JP5445960B2 - Detection device - Google Patents

Description

  The present invention relates to a detection device.

  Conventionally, there have been proposals for detecting information around the vehicle to improve driving safety and to develop automatic driving technology. For example, in Patent Document 1 below, a system that emits a detection wave in front of a vehicle, acquires distance data to an obstacle (including a person) for each region by the reflected wave, and issues a warning according to the distance. Is disclosed.

Japanese Patent Laid-Open No. 2002-157697

  As information on the periphery of the vehicle, information on where the vehicle is currently in the lane, for example, whether it is located in the center of the lane, is also important information for improving safety and automatic driving. In that case, the purpose is to detect the lane marking of the road. However, since the technique of Patent Document 1 irradiates the detection wave in front of the vehicle, there may be a case where the front vehicle or the like becomes an obstacle and the detection of the marking line cannot be performed properly.

  Therefore, it is conceivable to detect a marking line by irradiating a detection wave to the side instead of the front of the vehicle. In this case, it is necessary to be able to instantaneously and robustly detect. That is, when detecting the lane marking ahead of the vehicle, a large amount of information can be accumulated and detected with sufficient time, so there is a possibility that problems such as detection noise can be dealt with. On the other hand, when the lane marking on the side of the vehicle is detected, the lane marking must be detected in real time without any information being accumulated.

  Furthermore, at that time, for example, at the joints (seams) of roads (highways, elevated roads), lane markings tend to be broken, and areas other than lane markings are detected due to factors such as differences from asphalt. Although it is difficult to do so, it is necessary to be able to detect the position of the lane markings robustly. The same applies to a case where the lane marking is broken, such as a road branch, a broken line at a junction, or a broken lane.

  Therefore, in view of the above problems, the problem to be solved by the present invention is to detect lane markings on the road side of the vehicle so that the vehicle ahead does not become an obstacle, and at that time, the road joints or lane markings are interrupted. It is an object of the present invention to provide a detection device that can perform robust lane marking detection that can cope with the above.

Means for Solving the Problems and Effects of the Invention

In order to achieve the above object, a detection device according to the present invention is provided in a vehicle, and a light source unit that emits electromagnetic waves for detecting a lane marking on a side road of the vehicle, and the light source unit emits light. A scanning unit that irradiates a plurality of scanning lines including at least one set of scanning lines with an interval of a predetermined value or more toward the vehicle side by an electromagnetic wave, a light receiving unit that receives reflected electromagnetic waves from the vehicle side, and Calculating means for calculating a calculation of the reflection intensity at the same position in the vehicle width direction in each scanning line in the electromagnetic waves received by the light receiving unit after the scanning lines having an interval equal to or greater than the predetermined value are reflected by the road surface on the side of the vehicle; Detecting means for detecting the position of the lane marking according to the result of the calculation by the calculating means, and the distance between the scanning lines is at least one set of scanning lines, and the vehicle travels at the seam portion of the road. More than the length of the direction or road section breakage Characterized in that the white line is set so that the above length of the vehicle traveling direction of a portion broken.

  Thereby, in the detection apparatus according to the present invention, the lane markings on the road are detected by the reflected waves by irradiating electromagnetic waves in the vehicle width direction, so that the lane markings can be detected without causing other vehicles in front of the vehicle to be an obstacle. Furthermore, when irradiating the scanning line, so as to include at least one set of scanning lines at an interval of a predetermined value or more, if the lane line is in the seam of the road or where the lane line is interrupted, In addition, even if there are obstacles on the lane line, any of the scanning lines can be prevented from covering the obstacles, breaks, and joints, and the lane lines can be robust without being affected by the obstacles, breaks, or joints. It is possible to realize a detection device that can detect the problem. Furthermore, the calculation of the reflection intensity at the same location in the vehicle width direction in multiple scanning lines is calculated, and the calculation result is used for detection of the lane markings, so the influence of noise is reduced by the same calculation and the zoning is more robust. Lines can be detected.

  In addition, the light receiving unit is composed of a single light receiving element, and a single light that collects the electromagnetic wave formed by reflecting the scanning line formed with the interval on the road surface to the single light receiving element. A light receiving lens may be provided.

  As a result, the reflected wave formed by reflecting the scanning line having the above-described interval on the road surface can be received by the configuration of the single light receiving element and the single light receiving lens. The reflected wave can be received with a few simple configurations.

