JP7226000B2 - LASER RADAR DEVICE AND CONTROL PROGRAM FOR THE LASER RADAR DEVICE - Google Patents

Description

The present invention relates to a laser radar device and a control program for the laser radar device.

A laser radar device that detects an object existing within a detection area by outputting a laser beam at predetermined angles and detecting the reflected light of the laser beam has an optical mechanism and a transmission part for the laser beam. There is one that is housed in a case body (see Patent Document 1, for example). By housing the optical mechanism in the case body and suppressing the exposure of the optical mechanism, it is possible to prevent the optical mechanism from being affected by the external environment or the like. This is preferable for alleviating restrictions such as the environment in which the laser radar device is arranged.

Japanese Patent No. 2789741

Here, when the laser radar device is placed outdoors, water droplets such as rainwater may adhere to the case body. As shown in FIG. 14, when water droplets adhere to the laser light transmitting portion 54X, the water droplets act as lenses, and the spread angle of the laser light may become larger than usual. In other words, the spread angle of the laser beam may change depending on the presence or absence of water droplets (see S1→S2). For example, as illustrated in FIG. 15, when the divergence angle of the laser beam is increased due to the influence of water droplets, an object located outside the detection area DE is mistakenly located within the detection area DE. detectable. There is a concern that this will be a factor in reducing the reliability of the laser radar device. Thus, in order to improve the reliability of the laser radar device, there is still room for improvement in the configuration of the laser radar device.

SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and a main object of the present invention is to suppress the influence of the environment in which the laser radar device is arranged and to improve the reliability thereof. to provide a control program for

Means for solving the above problems will be described below.

First means. An optical mechanism having an irradiation unit that irradiates a laser beam at an irradiation angle set for each predetermined angle and a light receiving unit that receives the laser beam reflected by an object, and a case body that houses the optical mechanism, A laser radar device in which the case body is provided with a transmission portion through which the laser beam can pass,
detection information indicating a correlation value that correlates with the irradiation angle at which the reflected light, which is the laser light reflected by the object, is received and the distance to the object that reflected the laser light; and a detection area for detecting the object. a determination unit that determines whether an object reflecting the laser beam is located in the detection area based on area information that is a set of the detection information that is predetermined in this manner;
A reference object arranged in the irradiation range of the laser beam is irradiated with the laser beam under a predetermined condition, and the irradiation angle range at which the reflected light from the reference object is received under the predetermined condition is used as reference information. a storage unit that stores
obtaining as comparison information the range of irradiation angles at which the reference object is irradiated with the laser beam and the reflected light is received from the reference object under the current situation, and based on the difference between the comparison information and the reference information; A correction unit that corrects either the area information or the detection information,
The determination unit is a laser radar device that performs the determination based on the information corrected by the correction unit.

According to the first means, it is possible to specify how the irradiation angle changes when detecting the reference object based on the reference information stored in advance and the comparison information acquired later. By correcting either the comparison information or the area information according to the difference in the irradiation angle, and determining the presence or absence of an object based on the corrected information, the spread angle of the laser beam changes due to the influence of the external environment. Even in such a case, it is possible to prevent a decrease in the certainty of the detection result due to it. This is preferable for suppressing a decrease in reliability of the laser radar device while improving the degree of freedom of arrangement of the laser radar device.

For example, when water droplets such as rain adhere to the case (transmissive portion) of the laser radar device in rainy weather, the water droplets may act as a lens, increasing the spread angle of the laser beam. As the spread angle of the laser beam increases, the possibility of erroneously determining that an object located outside the detection area is located within the detection area increases. This can be a factor that lowers the reliability of the laser radar device. In this regard, according to the first means, for example, if range information when no water droplets are attached is stored as reference information, how much the spread angle of the laser beam has changed from this reference information and comparison information ( increased) can be identified. By correcting the comparison information or the area information based on such a difference, erroneous detection caused by water droplets can be suppressed.

Second means. An optical mechanism having an irradiation unit that irradiates a laser beam at an irradiation angle set for each predetermined angle and a light receiving unit that receives the laser beam reflected by an object, and a case body that houses the optical mechanism, A laser radar device in which the case body is provided with a transmission portion through which the laser beam can pass,
detection information indicating a correlation value that correlates with the irradiation angle at which the reflected light, which is the laser light reflected by the object, is received and the distance to the object that reflected the laser light; and a detection area for detecting the object. a determination unit that determines whether an object reflecting the laser beam is located in the detection area based on area information that is a set of the detection information that is predetermined in this manner;
A reference object arranged in the irradiation range of the laser beam is irradiated with the laser beam under a predetermined condition, and the irradiation angle range at which the reflected light from the reference object is received under the predetermined condition is used as reference information. a storage unit that stores
obtaining as comparison information the range of irradiation angles at which the reference object is irradiated with the laser beam and the reflected light is received from the reference object under the current situation, and based on the difference between the comparison information and the reference information; and a correction unit that corrects the area information,
The determination unit is a laser radar device that performs the determination based on the area information corrected by the correction unit.

According to the second means, it is possible to specify how the irradiation angle changes when detecting the reference object based on the reference information stored in advance and the comparison information acquired later. By correcting the area information according to the difference in the irradiation angle and determining whether or not there is an object based on the corrected information, even if the spread angle of the laser beam changes due to the influence of the external environment, etc. It is possible to suppress a decrease in the certainty of the detection result due to this. This is preferable for suppressing a decrease in reliability of the laser radar device while improving the degree of freedom of arrangement of the laser radar device.

Further, in the second means, the correction target is the area information. If the area information is configured to be corrected, it is not necessary to perform correction each time the presence or absence of an object is determined (every time information such as the irradiation angle is acquired). Therefore, it is possible to reduce the control load and improve the processing speed. This is advantageous for speedy object detection by the laser radar device.

The "reference information" shown in the first means and the second means is not only stored based on the setting operation at the site where the laser radar device is arranged, but also preset at the time of design. include. Also, the "correlation value correlated with the distance" may be the time from irradiation to reception of the reflected light, or may be the distance calculated from that time.

Third means. When there is a difference between the range of irradiation angles indicated by the comparison information and the range of irradiation angles indicated by the reference information, the correction unit determines whether the range of irradiation angles in the area information is different from the range of irradiation angles. The correction is performed by increasing or decreasing the portion on the same side as the side on which the object is located.

The change in the divergence angle of the laser beam when it passes through water droplets adhering to the transmitting portion depends on the shape of the water droplets and the like. For this reason, it cannot be denied that there may be a difference in change in spread angle between the scanning direction and the anti-scanning direction depending on the shape of the water droplet. Therefore, as shown in the third means, if the size of the area information (the size of the range specified by the area information) is changed on the side where the spread angle is assumed to change, determination The reliability of the results can be advantageously improved.

