls the amount of air fed into the air suspension and adjusts the vehicle height. The DSP control circuit 10 sets parameters for vehicle travel in the vehicle travel control circuit 80 based on the servo operation described below, that is, based on the difference between the intended scan trajectory and the actual scan trajectory.

  FIG. 2 shows a configuration (disassembled perspective view) of the lens actuator 300.

  Referring to the figure, the irradiation lens 301 is attached to the opening at the center of the lens holder 302. The lens holder 302 is provided with coils on four side surfaces, and a protrusion at the center of the yoke 303 is inserted into each coil as shown by the arrows in the drawing. As for each yoke 303, the tongue piece of both sides is inserted in the recessed part of a pair of yoke fixing member 305. FIG. Further, the magnet 304 is fixed to each yoke fixing member 305 so as to sandwich the tongue piece of the yoke 303. In this state, the yoke fixing member 305 is attached to the base (not shown) together with the magnet 304.

  Further, a pair of wire fixing members 306 are attached to the base, and the lens holder 302 is elastically supported by the wire fixing members 306 via the wires 307. The lens holder 302 has holes for fitting the wires 307 at the four corners. After the wires 307 are inserted into the holes, both ends of the wire 307 are fixed to the wire fixing member 306. As a result, the lens holder 302 is elastically supported by the wire fixing member 306 via the wire 307.

  At the time of driving, a driving signal is supplied from the actuator driving circuit 40 to each coil mounted on the lens holder 302. Thereby, an electromagnetic driving force is generated, and the irradiation lens 301 is two-dimensionally driven together with the lens holder.

  Here, the drive signal (VCM drive current) from the actuator drive circuit 40 may be any waveform such as a rectangular wave, a sine wave, a sawtooth wave, and a mountain wave as shown in FIG. For example, when the control signal is a rectangular wave, the drive pattern is simple, and laser light can be emitted at variable pulse intervals. Further, when the control signal is a sine wave, the followability of the actuator 300 is good, and laser light can be emitted at variable pulse intervals. In addition, when the control signal is a mountain wave or a sawtooth wave, the laser beam can be emitted at variable pulse intervals.

  FIG. 4 shows the relationship between the emission angle of the irradiation laser light and the convergence position of the separated light (monitor light in the same figure) on the PSD light receiving surface when the irradiation lens 301 is displaced in one direction by driving the lens actuator 300. (Simulation) is shown. As shown in the figure, the amount of displacement of the separated light increases in proportion to the emission angle of the irradiation laser light. The reason why the swell occurs in the characteristics shown in the figure is that aberration occurs in the separated light on the PSD light-receiving surface by driving the irradiation lens two-dimensionally.

  FIG. 5 shows the structure of the PSD 600. This figure shows the structure of the PSD 600 in FIG. 1 when viewed from the Y-axis direction.

  As shown in the figure, PSD 600 has a structure in which a P-type resistance layer serving as a light-receiving surface and a resistance layer is formed on the surface of an N-type high-resistance silicon substrate. Electrodes X1 and X2 for outputting photocurrent in the X direction in FIG. 1 and electrodes Y1 and Y2 (not shown in the figure) for outputting photocurrent in the Y direction in FIG. 1 are provided on the resistance layer surface. Is formed. A common electrode is formed on the back side.

  When the separated light is converged on the light receiving surface, an electric charge proportional to the amount of light is generated at the convergence position. This electric charge reaches the resistance layer as a photocurrent, is divided in inverse proportion to the distance to each electrode, and is output from the electrodes X1, X2, Y1, and Y2. Here, the current output from the electrodes X1, X2, Y1, and Y2 has a magnitude divided in inverse proportion to the distance from the convergence position of the separated light to each electrode. Therefore, the convergence position on the light receiving surface can be detected based on the current values output from the electrodes X1, X2, Y1, and Y2.

  FIG. 6A is a diagram showing an effective light receiving surface of the PSD 600. FIG. 6B shows the position detection voltage generated by the PSD signal processing circuit 60 based on the current output from the electrodes X1, X2, Y1, and Y2, and the convergence of the separated light on the effective light receiving surface. It is a figure which shows the relationship of a position. In FIG. 6A, the effective light receiving surface is a square. FIG. 6B shows the relationship between the displacement amount in the X and Y directions of the convergence position with respect to the reference position and the output voltage, with the center position of the effective light receiving surface as the reference position (0 position).