  Further, the light receiving unit includes a plurality of light receiving elements, and includes a plurality of light receiving lenses for condensing the electromagnetic waves formed by reflecting the scanning lines with an interval equal to or greater than the predetermined value on the road surface to each of the plurality of light receiving elements. May be.

  As a result, the reflected wave formed by reflecting the scanning line having the above-described interval on the road surface can be received by the configuration of the plurality of light receiving elements and the plurality of light receiving lenses. Reflected waves can be received with a configuration that does not increase.

  The light source unit includes a plurality of light sources, and a single mirror that rotates while reflecting the electromagnetic waves so that the plurality of electromagnetic waves simultaneously emitted from the plurality of light sources becomes a plurality of scanning lines having intervals. The scanning unit may be provided.

  As a result, a plurality of scanning lines having an interval are formed by a configuration including a plurality of light sources and a single mirror, so that a plurality of scanning lines having an interval can be formed simultaneously, and the irradiation time of each scanning line can be determined. Reflected waves from the road surface at the same time can be received without deviation. Therefore, at the time of lane marking detection, it is possible to suppress a reduction in detection accuracy due to the position of the vehicle at the time of irradiation being different for each scanning line.

  Further, the light source unit is composed of a single light source, and the plurality of mirror surfaces of the mirror provided in the scanning unit are arranged such that electromagnetic waves emitted from the single light source become a plurality of scanning lines having intervals. An angle may be set.

  As a result, a plurality of scanning lines having an interval are formed by a configuration including a single light source and a single mirror, and thus a plurality of scanning lines having an interval can be formed with a simple configuration.

  The interval between the scanning lines may be set such that the interval between at least one pair of scanning lines is equal to or greater than the length of the road joint in the vehicle traveling direction.

  As a result, the interval between at least one pair of scanning lines is set to be equal to or longer than the length in the vehicle traveling direction of the joint portion of the road. Therefore, at least one of the plurality of scanning lines is a road joint. It doesn't take part. Therefore, the lane marking can be detected robustly without being affected by the joint portion of the road.

  The interval between the scanning lines may be set such that the interval between at least one pair of scanning lines is equal to or longer than the length of the portion where the white line of the road section broken line is interrupted.

  Accordingly, the interval between at least one pair of scanning lines is set to be equal to or longer than the length of the portion where the white line of the road section broken line is interrupted. Therefore, at least one scanning line among the plurality of scanning lines is The broken white line does not cover the broken line. Therefore, the lane marking can be detected robustly without being affected by the portion where the white line of the road lane marking is broken.

The top view in the Example of the detection system of this invention. The figure which shows the apparatus structure of a detection system. The flowchart which shows a detection process. The figure which shows the example of a light source and a mirror. The figure which shows the example of the space | interval of a scanning line. The figure which shows the example of a light-receiving part. The figure which shows the example of the calculation between several scanning lines. The figure which shows the example of a light reception signal memory.

  Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a plan view when the present invention is implemented. FIG. 2 is an apparatus configuration diagram of the detection system according to the present invention.

  As shown in FIG. 1, in this embodiment, laser light (electromagnetic wave, detection wave) is irradiated to the side of the vehicle 2 during driving, and the position of the lane marking on the road is detected by the reflected wave. As shown in FIG. 2, the detection system 1 of the present invention includes a detection unit 3, a notification unit 4, a vehicle operation ECU 5, and a wireless communication unit 6 that are equipped in the automobile vehicle 2. Notifying part 4, vehicle operation ECU5, and radio communication part 6 do not need to be equipped. Details regarding this will be described later. In the following, the case of detecting a white line as a road lane marking will be described, but this is only an example, and the present invention can be applied to the detection of road lane markings in general.

  The detection unit 3 includes a laser diode 304 (LD: Laser Diode), a drive unit 305, a mirror 306, and a photodiode 307 (PD: Photo Diode) via a CPU 300, a RAM 301, a ROM 302, and an interface unit 303 (I / F). And a light receiving lens 308.

  The CPU 300 executes various types of information processing such as calculations described later. A RAM 301 is a temporary storage unit used as a work area for the CPU 300. The ROM 302 is a nonvolatile storage unit that stores various programs necessary for the present invention. The interface unit 303 (I / F) is used for connection with each unit. When power is supplied, the laser diode 304 (LD) outputs laser light (electromagnetic waves) having a predetermined wavelength.