Fourth means. The correction unit performs the correction such that the greater the difference between the irradiation angle range indicated by the comparison information and the irradiation angle range indicated by the reference information, the larger the portion to be increased or decreased in the area information.

The change in the divergence angle of the laser beam when it passes through water droplets adhering to the transmitting portion depends on the size and shape of the water droplets. For this reason, it is assumed that there will be various variations in the spread angle of the laser light. Therefore, as shown in the fourth means, if a configuration is adopted in which the portion changed by correction (the portion to be enlarged or reduced) increases as the difference in the irradiation angle range increases, the effect of improving the reliability described above is achieved. can be suitably exhibited.

Fifth means. The correction unit performs the correction by reducing the area information when the irradiation angle range indicated by the comparison information is larger than the irradiation angle range indicated by the reference information.

According to the fifth means, when the irradiation angle range increases, that is, when the spread angle of the laser beam increases, the area information (the range specified by the area information) is reduced. . Accordingly, it is possible to suppress erroneous determination as if an object located outside the detection area is located inside the detection area as a result of the increase in the spread angle.

Sixth means. In the area information, the correlation value indicating the limit position closer to the optical mechanism and the limit position farther from the optical mechanism is determined for each irradiation angle of the laser light,
The correction unit, as the correction, corresponds to the correlation value corresponding to each limit position of the predetermined irradiation angle, and each limit position of the irradiation angle obtained by adding the increased angle to the predetermined irradiation angle. based on the correlation value, the near side limit position is corrected to the correlation value corresponding to the limit position farther from the optical mechanism among the correlation values corresponding to the respective near side limit positions; The limit position on the far side is corrected to the correlation value corresponding to the limit position closer to the optical mechanism among the correlation values corresponding to the limit positions on the far side.

According to the sixth means, when the spread angle of the laser light increases, the limit position for each irradiation angle is reset by taking into account the increased angle. By adopting a configuration in which the distance range is shortened based on the increased angle in this way, it is possible to suitably suppress a decrease in the certainty of the determination result due to the influence of water droplets or the like.

Seventh means. The correction unit is configured to continue the comparison between the reference information and the comparison information even in a situation where the area information or the detection information is corrected by the correction unit. are matched, the correction is cancelled.

According to the seventh means, the correction is canceled when the reference information and the comparison information match. As a result, it is possible to preferably suppress the influence of the correction from remaining after the elements that change the spread angle of the water droplets, etc., disappear.

Eighth means. The detection area is divided into a plurality of individual areas in the scanning direction of the laser beam, and the reference object is provided for each individual area,
The storage unit stores the reference information for each individual area,
The correction unit acquires the comparison information for each individual area, and is capable of correcting the area information for each individual area based on the difference between the comparison information and the reference information.

If the detection area is wide in the scanning direction, the transmissive portion will also be long in the scanning direction. In such a configuration, the amount of water droplets adhering and the size of the water droplets adhering may differ from one portion to another. Therefore, as shown in means 8, if the detection area is divided into a plurality of individual areas in the scanning direction and the area information is corrected for each individual area, the detection area is wide in the scanning direction. Also, the influence of water droplets and the like can be suitably suppressed. That is, according to the configuration shown in means 8, it is possible to suitably suppress the limitation of the detection area from the viewpoint of improving the reliability of the laser radar.

Ninth means. a reflectance identifying unit that identifies the reflectance of the laser beam from the object based on the intensity of the reflected light from the object and the distance to the object;
The correction unit performs the correction when the reflectance specified by the reflectance specifying unit is higher than a threshold, and does not perform the correction when the reflectance is lower than the threshold.

As for laser light, the light is strongest at the central portion, and the light gradually weakens toward the outer edge. When the divergence angle of the laser beam becomes large due to water droplets, etc., even if the part where the light is weakened is reflected by an object with a low reflectance, the reflected light becomes even weaker. It is assumed that the possibility of being judged is low. On the other hand, when the light is reflected by a highly reflective object such as a reflector of a car, even weak light is more likely to be determined as the presence of the object. Therefore, as shown in the ninth means, the reflectance of the object is specified, and if the specified reflectance is higher than a threshold value (for example, 10%), correction is performed, and if it is lower than the threshold value, correction is performed. By setting it as the structure which does not perform, the certainty of a detection result can be improved suitably.

Tenth means. a reflectance identifying unit that identifies the reflectance of the laser beam from the object based on the intensity of the reflected light from the object and the distance to the object;
The correcting unit performs the first correction as the correction when the reflectance specified by the reflectance specifying unit is higher than the threshold, and performs the first correction as the correction when the reflectance is lower than the threshold. A second correction with a correction level lower than that is performed.

As for laser light, the light is strongest at the central portion, and the light gradually weakens toward the outer edge. When the divergence angle of the laser beam becomes large due to water droplets, etc., even if the part where the light is weakened is reflected by an object with a low reflectance, the reflected light becomes even weaker. It is assumed that the possibility of being judged is low. On the other hand, when the light is reflected by a highly reflective object such as a reflector of a car, even weak light is more likely to be determined as the presence of the object. Here, as shown in the tenth means, the reflectance of the object is specified, and if the specified reflectance is higher than a threshold (for example, 50%), the first correction is performed, and if it is lower than the threshold By adopting a configuration in which the second correction is performed in which the correction level (degree of correction) is lower than that of the first correction, the certainty of the detection result can be preferably improved.

Eleventh means. The reference objects include a first reference object whose laser light reflectance is higher than the threshold and a second reference object whose laser light reflectance is lower than the threshold;
The storage unit
The laser beam is irradiated to the first reference object under the predetermined condition, and the irradiation angle range in which the reflected light from the first reference object is received under the predetermined condition is stored as first reference information. a first storage unit;
The irradiation angle range in which the second reference object is irradiated with the laser beam under the predetermined condition and the reflected light from the second reference object is received under the predetermined condition is stored as second reference information. a second storage unit;
The correction unit is
obtaining as first comparison information the range of irradiation angles in which the first reference object is irradiated with the laser beam and the reflected light is received from the first reference object under the current situation; a first correction unit that corrects the area information based on a difference from the one reference information;
obtaining as second comparison information the range of irradiation angles in which the second reference object is irradiated with the laser beam and the reflected light is received from the second reference object under the current situation; and a second correction unit that corrects the area information based on the difference from the second reference information.

As described above, even if the divergence angle of the laser beam is increased due to the influence of water droplets or the like, erroneous determination may not occur depending on the reflectance of the object. Therefore, if a first reference object and a second reference object having different reflectances are used together and correction is performed by grouping the reflectances, the certainty of the determination result can be preferably improved.

