JP7396379B2 - Distance measurement control device, distance measurement control method, distance measurement control program, and distance measurement device - Google Patents

Description

The disclosure in this specification relates to a technique for measuring the distance to a reflection point by detecting reflected light from the reflection point in response to light irradiation.

Patent Document 1 discloses a photodetector that detects light reflected by an object with respect to projected light. This photodetector sets at least one region in the light projection range where an object exists as the region of interest, and sets at least one of the light projection conditions of the light projection system and the processing conditions of the signal processing system for the region of interest to the region of interest. The difference is made when projecting light to a target area and when projecting light to a non-attention area.

JP 2017-173298 Publication

By the way, in a distance measuring device that detects reflected light, it is conceivable that there will be a situation in which normal distance measurement is performed and a situation in which calibration is performed. The technique of Patent Document 1 does not disclose controlling the distance measuring device according to these situations.

An object of the disclosure is to provide a distance measurement control device, a distance measurement control method, a distance measurement control program, and a distance measurement device that can perform distance measurement control depending on the situation.

The multiple embodiments disclosed in this specification employ different technical means to achieve their respective objectives. Furthermore, the claims and the reference numerals in parentheses described in this section are examples of correspondences with specific means described in the embodiments described later as one aspect, and are intended to limit the technical scope. isn't it.

One of the disclosed distance measurement control devices includes a processor (102), is mounted on a moving body (A), and measures the distance to the reflection point by detecting reflected light from the reflection point in response to irradiation with scanning light. A distance measurement control device that controls a distance measurement device for measuring,
a determination unit (120) that determines whether an execution condition that allows the calibration of the distance measuring device to be executed is satisfied;
Calibration that reduces the scanning speed of the scanning light when it is determined that the execution conditions are met, compared to the normal distance measurement mode that is executed by the distance measurement device when it is determined that the execution conditions are not met. a mode execution unit (130) that causes the distance measuring device to execute the mode;
a calibration unit (140) that performs calibration based on the distance measurement results of the distance measurement device in the calibration mode;
Equipped with

One of the disclosed distance measurement control methods controls a distance measurement device that is mounted on a moving object (A) and measures the distance to a reflection point by detecting reflected light from a reflection point in response to irradiation with scanning light. A ranging control method executed by a processor (102) for the purpose of
a determination process (S110, S115; S120; S125) that determines whether execution conditions that allow the calibration of the distance measuring device to be executed are satisfied;
Calibration that reduces the scanning speed of the scanning light when it is determined that the execution conditions are met, compared to the normal distance measurement mode that is executed by the distance measurement device when it is determined that the execution conditions are not met. a mode execution process (S140; S145; S146) for causing the distance measuring device to execute the mode;
a calibration process (S160) for performing calibration based on the distance measurement results of the distance measurement device in the calibration mode;
including.

One of the disclosed distance measurement control programs controls a distance measurement device that is mounted on a moving object (A) and measures the distance to a reflection point by detecting reflected light from a reflection point in response to irradiation with scanning light. A distance measurement control program including instructions for a processor (102) to execute,
The command is
a determination process (S110, S115; S120; S125) that determines whether execution conditions that allow the calibration of the distance measuring device to be executed are satisfied;
Calibration that reduces the scanning speed of the scanning light when it is determined that the execution conditions are met, compared to the normal distance measurement mode that is executed by the distance measurement device when it is determined that the execution conditions are not met. a mode execution process (S140; S145; S146) for causing the distance measuring device to execute the mode;
a calibration process (S160) that executes calibration based on the distance measurement result of the distance measurement device in the calibration mode;
including.

One of the disclosed distance measuring devices has a processor (102), is configured to be mounted on a moving body (A), and detects reflected light from a reflective point in response to irradiation with scanning light, thereby detecting the distance to the reflective point. A distance measuring device that measures distance,
a determination unit (120) that determines whether an execution condition that allows the calibration to be executed is satisfied;
Mode execution that executes a calibration mode in which the scan speed of the scanning light is slower than the normal distance measurement mode, which is executed when the execution conditions are determined to be satisfied, but not the execution conditions. part (130) and
a calibration section (140) that performs calibration based on the distance measurement results in the calibration mode;
Equipped with