  The mirror 306 has a plurality of mirror surfaces, and is driven by the driving unit 305 to reflect the laser light emitted by the LD 304 while rotating around a predetermined rotation axis, thereby forming a plurality of scanning lines by the laser light. To do. The reflected laser light output from the LD 304 and reflected by the road surface is collected by the light receiving lens 308 and received by the photodiode 307 (PD). It is assumed that the road surface reflection intensity can be measured from the output of the PD 307.

  The above configuration may be arranged so that the scanning line of the laser beam is applied to the road surface on the side of the vehicle as shown in FIG. Therefore, for example, the detection unit 3 is accommodated in a housing, the housing is disposed on the side surface of the vehicle 2, and the scanning line formed by the LD 304 and the mirror 306 is laterally oriented in the vehicle (vehicle width direction) and obliquely downward. What is necessary is just to arrange | position so that it may be irradiated toward.

  The PD 307 and the light receiving lens 308 may be arranged at a position and a direction in which the laser light thus irradiated and reflected on the road surface can be collected and received. In the example of FIG. 1, the number of scanning lines is three. However, this is only an example, and the present invention can correspond to an arbitrary number of scanning lines.

  The notification unit 4 includes a display unit arranged in the passenger compartment, a voice output unit, or both, and when the vehicle 2 is too close to the lane marking by the detection unit 3 as will be described later. The driver (or passenger) of the vehicle 2 is notified of this.

  In the case where the display unit is provided, a character display or an icon display of the content indicating that it is too close to the lane marking is executed. In the case of an audio output unit, an audio output indicating that the line is too close to the lane marking or an acoustic output such as a buzzer or a siren is executed. These displays and sound (sound) output may be executed simultaneously.

  The vehicle operation ECU 5 is an ECU that is equipped when the vehicle 2 is an autonomous driving vehicle, and automatically adjusts the vehicle speed and steering to execute automatic driving. The vehicle operation ECU 5 is equipped only in the case of automatic driving, and the notification unit 4 may be equipped only when there is a driver. The wireless communication unit 6 is equipped when performing vehicle-to-vehicle communication with another vehicle 8.

  With the above configuration, the present embodiment detects a lane marking (white line) located on the side of the vehicle 2 in real time, and calculates the current position of the vehicle 2 in the lane. The processing procedure is shown in FIG. The flowchart of FIG. 3 may be programmed and stored in advance in, for example, the ROM 302, and the CPU 300 may automatically call and execute it.

  In the process of FIG. 3, the position of the white line on both sides (or one side) when viewed from the vehicle 2 is repeatedly detected. For each detection, one set (for example, three in FIG. 1) of scanning lines is irradiated, and the white line position is calculated once by the reflected wave. This is repeatedly executed while the vehicle 2 is traveling. The basic flow of the processing of FIG. 3 will be described. In S10 to S50, the current (current) white line position is calculated.

  In the process of FIG. 3, first, laser light is irradiated in step S10. Specifically, laser light is emitted from the LD 304 toward the mirror 306, the laser light is reflected by the mirror surface while the mirror 306 is rotated, and the reflected light is irradiated to the road surface below the vehicle side. . At that time, pulsed laser light may be emitted from the LD 304.

  A plurality of mirror surfaces of the mirror 306 are formed in parallel or obliquely with the rotation axis of the mirror 306, and the inclination angle of each mirror surface from the rotation axis is different. Reflected light from each mirror surface is formed on one scanning line. Since the mirror surfaces have different inclination angles, the laser beams reflected by the two different mirror surfaces become two different (parallel) scanning lines.

  The mirror 306 makes one round to form a set of parallel scanning lines. Thus, as shown in FIG. 1, a plurality (one set) of scanning lines 7 formed in the vehicle width direction (lateral direction in FIG. 1) are parallel to the vehicle traveling direction (vertical direction in FIG. 1). Formed in the form of

  At this time, in this embodiment, as shown in FIG. 5, the interval between at least one set of scanning lines (for example, the combination of the forefront scanning line and the rearmost scanning line in the vehicle traveling direction) is larger than the width of the road joint. The scanning line interval is set to. (However, FIG. 5 shows a case where there are three scanning lines 7, but the present invention is not limited to this, and the number of scanning lines 7 may be arbitrary.) The width of the road seam in the vehicle traveling direction is set to d0 (about 30 cm to 4 m). About 1), the distance between adjacent scanning lines 7 is d1, and the distance between scanning lines 7 at both ends of one set of scanning lines 7 (the distance from the foremost scanning line 7 to the last scanning line 7 in the vehicle traveling direction). Let d2. However, although FIG. 5 shows the case of a seam, the portion corresponding to the seam may be a section in which the white line is interrupted in the section broken line. Note that in the section where the white line is broken in the section broken line, d0 in FIG. 5 is, for example, about 12 m (in the case of an expressway).