Twelfth means. An optical mechanism having an irradiation unit that irradiates a laser beam at an irradiation angle set for each predetermined angle and a light receiving unit that receives the laser beam reflected by an object, and a case body that houses the optical mechanism, A control program for detecting an object in a detection area, which is applied to a laser radar device in which the case body is provided with a transmission part through which the laser beam can pass,
to the computer,
detection information indicating a correlation value that correlates with the irradiation angle at which the reflected light, which is the laser light reflected by the object, is received and the distance to the object that reflected the laser light; and a detection area for detecting the object. a determination process for determining whether an object reflecting a laser beam is located in the detection area based on area information that is a set of the detection information determined in advance;
A reference object arranged in the irradiation range of the laser beam is irradiated with the laser beam under a predetermined condition, and the irradiation angle range at which the reflected light from the reference object is received under the predetermined condition is used as reference information. an amnestic that remembers;
obtaining as comparison information the range of irradiation angles at which the reference object is irradiated with the laser beam and the reflected light is received from the reference object under the current situation, and based on the difference between the comparison information and the reference information; A control program for a laser radar device that executes correction processing for correcting either area information or the detection information.

According to the twelfth means, it is possible to specify how the irradiation angle changes when detecting the reference object based on the reference information stored in advance and the comparison information acquired later. By correcting either the comparison information or the area information according to the difference in the irradiation angle, and determining the presence or absence of an object based on the corrected information, the spread angle of the laser beam changes due to the influence of the external environment. Even in such a case, it is possible to prevent a decrease in the certainty of the detection result due to it. This is preferable for suppressing a decrease in reliability of the laser radar device while improving the degree of freedom of arrangement of the laser radar device.

Schematic which shows the mechanical structure of the laser radar apparatus in 1st Embodiment. The perspective view which shows the external appearance of a laser radar unit. FIG. 2 is a block diagram showing the electrical configuration of the laser radar device; 4 is a flowchart showing area monitoring processing executed by a control unit; 4 is a flowchart showing initial setting processing executed by the control unit; Schematic diagram showing how the reference target is supplemented. 4 is a flowchart showing area information correction processing executed by a control unit; Schematic diagram showing the relationship between reference information and comparison information. Schematic which shows the relationship between a detection area and area information. Schematic diagram showing the flow of correction of area information. Schematic diagram showing area monitoring processing in the second embodiment. Schematic which shows the laser radar apparatus in 3rd Embodiment. Schematic which shows the modification of area monitoring. Schematic which shows the spread of a laser beam. Schematic diagram showing a mode of erroneous detection caused by the influence of water droplets.

<First embodiment>
A first embodiment will be described below with reference to the drawings. This embodiment is embodied as a laser radar apparatus having a laser radar unit, a control device for the laser radar unit, and a reference target arranged in a laser beam irradiation range. First, the laser radar unit will be described with reference to FIGS. 1 and 2. FIG.

As shown in FIG. 1, the laser radar unit 20 outputs a laser beam at irradiation angles set for each predetermined angle (for example, 0.25°) and receives the laser beam reflected by the object M. It is provided with a mechanism 30 and a housing 50 forming an outer shell of the laser radar unit 20, and is fixed to a fixed object 100 such as a wall surface via a mounting plate.

The housing 50 is formed by combining a base 51 holding the optical mechanism 30 and a cover 52 covering the optical mechanism 30 from the side opposite to the wall surface. A laser beam irradiation port 53 is formed in the cover 52 . The irradiation port 53 is open to the front side of the laser radar unit 20 , the side opposite to the fixed object 100 . A transparent window member 54 is fitted in the irradiation port 53, and the laser light from the optical mechanism 30 is transmitted through the window member 54 and irradiated to a detection area described later.

The optical mechanism 30 is accommodated in the housing 50, and receives laser light reflected by the object M (hereinafter referred to as reflected light) by irradiating the laser light at every predetermined angle. The optical mechanism 30 has a first fixed mirror 31 , a second fixed mirror 32 , a rotating mirror 33 , an irradiation section 35 and a light receiving section 36 . The first fixed mirror 31 and the rotating mirror 33 form an optical path P<b>1 for guiding the laser light emitted from the irradiation section 35 to the outside of the housing 50 . The rotating mirror 33 and the second fixed mirror 32 form an optical path P<b>2 for guiding the reflected light reflected by the object M to the light receiving section 36 .

The first fixed mirror 31 and the second fixed mirror 32 are non-rotatably fixed. A through hole 34 is formed in the center of the second fixed mirror 32 . The rotating mirror 33 is configured to be rotatable while maintaining a constant tilt angle with respect to the laser beam reflected from the first fixed mirror 31 . Specifically, the rotating mirror 33 is rotatably supported by a motor 41 (for example, a stepping motor) fixed to the base 51. The motor 41 moves the rotating mirror 33 in a predetermined scanning direction by a predetermined angular unit. to rotate.

The scanning direction of the laser light emitted from the optical mechanism 30 is set in the horizontal direction. A dashed-dotted line H shown in FIG. 2 is a line virtually connecting points on the window member 54 through which the laser beam passes at each irradiation angle, and indicates the scanning direction of the laser beam. That is, the optical mechanism 30 shown in this embodiment irradiates laser light at predetermined angles while rotating the rotating mirror 33 so as to trace the dashed line H shown in FIG. 2 while maintaining the optical path P1 horizontally. do.

The laser light emitted from the irradiation unit 35 is first reflected by the first fixed mirror 31, passes through the through hole 34, is reflected by the rotating mirror 33, and then passes through the window member 54 to the outside of the laser radar unit 20. be irradiated. When some object M exists on the optical path P1 of the laser beam irradiated to the outside, the laser beam irradiated to the outside is reflected by the object M. FIG. Reflected light from the object M enters the laser radar unit 20 through the window member 54 and is reflected by the rotating mirror 33 and the second fixed mirror 32 . The light reflected by the second fixed mirror 32 is received by the light receiving section 36 . Note that the light receiving section 36 can detect the intensity of the reflected light. Although the laser radar device 10 includes a reference target in this embodiment, the reference target may be provided separately from the laser radar device 10 .

Next, an electrical configuration of the laser radar device 10 will be described with reference to FIG. The laser radar device 10 has a drive circuit 45 and a control device 60 . The drive circuit 45 is provided in the laser radar unit 20 and connected to a control device 60 provided separately from the laser radar unit 20 . The driving circuit 45 is connected to the optical mechanism 30 (motor 41 , irradiation unit 35 , light receiving unit 36 ), and controls driving of the optical mechanism 30 based on commands from the control device 60 .