  The PSD signal processing circuit 60 generates a voltage Xout corresponding to the X-direction displacement amount of the convergence position and a voltage Yout corresponding to the Y-direction displacement amount based on the currents output from the electrodes X1, X2, Y1, and Y2. It is generated and output to the DSP control circuit 10 via the ADC 70. The DSP control circuit 10 detects the X-direction displacement amount and the Y-direction displacement amount of the convergence position from the input voltages Xout and Yout.

  With reference to FIG. 7, the scanning operation in the present embodiment will be described.

  As shown in FIG. 5A, when the target area set in the front space of the beam irradiation apparatus is divided into 200 × 3 blocks, the irradiation laser light is applied to all the blocks in order. Scanned. Here, the scan order of blocks can be arbitrarily set. For example, as shown in FIG. 5B, it can be set to scan one line at a time from the block position in the upper left corner. Note that the scan trajectory (scan order) is defined by the scan table in the DSP control circuit 10 as described above.

  When scanning is performed as shown in FIG. 6B, the convergence position of the separated light on the light receiving surface of the PSD 600 moves along the trajectory shown in FIG. Here, the trajectory in FIG. 6C corresponds to the scan trajectory in FIG. Therefore, the scan position of the irradiation laser beam can be identified from the convergence position on the trajectory in FIG. In this case, the trajectory shown in FIG. 4C follows the trajectory table in the DSP control circuit 10 as described above.

  In the beam irradiation apparatus, it is most ideal that the irradiation laser light is scanned along the scanning trajectory shown in FIG. However, normally, the scanning position of the irradiation laser light deviates from the intended scanning orbit depending on the amount of movement of the actuator 300. That is, in FIG. 7B, the operation speed in the vicinity of A and B that are both ends of the scan area, that is, in the place where the movement direction of the actuator 300 changes is substantially the same as the operation speed during scanning (movement) from A to B While constant, a delay occurs.

  In this case, in accordance with the deviation of the scan position, the convergence position of the separated light on the effective light receiving surface also deviates from the trajectory shown in FIG.

  Therefore, as shown in FIG. 8, pulse emission is performed at variable time intervals so that the actuator movement amount is the same. At this time, a stable scanning operation can be realized by using a sine wave with good follow-up of the actuator 300 as a drive signal (VCM drive current) from the actuator drive circuit 40.

  In addition, a sine wave having a longer period may be used as a drive signal (VCM drive current) so that the horizontal scan of the target area is performed during a period in which the operation speed of the actuator 300 during the scan (movement) is substantially constant. it can. The relationship between the laser light emission timing at this time and the drive signal (VCM drive current) from the actuator drive circuit 40 is shown in FIG. From this figure, the laser light at this time emits light at equal time intervals.

  In FIGS. 8 and 9, each pulse emission region corresponds to the horizontal direction of the target region, and the rising portion of the sine wave corresponds to the time to return from the right end to the left end of the target region.

  FIG. 10 shows an example of the spot trajectory of the separated light on the effective light receiving surface. In this case, the DSP control circuit 10 supplies a servo signal to the actuator drive circuit 40 so as to draw the convergence position of the separated light into the target trajectory as described above.

Now, it is assumed that the convergence position of the separated light is P (x, y), and at this time, the convergence position that should be on the target trajectory is P ′ (x ′, y ′). Here, the convergence position P ′ (x ′, y ′) on the target trajectory is acquired from the trajectory table set in the DSP control circuit 10. Specifically, the convergence position corresponding to the scan position of the irradiation laser light is acquired from the trajectory table.

At this time, the DSP control circuit 10 calculates Ex = x−x ′ and Ey = y−y ′ based on P (x, y) and P ′ (x ′, y ′), and calculates the calculation result. Originally, a servo signal is supplied to the actuator drive circuit 40 so that Ex = 0 and Ey = 0. Thereby, the scan position of the irradiation laser light is pulled back in the scan position direction that should be on the scan trajectory at the timing. Accordingly, the convergence position of the separated light is also drawn in the direction of the convergence position P ′ (x ′, y ′) that should be on the target trajectory at the timing. By this servo operation, the irradiation laser beam is scanned so as to follow the intended scan trajectory.