  At this time, in this embodiment, for example, d2 is set larger than d0. Alternatively, d1 is set larger than d0. In the former case, at least one scanning line 7 is not always connected to the seam. In the latter case, the scanning line for the joint can always be at most one, and the other scanning lines 7 do not cover the joint. The waveform of the reflection intensity in the scanning line that does not reach the joint has a relatively small noise in the region other than the white line compared to the scanning line related to the joint. Therefore, if a scanning line that does not cover the seam is used, a white line can be detected with higher accuracy. In the present embodiment, by setting d1 or d2 to be larger than d0, there is at least one scanning line that is not always connected, so that a white line can be detected with high accuracy.

  The scanning line interval may be any numerical value between the upper limit of the interval for making d1 larger than d0 and the lower limit of the interval for making d2 larger than d0. For example, the scanning line interval may be set so that there are a plurality of scanning lines that are not always connected to the seam. In this case, the accuracy of white line detection by the product operation described later is improved as compared with the case where there is one scanning line that does not cover the joint. If the interval (d1 or d2) between the scanning lines is set to a value equal to or greater than the value obtained by multiplying the above d0 by a margin (about several percent), at least one scanning line is more reliably connected to the seam (or at the section broken line). It is preferable that the white line is not interrupted).

  FIG. 4 shows a method for increasing the interval between the scanning lines 7 as shown in FIG. It is assumed that the rotation angle of the mirror 306 in FIG. 4A differs between the solid line and the dotted line. In the method of FIG. 4A, a single LD 304 is provided, and the difference in the tilt angle of each mirror surface of the mirror 306 is increased. As a result, the interval between the scanning lines 7 formed on different surfaces is widened.

  In the method of FIG. 4B, a plurality of LDs 304a and 304b are provided. Although FIG. 4B shows a case where there are two LDs, the present invention is not limited to this, and the number of LDs may be arbitrary. The positions and orientations of the LD 304a and the LD 304b are arranged so that the angles with respect to the mirror surface are different.

  As a result, the laser beams emitted from the LD 304a and the LD 304b are reflected on the same mirror surface, and two parallel scanning lines 7 having a predetermined interval are formed. In this case, two parallel scanning lines are formed simultaneously. By rotating the mirror 304 in this state, when there are two LDs, the scanning lines 7 twice the number of mirror surfaces are formed at intervals.

  Returning to FIG. 3, the reflected light is received in S20. As described above, in the present embodiment, since the interval between the scanning lines 7 is wider than the conventional one, the interval between the reflected lights is also increased. Therefore, the light receiving part is devised correspondingly. The details are shown in FIG.

  In the method of FIG. 6A, the light receiving lens 308 is a large size lens. Thereby, the reflected light from a wide visual field can be received by the PD 307. In the method of FIG. 6B, a plurality of sets of the light receiving lens 308 and the PD 307 are provided. As a result, the viewing angle at which the reflected light returns is divided, and a set of each light receiving lens 308 and PD 307 takes charge of one partial field of view and receives the reflection angle coming to that field of view.

  Although FIG. 6B shows a case where there are two pairs of the light receiving lens 308 and the PD 307, the present invention is not limited to this, and the number of pairs of the light receiving lens 308 and the PD 307 may be arbitrary.

  When the scanning line interval is wide, light can be received by the above method, but the detection accuracy may be reduced. In order to avoid this, a plurality of laser radars may be installed. For example, in the case of a partitioned broken line, since the portion where the white line is interrupted is long (12 m), the scanning line interval becomes large. In this case, a laser radar (LD304 or the like) is installed with an interval in the front-rear direction of the vehicle traveling direction, and at least one set of scanning lines among all the scanning lines formed by the plurality of laser radars If it has the length more than the part which the division | segmentation broken line interrupted, a division line can be detected robustly.

  In S20, the reflected light from the road surface is received as a plurality of scanning lines (line 1, line 2, line 3, etc.) as shown in FIG. The detection unit 3 measures the reflection intensity of the reflected light from the road surface. The numerical value on the vertical axis in FIG. 7 represents the reflection intensity (or the output current value or voltage value from the PD 307 reflecting the reflection intensity), and the horizontal axis represents the scan angle. The scan angle is equivalent to the position in the vehicle width direction.