A control unit 61 and a storage unit 62 are provided in the control device 60 . The storage unit 62 stores a control program for the laser radar and various measurement results obtained from the laser radar unit 20 . Further, the control unit 61 determines whether or not the object M exists, calculates the distance to the object M, and the like, based on the measurement results and the like stored in the storage unit 62 . In addition to the control unit 61 and the storage unit 62, the control device 60 includes a notification unit that notifies when an object is detected in the detection area or when an error occurs in the device, and when performing initial settings, etc., which will be described later. is provided with an operation unit operated by a user. Note that the control device 60 can also be incorporated into the laser radar unit 20 .

Here, the area monitoring process executed by the control unit 61 will be described with reference to the flowchart of FIG. The area monitoring process is a process for detecting whether or not an object is positioned in a preset detection area, and is repeatedly executed at predetermined intervals.

In the area monitoring process, first, a distance measurement process is performed in step S101. In the distance measurement process, a laser beam is output from the irradiation unit 35 for each irradiation angle set for each predetermined angle. When the reflected light of the irradiated laser light is received (when the object M is detected), the distance to the object M is calculated based on the time from the irradiation of the laser light to the reception of the reflected light. to measure. Then, the irradiation angle (correlation value) when the reflected light is received and the distance to the object that reflected the laser light (correlation value) are stored in the storage unit 62 as detection information. In this embodiment, laser light is emitted at each irradiation angle set by dividing the range of 0° to 150° by 0.25°. In the following description, the 601 irradiation angles are distinguished as irradiation angles ANG1 to ANG601.

In subsequent step S102, position determination processing is executed. Specifically, based on the area information associated with the detection area DE and the detection information, it is determined whether the object detected this time is located in the detection area DE. Here, the area information is collective information of position information (distance information) in which the distance range corresponding to the detection area DE is defined for each irradiation angle. For example, when the detection information of the object M is ANG100 and the distance is "50" and the area information includes ANG100 and the distance is "30 to 60", it is determined that the object M is located within the detection area. be done.

If it is determined in step S102 that the object M is located within the detection area, the area monitoring process is terminated after the notification process is executed in step S104. In the notification process of step S104, the notification unit outputs an alarm sound or the like to notify the user or the like that the object M is located within the detection area.

The laser light shown in this embodiment is configured to spread in a direction intersecting the irradiation direction (axis line) as the distance from the light source increases. It is defined so as to partially overlap with the passing path (optical path) of the laser beam at the irradiation angle. Here, as shown in FIG. 14, when water droplets such as rainwater adhere to the window member 54 and the laser light passes through the water droplets, the water droplets act as a lens, and the spread angle is larger than when there is no water droplets. becomes larger (see S1→S2). If the spread angle becomes large in this way, there is a possibility that an object M located outside the detection area is erroneously determined to be located in the detection area (see FIG. 15). This becomes a factor that lowers the reliability of the laser radar device.

In this embodiment, a reference target is arranged in the irradiation range of the laser beam (specifically, a position facing the laser radar unit 20 across the detection area DE), and the acquisition information indicating the irradiation angle at which the reference target is acquired is stored. By comparing, it is possible to specify the spread of the laser light. The capture information includes reference information acquired by performing an initial setting operation in a state where there is no object to be detected in the detection area and no water droplets or the like adhere to the window member 54 of the laser radar unit 20, and area It is roughly divided into comparison information acquired each time monitoring is performed. The initial setting process executed by the control unit 61 will be described below with reference to FIG. The initial setting process is a process that is periodically executed immediately after the control device 60 is activated, and after the initial setting is completed by the initial setting process, the normal process including the area monitoring process is periodically executed. be.

In the initial setting process, first, in step S201, it is determined whether or not the user has performed an initial setting operation. If a negative determination is made in step S201, the initialization process is terminated. When an affirmative determination is made in step S201, the process proceeds to step S202. In step S202, it is determined whether or not the distance to the reference target is being measured. If a negative determination is made in step S202, the process advances to step S203 to execute distance measurement start processing. By executing the distance measurement start process, the laser light is emitted in the order of irradiation angle ANG1→irradiation angle ANG1→irradiation angle ANG2→ .

Returning to the description of step S202, if the determination in step S202 is affirmative, the process proceeds to step S204. In step S204, it is determined whether or not the distance measurement has been completed. If a negative determination is made in step S204, this initialization process is terminated. When an affirmative determination is made in step S204, the process proceeds to step S205. In step S205, it is determined whether or not only the reference target has been captured in a series of initial setting processes.

Specifically, the shape, size, and reflectance of the laser beam are determined for the reference target, and the storage section 62 stores the information on them. Whether or not only the reference target is detected without detecting other objects in the detection area is determined by collating with various information of the reference target stored in the storage unit 62 . If an affirmative determination is made in step S205, the process proceeds to step S206. In step S206, for the reference target captured this time, the irradiation angle (capture angle) at which the reflected light is received is stored in the storage unit 62 as reference information. Also, the distance to the reference target is stored in association with the irradiation angle. For example, as shown in FIG. 6A, when the reference target 80 is captured by laser beams LB299 to LB301 irradiated at irradiation angles ANG299 to ANG301, the three irradiation angles ANG299 to ANG301 and each measurement distance is stored. After the initial setting is completed in this way, the repetition of the initial setting process is avoided, and the process shifts to the normal process.

Returning to the description of step S205, if a negative determination is made in step S205, that is, if the reference target cannot be captured or if another object is detected in the detection area, the process proceeds to step S207. In step S207, error notification processing is executed. As a result, the user is notified to retry the initial setting. In the following step S208, the information (measurement result) acquired this time is erased, and the initial setting process is terminated.

Here, with reference to FIG. 4 again, a supplementary description of the above-described area monitoring process will be given. When a negative determination is made in step S103 in the area monitoring process, that is, when it is determined that the object is not located within the detection area, the processes of steps S105 to S107 for the reference target are executed.

In step S105, it is determined whether or not the current irradiation angle is within a predetermined range including the irradiation angles ANG299 to ANG301, more specifically, the irradiation angles ANG296 to ANG304, corresponding to the reference target 80 captured in the initial setting process. . This predetermined range is determined based on the reference information stored in the initial setting process. If a negative determination is made in step S105, the area monitoring process is terminated. If an affirmative determination is made in step S105, the process proceeds to step S106 to determine whether or not the reference target 80 has been captured. When the reference target 80 is captured at the same position as when captured by the initial setting process, the irradiation angle at the time of capturing the reference target is stored in the storage unit 62 as comparison information in step S107. Also, the distance to the reference target is stored in association with the irradiation angle. If the reference target 80 cannot be captured, a negative determination is made in step S106, and the area monitoring process ends.