According to these disclosures, when it is determined that execution conditions that allow calibration to be executed are satisfied, a calibration mode in which the scanning speed of the scanning light is slowed is executed, and calibration is performed based on the distance measurement results in the calibration mode. is executed. Therefore, in the calibration mode, the amount of information per pixel can be increased more than in the normal ranging mode. As a result, more accurate distance measurement can be achieved, so it is possible to improve the accuracy of external parameter calculation and calibration performed based on the distance measurement results. Therefore, control of the distance measuring device suitable for calibration can be performed under conditions where calibration can be performed. As described above, a distance measurement control device, a distance measurement control method, and a distance measurement control program that can control a distance measurement device depending on the situation can be provided.

One of the disclosed distance measurement control devices includes a processor (102), is mounted on a moving body (A), and measures the distance to the reflection point by detecting reflected light from the reflection point in response to irradiation with scanning light. A distance measurement control device that controls a distance measurement device for measuring,
a determination unit (120) that determines whether an execution condition that allows the calibration of the distance measuring device to be executed is satisfied;
When it is determined that the execution conditions are met, the resolution of the distance to the reflection point is higher than in the normal distance measurement mode that is executed by the range finder when it is determined that the execution conditions are not met. a mode execution unit (130) that causes the range finder to execute a calibration mode;
a calibration unit (140) that performs calibration based on the distance measurement results of the distance measurement device in the calibration mode;
Equipped with

One of the disclosed distance measurement control methods controls a distance measurement device that is mounted on a moving object (A) and measures the distance to a reflection point by detecting reflected light from a reflection point in response to irradiation with scanning light. A ranging control method executed by a processor (102) for the purpose of
a determination process (S110, S115; S120; S125) that determines whether execution conditions that allow the calibration of the distance measuring device to be executed are satisfied;
When it is determined that the execution conditions are met, the resolution of the distance to the reflection point is higher than in the normal distance measurement mode that is executed by the range finder when it is determined that the execution conditions are not met. a mode execution process (S140; S145; S146) that causes the distance measuring device to execute a calibration mode to perform the calibration;
a calibration process (S160) for performing calibration based on the distance measurement results of the distance measurement device in the calibration mode;
including.

One of the disclosed distance measurement control programs controls a distance measurement device that is mounted on a moving object (A) and measures the distance to a reflection point by detecting reflected light from a reflection point in response to irradiation with scanning light. A distance measurement control program including instructions for a processor (102) to execute,
The command is
a determination process (S110, S115; S120; S125) that determines whether execution conditions that allow the calibration of the distance measuring device to be executed are satisfied;
When it is determined that the execution conditions are met, the resolution of the distance to the reflection point is higher than in the normal distance measurement mode that is executed by the range finder when it is determined that the execution conditions are not met. a mode execution process (S140; S145; S146) that causes the distance measuring device to execute a calibration mode to perform the calibration;
a calibration process (S160) that executes calibration based on the distance measurement result of the distance measurement device in the calibration mode;
including.

One of the disclosed distance measuring devices has a processor (102), is configured to be mounted on a moving body (A), and detects reflected light from a reflective point in response to irradiation with scanning light, thereby detecting the distance to the reflective point. A distance measuring device that measures distance,
a determination unit (120) that determines whether an execution condition that allows the calibration to be executed is satisfied;
When it is determined that the execution conditions are met, a calibration mode is executed that provides a higher resolution of the distance to the reflection point than the normal distance measurement mode that is executed when the execution conditions are determined not to be met. a mode execution unit (130);
a calibration unit (140) that performs calibration based on the distance measurement results in the calibration mode;
Equipped with

According to these disclosures, when it is determined that execution conditions that allow calibration to be executed are satisfied, a calibration mode that increases the resolution of the distance to the reflection point is executed, and based on the distance measurement results in the calibration mode, the calibration mode is executed. Calibration is performed. Therefore, since the calibration mode can improve the distance accuracy during distance measurement, it is possible to improve the accuracy of external parameter calculation and calibration performed based on the distance measurement results. Therefore, control of the distance measuring device suitable for calibration can be performed under conditions where calibration can be performed. As described above, a distance measurement control device, a distance measurement control method, and a distance measurement control program that can control a distance measurement device depending on the situation can be provided.