  On the road surface, the white line portion has the property of higher reflection intensity than the other portions. In the waveform of FIG. 7, the high reflection intensity near the center corresponds to the presence of the white line. However, as shown in the example of FIG. 7, noise is also mixed in the measured reflected waveform. In particular, noise in areas other than the white line is relatively large at road joints.

  Next, a (logical) operation is executed in S40. The details are shown in FIG. In S40, for example, a product of the numerical values of the reflection intensities at the same position in the vehicle width direction (that is, the numerical values of the reflection intensities at the same scan angle) in the waveform of the reflection intensity of the plurality of reflected lights extracted in S30 is calculated. Here, the product may be an analog product (ordinary product) or a digital logical product (the case of logical product (AND) is shown in FIG. 7). Moreover, although it described above that it is the same position of a vehicle width direction, this should just have the following meaning. It is assumed that the same number of pulse lights are arranged in each scanning line of the received wave, and pulse numbers are assigned to the pulse lights in order from the left, for example (see FIG. 8 described later). At this time, the same position in the vehicle width direction means a position where the pulse number is the same in each scanning line.

  In the case of an analog product, the value of the reflection intensity is multiplied as it is. In the case of digital logical product, a threshold value is set for the reflection intensity, and the logical product is calculated after conversion to 1 and 0 when the threshold is greater or less. Thus, one waveform is obtained by the product of a plurality of scanning line waveforms. In actual measurement values, even if noise is mixed, the reflection intensity of the white line is often higher than the reflection intensity of the region (noise) other than the white line. Therefore, by executing the product, the numerical value of the white line portion is emphasized rather than the noise portion (the difference between the numerical values is enlarged).

  In response to this, the CPU 300 calculates a white line position in S50. Since the white line portion is emphasized in S40, the threshold value can be set and the both end positions of the section whose numerical value is equal to or larger than the threshold value can be calculated. The midpoint of the white line can be obtained by finding the midpoint of the both end positions. If the above processing is executed on both the left and right sides of the vehicle 2 to determine the position of the left and right white lines, the position of the vehicle 2 in the left-right direction in the lane or the deviation of the vehicle position from the center of the lane can be easily calculated.

  In S50, it is determined whether the calculated white line width is equivalent to the lane line width or whether it is continuous from the past white line position. If these are not satisfied, the calculated white line position is recognized as an error. It may not be adopted. With the above processing, the white line position detection by this laser irradiation is completed.

  Next, in S70, the CPU 300 determines whether or not to end the process of FIG. For example, when the ignition is off, the process of FIG. 3 is terminated (S70: YES). When this process is not terminated (S70: NO), the process returns to S10 and the above procedure is repeated. The above is the processing procedure of FIG.

  In summary, in the white line detection by the processing procedure of FIG. 3, as described above, the distance between at least one set of scan lines (for example, the set of the scan line at the forefront and the scan line at the end in the vehicle traveling direction) is set as the road joint. Since the interval between the scanning lines is set to be larger than the width, at least one of the plurality of scanning lines does not cover the seam, and even when the vehicle 2 passes through the seam, Robust white line detection that is not easily affected can be performed. Furthermore, the robustness of white line detection is improved by executing a product operation between a plurality of scanning lines.

  As described above, the detection system 1 achieves a combined improvement in robustness, so that robust white line detection can be performed even when detecting the vehicle width direction of the vehicle 2 with a small amount of information accumulation.

  Note that the calculation in S40 may be realized by hardware. An example is shown in FIG. In this example, the reflected light receiving circuit 307a, the received light signal memory 307b, and the logic operation circuit 307c are provided, and the reflected light received by the PD 307 is converted into a numerical value of the reflected intensity in the reflected light receiving circuit 307a, and is received in the received light signal memory 307b. input.

  The received light signal memory 307b stores (stores) a numerical value of the reflection intensity in a memory at a predetermined location for each scanning line (series, line). 8 shows a case where the number of scanning lines is n and the number of reflected light pulses on each scanning line is M (numbers 1 to M in FIG. 8 are pulse numbers in the above description). Called). When stored in the light receiving circuit memory 307b, an operation (for example, product operation) is executed by the logic operation circuit 307c for each same position of each scanning line. When the equipment shown in FIG. 8 is used, the subsequent processing load can be reduced.