  FIG. 11 shows a flowchart during the scanning operation.

  When the scanning operation is started in S100, the irradiation position of the irradiation laser light is moved to the home position in S102. Note that the home position is set, for example, at the block position at the left end and the upper end in the block shown in FIG.

  Further, after the trajectory servo for the irradiation laser light is turned on in S104, the scanning operation is started in S106.

  Next, in S108, the irradiation region is irradiated with the irradiation laser beam. At this time, by receiving the reflected light from the target area, the detector equipped with the beam irradiation device performs processing such as obstacle measurement and distance measurement.

  Thereafter, it is determined in S110 whether or not the scanning operation is completed. If not completed, the processing returns to S106 and the above-described scanning operation is repeated. On the other hand, if the scanning operation is completed, the orbit servo is turned off in S112, and then the semiconductor laser is turned off in S114.

  Next, the vehicle control information setting process in the present embodiment will be described with reference to FIG.

  Various vehicle control information is set based on the situation at the time of driving. Here, the situation at the time of traveling is the convergence position P (x, y) of the separated light in the explanation using FIG. 10 and the convergence position P ′ (x ′, y ′) that should be on the target trajectory at this time. Is used to calculate Ex = x−x ′ and Ey = y−y ′, and a determination is made based on the calculation result.

  First, Ex and Ey during stable running are set in advance (S200), and current Ex and Ey are acquired (S202). For example, current Ex and Ey are each twice the value during stable running. It is determined whether or not this is the case (S204).

  As a result of this determination, if the current Ex and Ey are more than twice the value during stable driving (S204Y), it is determined that the vehicle is traveling on a rough road (S206), and the DSP control circuit 10 sends air to the air suspension. Is set in the vehicle travel control circuit 80 (S208), and the process is terminated.

  On the other hand, as a result of the determination in S204, if the current Ex and Ey are not more than twice the values during stable driving (S204N), it is determined that the vehicle is not driving on a rough road (S210), and the air supplied to the air suspension is set as the standard amount. Then, information for controlling the vehicle height to be the standard height is set in the vehicle travel control circuit 80 (S212), and this process is terminated.

  In addition to the above, the vehicle travel control can also be controlled with respect to ride comfort. Instead of S200 in FIG. 12, Ex and Ey when the ride comfort is good are set in advance, and the current Ex and Ey are acquired (S202). For example, when the current Ex and Ey are stable running It is determined whether or not the value is twice or more (S204).

  As a result of this determination, if the current Ex and Ey are greater than or equal to twice the value during stable running (S204Y), it is determined that the riding comfort is soft instead of S206, and the DSP control circuit 10 performs S208. Instead, information for performing control to increase the damping force of the damper is set in the vehicle travel control circuit 80, and this process is terminated.

  On the other hand, as a result of the determination in S204, if the current Ex and Ey are not more than twice the value at the time of stable running (S204N), it is determined that the riding comfort is stiff instead of S210, and instead of S212, Information for performing control to lower the damping force of the damper is set in the vehicle travel control circuit 80, and this process ends.

  As described above, according to the present invention, it is possible to determine a traveling state with a simple configuration, set vehicle control information based on the determination result, and perform stable traveling. Thereby, the beam irradiation apparatus which can implement | achieve smooth and stable scanning operation | movement can be provided.

  As mentioned above, although embodiment which concerns on this invention was described, it cannot be overemphasized that this invention is not limited to such embodiment, and a various change is possible for others.

For example, in the above-described embodiment, as described with reference to FIG. 10, the convergence position P (x, y) of the separated light is set to the convergence position P ′ (x ′, y ′) that should be on the target trajectory at the timing. However, it is also possible to draw the convergence position of the separated light onto the target trajectory by other servo processing. For example, as shown in FIG. 13, it may be drawn into a convergence position P ′ (xa ′, ya ′) that should be on the target trajectory at a timing after ΔT from the timing. In this case, the DSP control circuit 10 calculates Ex = x−xa ′ and Ey = y−ya ′ based on P (x, y) and P ′ (xa ′, ya ′), and calculates the calculation result. Originally
Servo signals are supplied to the actuator drive circuit 40 so that Ex = 0 and Ey = 0. In this way, the scanning position of the irradiation laser light can be smoothly drawn to the next scheduled scanning position, and an efficient scanning operation can be realized.