Specifically, as shown in FIG. 6A, when the reference target 80 is captured by the laser beams LB299 to LB301 irradiated at the irradiation angles ANG299 to ANG301, the three irradiation angles ANG299 to ANG301 and each measured distance are stored. On the other hand, for example, when the laser beam passes through a water droplet and the divergence angle increases, the irradiation angle for capturing the reference target 80 may increase. For example, in the example shown in FIG. 6B, the reference target 80 is captured by laser beams LB298 to LB302 irradiated at irradiation angles ANG298 to ANG302. That is, the angle increases by one to the left and right. In this case, the five irradiation angles ANG298 to ANG302 and each measured distance are stored.

As described above, in this embodiment, the comparison information is obtained and stored in conjunction with area monitoring. The control unit 61 executes a process of correcting the area information corresponding to the detection area DE based on the comparison information. The area information correction process will be described below with reference to the flowchart of FIG. The area information correction process is a process that is executed as part of the regular process, which is a regular process.

In the area information correction process, first, in step S301, it is determined whether or not it is time to return to the irradiation angle ANG1. In other words, it is determined whether or not it is time to return to the original position after the irradiation of the laser light has made one round. If a negative determination is made in step S301, the area information correction process is terminated. If an affirmative determination is made in step S301, the process proceeds to step S302. In step S302, it is determined whether or not the acquisition information of the reference target, that is, the comparison information is complete. Specifically, it is determined whether or not the comparison information is complete for each irradiation angle included in the predetermined range. If a negative determination is made in step S302, that is, if the comparison information is not complete, the comparison information, which is the acquisition information of the reference target, is deleted in step S307, and the area information correction processing ends.

In addition, in order to determine whether the comparison information is complete, it is also possible to store the information in the case where the reference target could not be captured as the comparison information. With such a configuration, it is possible to preferably distinguish between the case where the reference target does not exist and the case where the capture fails due to an error or the like.

If an affirmative determination is made in step S302, the process proceeds to step S303. In step S303, it is determined whether or not the comparison information has changed since the previous confirmation. If there is no change in the comparison information, a negative determination is made in step S303, and after executing the erasing process in step S307, this area information correction process ends. If at least part of the comparison information has changed, the process proceeds to step S304.

In step S304, comparison processing is performed between the reference information and the comparison information. If the reference information and the comparison information do not match, a negative determination is made in step S305 and the process proceeds to step S308. In step S308, area information correction processing is executed. The details of correction of area information will be described later. If the reference information and the comparison information match, an affirmative determination is made in step S305 and the process proceeds to step S306. In step S306, correction cancellation processing is performed. That is, when the spread angle of the laser light temporarily increases due to the adhesion of water droplets or the like, correction is canceled when the spread of the laser light returns to the original spread due to the flow of water droplets or the like. After executing the processing of steps S306 and S308, the comparison information stored in the storage unit 62 is deleted in step S307, and the area information correction processing ends. By canceling the correction when the reference information and the comparison information match, it is possible to preferably prevent the influence of the correction from remaining after the element that changes the spreading angle of the water droplets or the like disappears.

Correction of the area information based on the difference between the reference information and the comparison information will now be described with reference to FIGS. 8 and 9. FIG. For convenience of explanation, in FIG. 8 , irradiation angles at which the reference target 80 is captured are marked with “◯”, and irradiation angles at which the reference target 80 is not captured are marked with “×”.

In the laser radar device 10 shown in this embodiment, the spread angle of the laser beam is maximized due to adhesion of water droplets or the like to the window member 54, and the scanning direction (left direction in plan view) and the anti-scanning direction (right direction in plan view) can be increased by two predetermined angles in both directions. The area information includes area information E0 that is referred to when the reference information and the comparison information match, and is referred to when the spread angle of the laser beam is increased by one predetermined angle in both the scanning direction and the anti-scanning direction. area information E1 to be referred to when the spread angle of the laser light is increased by two predetermined angles in both the scanning direction and the anti-scanning direction; Area information E3 to be referred to when the divergence angle is increased by a predetermined angle, area information E4 to be referred to when the divergence angle of the laser beam is increased by 1 predetermined angle in the anti-scanning direction, and laser beam in the scanning direction area information E5 to be referred to when the spread angle of is increased by two predetermined angles, the spread angle of the laser light in the scanning direction is increased by two predetermined angles, and the spread angle of the laser light is increased in the counter-scanning direction. is greater by one predetermined angle, area information E7 is referred to when the divergence angle of the laser beam in the opposite scanning direction is greater by two predetermined angles, in the scanning direction There is area information E8 that is referred to when the divergence angle of the laser beam is increased by one predetermined angle and the divergence angle of the laser beam is increased by two predetermined angles in the anti-scanning direction. In the area information correction process of step S308 described above, one of the area information E1 to E8 is referred to instead of the area information E0 based on the reference information and the comparison information.

As shown in FIG. 9A, the range FE (area information corresponding range) visually indicating the area information E0 to be corrected is coincident with the detection area DE. On the other hand, as shown in FIG. 9B, the range FE (area information corresponding range) visually indicating the area information E1 to E8 is all reduced to be smaller than the detection area DE. there is More specifically, the area information corresponding range FE of the area information E1 is slightly reduced in both the scanning direction and the anti-scanning direction, and the area information corresponding range FE of the area information E2 is reduced in the scanning direction and the anti-scanning direction. The area information corresponding range FE of the area information E3 is slightly reduced in the scanning direction, and the area information corresponding range FE of the area information E4 is reduced in the opposite scanning direction. The area information corresponding range FE of the area information E5 is greatly reduced in the scanning direction, and the area information corresponding range FE of the area information E6 is greatly reduced in the scanning direction. The area information corresponding range FE of the area information E7 is greatly reduced in the antiscanning direction, and the area information corresponding range FE of the area information E8 is slightly reduced in the anti-scanning direction. is greatly reduced in range in the anti-scan direction and slightly reduced in range in the scan direction (see FIG. 8).

As already explained, each of the area information E0 to E8 is distance information related to each irradiation angle, that is, a set of position information. Reduce the distance information in the irradiation angle. Each distance information is defined to be a range between a limit point closer to the laser radar unit 20 and a limit point farther from the laser radar unit 20, and each limit point is defined by the laser radar. It shows the distance from the unit 20 (light source). Here, the process of reducing area information will be described.

First, an increase in the divergence angle of the laser light is specified for each of the scanning direction and the anti-scanning direction from the result of comparison between the reference information and the comparison information. Then, among the distance information of each irradiation angle in the area information E0, the distance information related to the irradiation angle to be changed this time, and the distance information related to the irradiation angle increased and separated in the increased direction with respect to the irradiation angle. , and when another irradiation angle is included between them, the distance information related to the irradiation angle is referred to. Next, from the distance information, the limit point of each distance information is picked up so that the distance range becomes the shortest. Then, the distance information of the irradiation angle to be changed is rewritten based on the picked-up limit point. By applying this reduction process to the distance information of each irradiation angle, area information E1 to E8 is formed by partially reducing the reference area information E0.