  In the present embodiment, in response to the detection of the white line position and the vehicle position by the processes of FIGS.

  First, the notification unit 4 executes notification processing. Specifically, it notifies (warns) the driver of the vehicle 2 that the vehicle 2 is too close to the end of the lane. This only needs to be performed when the distance between the vehicle 2 and the white line is too close to a predetermined value. As described above, the notification (warning) may be executed by display on the display unit or voice (acoustic) output. Or you may perform a display and an audio | voice (acoustic) output simultaneously.

  In addition, when the vehicle 2 is performing automatic driving, information on the white line position and the vehicle position acquired by the processing of FIGS. 3 to 11 may be used by automatic driving by the vehicle operation ECU 5. For example, the steering is automatically controlled so that the lateral position of the vehicle 2 is at the center of the lane. This improves driving safety.

  Alternatively, the steering is automatically controlled so that the lateral position of the vehicle 2 is the same as that of the preceding vehicle. When this control is executed, air resistance can be reduced due to the presence of the preceding vehicle, which is effective for reducing fuel consumption. For this purpose, the position information of the preceding vehicle may be acquired from another preceding vehicle 8 through inter-vehicle communication through the wireless communication unit 6.

  In the above description, attention is focused only on road joints. However, the present embodiment is not limited to this, and the present invention is also effective for obstacles generally on white lines. That is, by increasing the interval between the scanning lines, at least one of the plurality of scanning lines can avoid an obstacle and can detect a robust white line. In this case, d0 may be set to be equal to or larger than an expected obstacle (stone, garbage, construction-related equipment, etc.) on the road (for example, about 50 cm to 1 m).

  Further, FIG. 1 shows the case where there are continuous white lines on both the left and right sides of the vehicle 2. However, for example, when one side is a broken line white line (between multiple lanes), the present invention is applied only to the continuous white line. What is necessary is just to change suitably, such as applying. Moreover, although the case of the detection of a white line was demonstrated in the said Example, this invention is not limited to this, It can be used for the detection of the lane marking general (white line, orange line, road lane marking, lane marking). .

DESCRIPTION OF SYMBOLS 1 Detection system 2 Vehicle 3 Detection part 304 Laser diode (LD, light source part)
306 Mirror (scanning unit)
307 Photodiode (PD, light receiving part)

Claims (5)

A light source unit that is provided in a vehicle and emits electromagnetic waves for detection of a lane marking on a side road of the vehicle;
A scanning unit that irradiates a plurality of scanning lines including at least one set of scanning lines at intervals of a predetermined value or more toward the vehicle side by electromagnetic waves emitted from the light source unit;
A light receiving unit that receives reflected electromagnetic waves from the side of the vehicle;
Calculating means for calculating a calculation of the reflection intensity at the same position in the vehicle width direction in each scanning line in the electromagnetic waves received by the light receiving unit after the scanning lines having an interval equal to or greater than the predetermined value are reflected by the road surface on the side of the vehicle; ,
Detecting means for detecting the position of the lane marking according to the result of the calculation by the calculating means ;
The interval between the scanning lines is such that the interval between at least one set of scanning lines is equal to or greater than the length in the vehicle traveling direction of the joint portion of the road or the length in the vehicle traveling direction of the portion where the white line of the road section broken line is interrupted A detection device characterized by being set to be . The light receiving unit is composed of a single light receiving element,
The detection device according to claim 1, further comprising: a single light receiving lens that condenses the electromagnetic wave formed by reflecting the scanning line formed to have the interval on the road surface onto the single light receiving element. . The light receiving unit is composed of a plurality of light receiving elements,
The detection device according to claim 1, further comprising: a plurality of light receiving lenses that collect the electromagnetic waves formed by reflecting the scanning lines formed so as to have the interval on the road surface to the plurality of light receiving elements. The light source unit comprises a plurality of light sources,
2. The scanning unit includes a single mirror that rotates while reflecting electromagnetic waves so that a plurality of electromagnetic waves simultaneously emitted from the plurality of light sources become a plurality of scanning lines having intervals. 4. The detection device according to any one of items 1 to 3. The light source unit comprises a single light source,
The angle of the plurality of mirror surfaces of the mirror provided in the scanning unit is set so that electromagnetic waves emitted from the single light source become a plurality of scanning lines having intervals. The detection device according to claim 1.

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