FIG. 1 is a block diagram showing the overall configuration of an image processing device. FIG. 7 is a diagram showing unit pixels of a light receiving section in reflected light detection and background light detection. FIG. 3 is a diagram showing a difference in pixel density between a distance image and a background light image. FIG. 2 is a diagram illustrating an example of the peripheral configuration of a vehicle when performing calibration. FIG. 3 is a diagram showing the difference between normal ranging mode and calibration mode. 3 is a flowchart illustrating an example of a distance measurement control method executed by the image processing device. It is a figure showing the difference between normal distance measurement mode and calibration mode in a 2nd embodiment. It is a figure showing the difference between normal ranging mode and calibration mode in a 3rd embodiment. 13 is a flowchart illustrating an example of a distance measurement control method executed by the image processing apparatus in the fourth embodiment. 12 is a flowchart illustrating an example of a distance measurement control method executed by the image processing apparatus in the fifth embodiment. 12 is a flowchart illustrating an example of a distance measurement control method executed by an image processing apparatus in a sixth embodiment. It is a block diagram showing the whole composition of an image processing device in a 7th embodiment. It is a flowchart which shows an example of the distance measurement control method performed by the image processing apparatus in 7th Embodiment. FIG. 3 is a block diagram showing the overall configuration of a LiDAR device in another embodiment.

(First embodiment)
As shown in FIG. 1, an image processing device 100 as a distance measurement control device according to an embodiment of the present disclosure is mounted on a vehicle A that is a moving body. The image processing device 100 includes, for example, an in-vehicle ECU (ECU) that acquires image information from a plurality of in-vehicle sensors including a LiDAR (Light Detection and Ranging/Laser Imaging Detection and Ranging) device 1, which will be described later, and executes processing such as image recognition. Electronic Control Unit).

The image processing device 100 can acquire various information via an in-vehicle network 50 that includes at least one type of, for example, a LAN (Local Area Network), a wire harness, and an internal bus. The information acquired from the in-vehicle network 50 includes, for example, position information from a locator, map information included in a map database, behavior information from a behavior sensor of the vehicle A, detection information from other sensors described below, and the like. Behavior sensors include vehicle speed sensors, attitude sensors, and the like.

In addition, the image processing device 100 is connected to the LiDAR device 1 and can communicate with each other. The LiDAR device 1 is a measuring device that measures the distance to a reflection point by detecting reflected light from a reflection point in response to light irradiation. The LiDAR device 1 includes a light emitting section 11, a light receiving section 12, a mirror, and a control circuit 14.

The light emitting unit 11 is a semiconductor element, such as a laser diode, that emits directional laser light. The light emitting unit 11 emits laser light directed toward the outside of the vehicle A in the form of an intermittent pulsed beam. The light receiving section 12 is constituted by a light receiving element that is highly sensitive to light, such as a SPAD (Single Photon Avalanche Diode). A plurality of light receiving elements are arranged in an array in a two-dimensional direction. One light-receiving pixel (hereinafter also referred to as a pixel) is constituted by a plurality of adjacent light-receiving elements. Note that the number of light receiving elements constituting one light receiving pixel can be changed by the control circuit 14. The light-receiving element is exposed to light that enters from a sensing area determined by the field angle of the light-receiving part 12 in the outside world of the light-receiving part 12 .

The actuator 13 controls the reflection angle of a reflecting mirror that reflects the laser beam irradiated from the light emitting unit 11 to the emission surface of the LiDAR device 1 . The laser beam is scanned by the actuator 13 controlling the reflection angle of the reflecting mirror. The scanning direction may be horizontal or vertical. Note that the actuator 13 may scan the laser beam by controlling the attitude angle of the casing itself of the LiDAR device 1.

The control circuit 14 controls the light emitting section 11, the light receiving section 12, and the actuator 13. The control circuit 14 is a computer including at least one memory and at least one processor. Memory refers to at least one type of non-transitory tangible storage medium, such as semiconductor memory, magnetic media, and optical media, that non-temporarily stores or stores computer-readable programs and data. medium). The memory stores various programs that are executed by the processor.

The control circuit 14 controls exposure and scanning of a plurality of pixels in the light receiving section 12, and processes signals from the light receiving section 12 to convert them into data. The control circuit 14 performs reflected light detection in which the light receiving unit 12 detects reflected light in response to light irradiation by the light emitting unit 11, and background light detection in which the light receiving unit 12 detects background light while the light irradiation by the light emitting unit 11 is stopped. Two types of light detection are performed.