A specific example of area reduction will be described below with reference to FIG. FIG. 10 illustrates the process of reduction of area information E0→area information E1.

The area information E1 corresponds to the case where the spread angle increases by one predetermined angle in both the scanning direction and the anti-scanning direction. Therefore, in order to reduce the distance information for each irradiation angle, from the area information E0, the distance information (limit point PN (X) to limit point PF (X)) at the irradiation angle ANG (X) of interest this time, and the scanning Distance information (limit point PN (X+1), limit point PF (X+1)) at irradiation angle ANG (X+1) advanced by one predetermined angle in the direction and irradiation angle ANG (X-1) reversed by one predetermined angle in the counter-scanning direction The distance information (limit point PN (X-1), limit point PF (X-1)) in .

Here, for limit points PN(X), PN(X+1), and PN(X-1) nearer to the laser radar unit 20, the distance from the laser radar unit 20 (light source) is PN(X+1). <PN(X)<PN(X-1). The farthest limit point PN(X−1) among the three candidates is applied as the near side limit point PN(X) forming the distance information of the irradiation angle ANG(X) to be changed. Next, for limit points PF(X), PF(X+1), and PF(X−1) farther from the laser radar unit 20, the distance from the laser radar unit 20 (light source) is PF(X− 1) It increases in the order of <PF(X)<PF(X+1). The closest limit point PF(X−1) among the three candidates is applied as the limit point PF(X) on the far side forming the distance information of the irradiation angle ANG(X) to be changed. As a result, in the area information E1, the distance information of the irradiation angle ANG(X) is changed from the limit point PN(X) to the limit point PF(X) to the limit point PN(X-1) to the limit point PF(X-1). is reduced to

Area information E1 based on area information E0 is formed by applying such a shortening process to distance information for each irradiation angle.

The reference area information E0 and the correction area information E1 to E8 described in detail above are maintained or changed as the area monitoring progresses. Then, in step S102 of the area monitoring process, the area information specified in steps S306 and S308 is referenced to perform the position determination process.

According to the first embodiment described in detail above, the following excellent effects are obtained.

According to this embodiment, it is possible to specify how the irradiation angle changes when detecting the reference object based on the reference information stored in advance and the comparison information acquired later. By correcting any of the area information according to the difference in the irradiation angle and determining whether or not there is an object based on the corrected information, even if the spread angle of the laser beam changes due to the influence of the external environment, etc. However, it is possible to suppress the decrease in the certainty of the detection result due to it. This is preferable in terms of improving the degree of freedom of arrangement of the laser radar device 10 and suppressing deterioration of the reliability of the laser radar device 10 .

For example, when water droplets such as rain adhere to the window member of the laser radar device in rainy weather, the water droplets act as a lens, which may increase the spread angle of the laser beam. As the spread angle of the laser beam increases, the possibility of erroneously determining that an object located outside the detection area is located within the detection area increases. This can be a factor that lowers the reliability of the laser radar device. In this respect, according to the present embodiment, for example, information such as the irradiation angle when water droplets are not attached is stored as reference information, and how much the spread angle of the laser beam has changed from this reference information and comparison information ( increased) can be identified. By correcting the comparison information or the area information based on such a difference, erroneous detection caused by water droplets can be suppressed.

Further, since the correction target is the area information, it is not necessary to perform the correction every time the presence or absence of the object is determined (every time the information such as the irradiation angle is acquired). Therefore, it is possible to reduce the control load and improve the processing speed. This is advantageous in quickly detecting an object by the laser radar device 10 .

The change in the divergence angle of the laser beam when it passes through water droplets adhering to the window member 54 depends on the shape of the water droplets. For this reason, it cannot be denied that there may be a difference in change in spread angle between the scanning direction and the anti-scanning direction depending on the shape of the water droplet. Therefore, if the size of the area information corresponding range is changed on the side where the spread angle is assumed to change, the reliability of the determination result can be preferably improved.

The change in the divergence angle of the laser beam when it passes through water droplets adhering to the window member 54 depends on the size and shape of the water droplets. For this reason, it is assumed that there will be various variations in the spread angle of the laser light. Therefore, if a configuration is adopted in which the portion to be changed by correction (the portion to be enlarged or reduced) increases as the difference in the irradiation angle range increases, the effect of improving the reliability described above can be favorably exhibited.

In addition, in the configuration that determines whether the center (center of gravity) of an object is located in the detection area like the conventional laser radar device, even if the spread angle of the laser beam becomes large due to the influence of water droplets, etc., the present embodiment The inconvenience as shown does not occur. However, in the center (center of gravity) determination type laser radar device, the outer edge of the object cannot be grasped in detail, and the certainty of the determination result is low. The problem shown in the present embodiment and the like is a new problem that arises in the above laser radar device 10 that accurately grasps the size of an object and attempts to increase the certainty of determination.

<Second embodiment>
The intensity of the laser light is strongest at the center of the light and becomes weaker away from the center. For objects with very low reflectance, even if the edge of the diffused laser light hits the reference target, the intensity of the reflected light may not reach a level where the reflected light can be measured. In other words, whether or not an increase in the spread angle of the laser beam affects the certainty of object detection may depend on the reflectance of the object. The area monitoring process in this embodiment is devised in consideration of such circumstances. Area monitoring processing according to the present embodiment will be described below with reference to FIG. 11, focusing on differences from the first embodiment.

In the area monitoring process in this embodiment, distance measurement processing is first performed in step S401. The processing of step S401 is the same as that of step S101.

In step S402, reflectance specifying processing is executed. In the reflectance identification process, the reflectance of the laser beam on the object M is identified based on the distance and the intensity of the reflected light measured in step S401. Thereafter, in step S403, it is determined whether or not the reflectance of the object M has reached the threshold. In this embodiment, the threshold is determined according to the distance to the object M according to the distance. For example, when the distance to the object is 30 m, the threshold is 10%.

If an affirmative determination is made in step S403, that is, if the reflectance of the object M is assumed to be high to some extent, the process proceeds to step S404. In step S404, it is determined whether or not the area information has been corrected. If a negative determination is made in step S404, the process advances to step S405 to execute the first position determination process. In the first position determination process, the area information E0, which is the reference area information, is referred to as the area information, and it is determined whether the object M detected this time is located in the detection area DE. If an affirmative determination is made in step S404, the process advances to step S406 to execute the second position determination process. In the second position determination process, the designated area information among the area information E1 to E8, which is the correction area information, is referred to as the area information, and it is determined whether the object M detected this time is located in the detection area DE.

Returning to the description of step S403, if a negative determination is made in step S403, that is, if the reflectance of the object M has not reached the threshold, the process proceeds to step S405 to execute the first position determination process. That is, in the present embodiment, the above correction is avoided in the case of the object M having a low reflectance. Since each process of steps S407 to S411 below is the same as steps S103 to S107 in the first embodiment, description thereof is omitted.