  In addition, in the above, when vibration and disturbance of an unpredictable magnitude are applied to the beam irradiation apparatus, there may occur a case where a servo deviation occurs and the scanning position of the irradiation laser light greatly deviates from the intended scanning position. . In such a case, for example, in the scan mode of FIG. 7B, the scan position is returned to the head position of the line that was in the middle of the scan when the servo deviation occurred, and the subsequent scan processing is continued from this position. You should do it.

  In addition, if a so-called disturbance observer that predicts vibrations and disturbances is also applied, it is possible to more smoothly follow the trajectory of the irradiation laser light. In this case, even when vibration or disturbance having a magnitude that cannot be assumed is applied to the beam irradiation apparatus, occurrence of servo deviation can be effectively suppressed.

  Further, in the above embodiment, when determining the traveling condition, the convergence position P (x, y) of the separated light and the convergence position P ′ (x ′, y ′) that should be on the target trajectory at this time are used. Ex = x−x ′ and Ey = y−y ′ are calculated and determined based on whether or not this is twice or more the value during stable running, but may be determined based on other criteria.

  In S206 of the above embodiment, when it is determined that the vehicle is traveling on a rough road, the fact may be displayed on a display device or the like in the vehicle. Furthermore, a display for prompting the setting process of the vehicle control information related to traveling after S208 may be performed.

  In the above embodiment, the vehicle height information or the damping force of the damper is controlled as the vehicle control information at the time of traveling. Good. For example, when driving conditions are bad due to bad roads, to prevent malfunction due to vibration, increase the tracking servo gain of the CD player, prohibit the disc change operation of the CD changer, lock the door, lock the volume from the speaker It is also possible to set conditions such as increasing the weight of the handle, increasing the receiving sensitivity of the in-vehicle TV tuner, the antenna, and the like.

  This embodiment is merely an embodiment of the present invention, and the meaning of the terms of the present invention or each component is not limited to those described in the present embodiment.

The figure which shows the structure of the beam irradiation apparatus which concerns on an Example. The figure which shows the structure of the beam irradiation head which concerns on an Example. The figure which shows the example of the VCM drive current which concerns on an Example The figure which shows the relationship between the emission angle of irradiation laser light and the convergence position of separated light The figure which shows the PSD structure which concerns on an Example The figure explaining the structure of PSD and the fluctuation | variation of a position detection voltage FIG. 6 is a diagram for explaining a scan operation according to the embodiment. Diagram showing the relationship between VCM drive current and light emission timing Diagram showing the relationship between VCM drive current and light emission timing The figure explaining how to apply orbital servo concerning an example Flowchart showing scan operation according to the embodiment The flowchart which shows the procedure of the information setting process for vehicle control which concerns on an Example. The figure explaining how to apply orbital servo concerning an example

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 DSP control circuit 30 Laser drive circuit 40 Actuator drive circuit 50 Beam irradiation head 60 PSD signal processing circuit 80 Vehicle travel control apparatus 100 Semiconductor laser 300 Lens actuator 301 Irradiation lens 400 Beam splitter 600 PSD

Claims (4)

A light source that emits laser light;
Light source control means for controlling the light source so that the laser light is irradiated onto the target area at a predetermined interval;
A lens for irradiating a laser beam emitted from the light source toward a target area;
Displacement means for displacing the lens at least in a direction perpendicular to the optical axis of the laser beam;
Scanning means for driving the displacement means to scan the laser beam to an intended irradiation position in the target area;
Separating means for separating a part of the laser light that has passed through the lens;
Detecting means for receiving the laser beam separated by the separating means and detecting a light receiving position of the separated light on a light receiving surface;
Correction means for correcting the scanning position of the laser light irradiated to the target area based on the light receiving position detected by the detection means;
A beam irradiation apparatus comprising: a determination unit that determines that the vehicle is traveling on a rough road when the difference between the light receiving position detected by the detection unit and the target position is twice or more a value during stable driving . further,
The beam irradiation apparatus according to claim 1, further comprising vehicle control information setting means for setting vehicle control information during traveling based on a result of the determination means. The beam irradiation apparatus according to claim 2, wherein the vehicle control information is information for controlling a height of the vehicle. The beam irradiation apparatus according to claim 2, wherein the vehicle control information is information for controlling a damping force of a damper.

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