In reflected light detection, the laser light emitted from the light emitting section 11 hits an object within the sensing region and is reflected. This reflected portion becomes a reflection point of the laser beam. The laser light reflected at the reflection point (hereinafter referred to as reflected light) enters the light receiving section 12 through the incident surface and is exposed. At this time, the control circuit 14 acquires reflected light at various angles within the visual field by scanning a plurality of pixels of the light receiving section 12. Thereby, the control circuit 14 acquires a distance image of the reflective object (target object).

Specifically, the control circuit 14 obtains the intensity of reflected light obtained by scanning within a certain period of time, or a value obtained based on the intensity (hereinafter referred to as reflection intensity) for each pixel. The total is calculated for each distance traveled. Thereby, the control circuit 14 obtains a histogram of distance and reflection intensity as shown in FIG. 5 and the like. The control circuit 14 calculates the distance to the reflection point based on the reflection intensity of each bin of the histogram. Specifically, the control circuit 14 generates an approximate curve for bins that are equal to or higher than a predetermined threshold, and sets the extreme value of the approximate curve as the distance to the reflection point at that pixel. The control circuit 14 can generate a distance image containing distance information for each pixel by performing the above-described processing on all pixels.

On the other hand, in background light detection, while light emission from the light emitting section 11 is stopped, external light such as sunlight is reflected on an object and is exposed to the light receiving section 12 . This exposed light is hereinafter referred to as background light. At this time, the control circuit 14 scans the plurality of pixels of the light receiving section 12 to acquire background light at various angles within the field of view, similarly to the reflected light. The control circuit 14 can generate a background light image by performing the above-described processing on all pixels. Note that the sensing areas for reflected light and background light are almost the same. Background light can also be called external light or disturbance light.

Note that in this embodiment, the control circuit 14 changes the size of one pixel when detecting reflected light and when detecting background light. Specifically, as shown in FIG. 2, the control circuit 14 calculates the number of light receiving elements (α×β) making up one pixel when background light is detected, and the number of light receiving elements making up one pixel when detecting reflected light. The number is smaller than the number of elements (A×B pieces). As a result, the number of pixels when capturing a background light image is greater than when capturing a distance image (see FIG. 3; "Q≧M, R≧N"). That is, the angular resolution per pixel of the background light image is higher than that of the distance image.

The control circuit 14 can control the scanning speed of the light emitting section 11 and the light receiving frequency of the light receiving section 12 during the above reflected light detection and background light detection. The control circuit 14 changes the scan speed by controlling the actuator 13.

The control circuit 14 can execute a normal distance measurement mode and a calibration mode as distance measurement modes depending on the scan speed. The calibration mode is a distance measurement mode in which the scanning speed is slower than the normal distance measurement mode. Details of each ranging mode will be described later.

The image processing apparatus 100 is a computer including at least one memory 101 and at least one processor 102. The memory 101 is at least one type of non-transitory physical storage medium, such as a semiconductor memory, a magnetic medium, an optical medium, etc., that non-temporarily stores or stores computer-readable programs and data. The memory 101 stores various programs executed by the processor 102, such as a distance measurement control program to be described later.

The processor 102 includes, as a core, at least one type of, for example, a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), and a RISC (Reduced Instruction Set Computer)-CPU. The processor 102 executes a plurality of instructions included in the distance measurement control program stored in the memory 101. As a result, the image processing device 100 constructs a plurality of functional units for performing control processing of the distance measurement mode executed by the LiDAR device 1. In this manner, in the image processing apparatus 100, the distance measurement control program stored in the memory 101 causes the processor 102 to execute a plurality of instructions, thereby constructing a plurality of functional units for distance measurement control. Specifically, as shown in FIG. 2, the image processing device 100 includes functional units such as an image acquisition unit 110, a mode determination unit 120, a mode determination unit 130, and a calibration unit 140.

The image acquisition unit 110 acquires a distance image and a background light image generated by the control circuit 14 of the LiDAR device 1. The image acquisition unit 110 performs predetermined image processing such as object recognition on each acquired image. The image acquisition unit 110 may transmit each acquired image or each image processed image to another ECU.