As for laser light, the light is strongest at the central portion, and the light gradually weakens toward the outer edge. When the divergence angle of the laser beam becomes large due to water droplets, etc., even if the part where the light is weakened is reflected by an object with a low reflectance, the reflected light becomes even weaker. It is assumed that the possibility of being judged is low. On the other hand, when the light is reflected by a highly reflective object such as a reflector of a car, even weak light is more likely to be determined as the presence of the object. Therefore, as shown in this embodiment, the reflectance of the object is specified, and if the specified reflectance is higher than the threshold, correction is performed, and if it is lower than the threshold, correction is not performed. Thus, it is possible to preferably improve the certainty of the detection result.

Further, according to the configuration shown in the present embodiment, when an object M with a low reflectance is positioned in the detection area DE, it is possible to suppress the occurrence of a false alarm due to the correction. Thereby, the reliability of the laser radar device 10 can be preferably improved.

<Third Embodiment>
In the above-described second embodiment, a threshold value is set for the reflectance of the laser beam on the object, and correction is not performed for objects below the threshold value, thereby suppressing false alarms for objects with low reflectance. It was configured. Although this embodiment is the same in terms of suppressing the false alarm, it differs from the second embodiment in a specific configuration for increasing the accuracy. The above device will be described below, focusing on the differences from the second embodiment.

As shown in FIG. 12, in this embodiment, as reference targets, a low-reflection reference target 81 with relatively low reflectance and a high-reflection reference target 82 with relatively high reflectance are provided. The reflectance of the low-reflection reference target 81 is set to be lower than 50% (more specifically, about 30%) at a distance of 30 m from the laser radar unit 20 (light source). is configured to be higher than 50% (specifically, about 70%) at a distance of 30 m from the laser radar unit 20 (light source).

These two reference targets 81 and 82 are spaced apart so that the irradiation angles captured by the laser beams do not overlap. This is a device to prevent the correction function from not functioning properly due to the reflected light from the low-reflectance reference target 81 being mixed with the reflected light from the high-reflection reference target 82, for example.

In this embodiment, the acquisition of reference information by the initial setting process shown in the first embodiment, the acquisition of comparison information in the monitoring process, the comparison/correction in the area information correction process, etc. It is configured to be executed separately for low reflectance with a low reflectance and for high reflectance with a reflectance higher than the threshold value of 50%. As a result, it is possible to perform the correction in accordance with the reflectance, and the effect of improving the reliability by the correction can be favorably exhibited.

<Other embodiments>
In each of the above-described embodiments, the case where the initial setting process is executed in a situation where no water droplets adhere to the window member 54 (corresponding to the “transmissive portion”) of the laser radar unit 20 has been exemplified. Considering the case where the initial setting process is executed and the reference information is stored when water droplets such as rain are attached to 54, the following configuration may be adopted. In other words, when there are no more water droplets, such as when the weather is fine, the spread angle of the laser light may become smaller. There is a high possibility that it will be erroneously determined. Therefore, when the comparison information indicates that the spread angle of the laser light is smaller than the reference information, it is preferable to expand the range corresponding to the area information by correcting the area information. With such a configuration, it is possible to suitably suppress overlooking of an object located in the detection area DE.

In each of the above-described embodiments, the comparison information is acquired and compared with the reference information each time the laser irradiation goes around, but the timing of such comparison is arbitrary. For example, it is possible to adopt a configuration in which comparison information is acquired and compared with reference information based on the lapse of a preset interval period.

- In each of the above embodiments, the reference target is arranged outside the detection area, but it is also possible to arrange the reference target inside the detection area.

A configuration in which a plurality of reference targets are provided, area information corresponding to the detection area DE is divided into a plurality of individual area information associated with each reference target, and correction using each reference target is performed for each individual area information. good. For example, when the reference targets 80R, 80M, and 80L are arranged side by side as shown in FIG. A central area DEM corresponding to the left reference target 80L and a left area DEL corresponding to the left reference target 80L may be divided, and the individual area information associated with each of the areas DER, DEM, and DEL may be corrected.

When the detection area DE is wide in the scanning direction, the window member 54 is also elongated in the scanning direction. In such a configuration, the amount of water droplets adhering and the size of the water droplets adhering may differ from one portion to another. Therefore, if the detection area DE is divided into a plurality of individual areas DER, DEM, and DEL in the scanning direction as described above, and the area information is corrected for each individual area DER, DEM, and DEL, the detection area DE becomes Even with a wide configuration in the scanning direction, it is possible to suitably suppress the influence of water droplets and the like. That is, from the viewpoint of improving the reliability of the laser radar, it is possible to suitably suppress the limitation of the detection area.

・In the second embodiment, when the reflectance of the detected object is equal to or higher than the threshold, the area information can be corrected, and when the reflectance of the object is less than the threshold, the area information cannot be corrected. However, it is also possible to adopt a configuration in which the correction is performed in stages according to the reflectance of the object. For example, when the reflectance of the object is less than the first threshold, the area information cannot be corrected, and when the reflectance is greater than or equal to the first threshold and less than the second threshold, the area information correction level is set to "weak." , and if it is equal to or greater than the second threshold, it is also possible to set the correction level of the area information to "high". When such a change is made, a reference target whose reflectance is lower than the first threshold, a reference target whose reflectance is between the first threshold and the second threshold, and a reference target whose reflectance is between the first threshold and the second threshold are used. A reference target larger than the threshold value may be used together, and the influence of the change in the spread angle of the laser beam may be reflected in the correction for each reflectance range.

- Although the reflectance of the low-reflection reference target 81 is set to 30% and the reflectance of the high-reflection reference target 82 is set to 70% in the second embodiment, the present invention is not limited to this. At least, it is sufficient that the reflectance of the low-reflection reference target 81 is lower than the reflectance of the high-reflection reference target 82, and each reflectance may be changed arbitrarily.

Further, the reference targets 81 and 82 shown in the second embodiment are arranged apart from each other so that the irradiation angles for capturing the reference targets 81 and 82 do not overlap. It does not mean that they should be placed close to each other. However, if the reflected light from both reference targets 81 and 82 enters the light receiving section 36 at the same time, the reflected light from the low-reflection reference target 81 may be mixed with the reflected light from the high-reflection reference target 82 . If the two reference targets 81, 82 are brought close together, please add provisions to avoid such confusion. For example, by changing the directions of the reference targets 81 and 82, it is preferable to adopt a configuration in which only one of the reference targets 81 and 82 is irradiated with laser light in a predetermined order (alternately).

- In each of the above-described embodiments, the area information among the detection information and the area information is subject to correction, but the detection information can also be subject to correction.

The area information for correction does not necessarily need to be stored in advance, and may be determined and stored by arithmetic processing each time the reference information and the comparison information are compared.

- In each of the above-described embodiments, the initial setting operation of the laser radar device 10 is performed to acquire the reference information, but the present invention is not limited to this. The reference information may be stored in advance in the storage unit 62 at the time of manufacture by the manufacturer.

DESCRIPTION OF SYMBOLS 10... Laser radar apparatus, 30... Optical mechanism, 35... Irradiation part, 36... Light-receiving part, 50... Housing (case body), 54... Window member (transmissive part), 60... Control device (computer), 61... Control part , 62...storage unit, 80 to 82...reference target (reference object), DE...detection area.

Claims (11)

An optical mechanism having an irradiation unit that irradiates a laser beam at an irradiation angle set for each predetermined angle and a light receiving unit that receives the laser beam reflected by an object, and a case body that houses the optical mechanism, A laser radar device in which the case body is provided with a transmission portion through which the laser beam can pass,
detection information indicating a correlation value that correlates with the irradiation angle at which the reflected light, which is the laser light reflected by the object, is received and the distance to the object that reflected the laser light; and a detection area for detecting the object. a determination unit that determines whether an object reflecting the laser beam is located in the detection area based on area information that is a set of the detection information that is predetermined in this manner;
A reference object arranged in the irradiation range of the laser beam is irradiated with the laser beam under a predetermined condition, and the irradiation angle range at which the reflected light from the reference object is received under the predetermined condition is used as reference information. a storage unit that stores
obtaining as comparison information the range of irradiation angles at which the reference object is irradiated with the laser beam and the reflected light is received from the reference object under the current situation, and based on the difference between the comparison information and the reference information; and a correction unit that corrects the area information,
The determination unit is a laser radar device that performs the determination based on the area information corrected by the correction unit. When there is a difference between the range of irradiation angles indicated by the comparison information and the range of irradiation angles indicated by the reference information, the correction unit determines whether the range of irradiation angles in the area information is different from the range of irradiation angles. 2. The laser radar device according to claim 1, wherein said correction is performed by increasing or decreasing the portion on the same side as the side on which the radar is present. The correcting unit performs the correction such that the greater the difference between the irradiation angle range indicated by the comparison information and the irradiation angle range indicated by the reference information, the larger the portion to be increased or decreased in the area information. 3. The laser radar device according to claim 1 or 2 . 1 , wherein the correction unit performs the correction by reducing the area information when the irradiation angle range indicated by the comparison information is larger than the irradiation angle range indicated by the reference information. Item 4. The laser radar device according to any one of items 3 . In the area information, the correlation value indicating the limit position closer to the optical mechanism and the limit position farther from the optical mechanism is determined for each irradiation angle of the laser light,
The correction unit, as the correction, corresponds to the correlation value corresponding to each limit position of the predetermined irradiation angle, and each limit position of the irradiation angle obtained by adding the increased angle to the predetermined irradiation angle. based on the correlation value, the near side limit position is corrected to the correlation value corresponding to the limit position farther from the optical mechanism among the correlation values corresponding to the respective near side limit positions; 5. The laser radar device according to claim 4 , wherein the far side limit position is corrected to the correlation value corresponding to the nearer limit position from the optical mechanism among the correlation values corresponding to each far side limit position. The correction unit is configured to continue comparing the reference information and the comparison information even under the condition that the area information is corrected by the correction unit, and the reference information and the comparison information match. 6. The laser radar device according to any one of claims 1 to 5 , wherein the correction is canceled in case of an error. The detection area is divided into a plurality of individual areas in the scanning direction of the laser beam, and the reference object is provided for each individual area,
The storage unit stores the reference information for each individual area,
7. The correcting unit acquires the comparison information for each of the individual areas, and is capable of correcting the area information for each individual area based on the difference between the comparison information and the reference information. A laser radar device according to any one of the preceding claims. a reflectance identifying unit that identifies the reflectance of the laser beam from the object based on the intensity of the reflected light from the object and the distance to the object;
8. The correcting unit performs the correction when the reflectance specified by the reflectance specifying unit is higher than a threshold, and does not perform the correction when the reflectance is lower than the threshold. A laser radar device according to any one of the preceding claims. a reflectance identifying unit that identifies the reflectance of the laser beam from the object based on the intensity of the reflected light from the object and the distance to the object;
The correcting unit performs the first correction as the correction when the reflectance specified by the reflectance specifying unit is higher than the threshold, and performs the first correction as the correction when the reflectance is lower than the threshold. 9. The laser radar device according to any one of claims 1 to 8 , wherein a second correction having a correction level lower than the correction level is performed. The reference objects include a first reference object whose laser light reflectance is higher than the threshold and a second reference object whose laser light reflectance is lower than the threshold;
The storage unit
The laser beam is irradiated to the first reference object under the predetermined condition, and the irradiation angle range in which the reflected light from the first reference object is received under the predetermined condition is stored as first reference information. a first storage unit;
The irradiation angle range in which the second reference object is irradiated with the laser beam under the predetermined condition and the reflected light from the second reference object is received under the predetermined condition is stored as second reference information. a second storage unit;
The correction unit is
obtaining as first comparison information the range of irradiation angles in which the first reference object is irradiated with the laser beam and the reflected light is received from the first reference object under the current situation; a first correction unit that corrects the area information based on a difference from the one reference information;
obtaining as second comparison information the range of irradiation angles in which the second reference object is irradiated with the laser beam and the reflected light is received from the second reference object under the current situation; 10. The laser radar device according to claim 9 , further comprising a second correction section that corrects the area information based on a difference from the second reference information. An optical mechanism having an irradiation unit that irradiates a laser beam at an irradiation angle set for each predetermined angle and a light receiving unit that receives the laser beam reflected by an object, and a case body that houses the optical mechanism, A control program for detecting an object in a detection area, which is applied to a laser radar device in which the case body is provided with a transmission part through which the laser beam can pass,
to the computer,
detection information indicating a correlation value that correlates with the irradiation angle at which the reflected light, which is the laser light reflected by the object, is received and the distance to the object that reflected the laser light; and a detection area for detecting the object. a determination process for determining whether an object reflecting a laser beam is located in the detection area based on area information that is a set of the detection information determined in advance;
A reference object arranged in the irradiation range of the laser beam is irradiated with the laser beam under a predetermined condition, and the irradiation angle range at which the reflected light from the reference object is received under the predetermined condition is used as reference information. an amnestic that remembers;
obtaining as comparison information the range of irradiation angles at which the reference object is irradiated with the laser beam and the reflected light is received from the reference object under the current situation, and based on the difference between the comparison information and the reference information; A control program for a laser radar device that executes correction processing for correcting area information .

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