The mode determination unit 120 determines whether to set the ranging mode of the LiDAR device 1 to the normal ranging mode or the calibration mode, based on the information acquired from the in-vehicle network 50. For this purpose, the mode determination unit 120 determines whether execution conditions that allow the calibration to be executed are satisfied. The mode determination unit 120 determines to execute the calibration mode when it determines that the execution condition is satisfied, and determines to execute the normal distance measurement mode when it determines that the execution condition is not satisfied.

For example, the execution condition is that vehicle A enters a calibration area where execution of the calibration mode is permitted. Here, the calibration area includes at least one of a space installed for calibration, a stop where passengers get on and off, a parking space such as a parking lot, an intersection, and the like. Note that the determination as to whether the vehicle A has entered the calibration area may be performed based on the current position of the vehicle A based on, for example, GNSS (Global Navigation Satellite System) such as GPS.

When determining that vehicle A has entered the calibration area, mode determination unit 120 further determines whether vehicle A has stopped. The mode determination unit 120 may determine whether the vehicle A has stopped based on the speed information of the vehicle A. As an example, the mode determination unit 120 may determine that the vehicle has stopped when the speed information is 0 km/h for a predetermined period of time (for example, 5 seconds). Alternatively, the mode determination unit 120 may make the determination based on the distance image and background light image acquired by the image acquisition unit 110. For example, the difference between the two images may be calculated based on the distance images acquired in the last two times, and if the difference is less than a certain value, it may be determined that the vehicle has stopped.

The mode determination unit 120 determines whether the calibration mode is to be executed when the vehicle A enters the calibration area and stops.

The mode determining unit 130 switches the ranging mode to be executed by the control circuit 14 based on the execution determination made by the mode determining unit 120. Specifically, when a determination is made to execute a distance measurement mode different from the previous one, the mode determination unit 130 generates a distance measurement mode switching command and transmits it to the control circuit 14 . In the first embodiment, the mode determining unit 130 may simply generate a switching command to switch the ranging mode for the entire sensing region. Accordingly, the mode determining unit 130 causes the LiDAR device 1 to execute one of the ranging modes. The mode determining unit 130 is an example of a “mode executing unit”.

In the calibration mode, the scanning speed is set slower than in the normal ranging mode. For example, in the calibration mode, the scan speed is set to 1/10, and in the normal distance measurement mode, the scan cycle is 10 Hz, and in the calibration mode, the scan cycle is changed to 1 Hz. In this case, as shown in FIG. 5, the number of times of light reception per pixel is greater in the calibration mode than in the normal distance measurement mode. Therefore, the amount of information forming the histogram is larger in the calibration mode. As a result, the distance to the detected reflection point becomes closer to the true distance. In addition, in FIG. 5, a plurality of rectangles indicated by dotted lines schematically indicate the light reception range LR for each of a plurality of light reception timings. The same applies to FIG. 7, which will be described later.

When the calibration mode is executed, the calibration unit 140 calibrates the LiDAR device 1 based on the distance image and background light image acquired in the calibration mode.

The calibration unit 140 acquires image information acquired in the calibration mode. Further, the calibration unit 140 acquires feature point information of the calibration target CT acquired by a sensor other than the LiDAR device. Note that the calibration target CT is, for example, a flat checkerboard as shown in FIG. 4. Alternatively, the calibration target CT may be a flat board provided with any other pattern (for example, a dot pattern). Such a calibration target CT is installed in a calibration space provided in advance. The other sensor is, for example, a surveying instrument TS installed in the calibration space. The surveying instrument TS has a configuration capable of three-dimensional surveying, such as a total station. The surveying instrument TS extracts feature points of the calibration target CT and provides the information to the calibration unit 140.

The calibration unit 140 extracts feature points of the calibration target CT based on each image obtained by the LiDAR device 1 and specifies their three-dimensional coordinates. Specifically, the calibration unit 140 extracts feature points of the calibration target CT from the background light image whose resolution is higher than that of the distance image. Then, the calibration unit 140 calculates the coordinates of the distance image corresponding to the coordinates of the feature point of the extracted background light image, and extracts distance information from each adjacent pixel. The calibration unit 140 converts the extracted distances between the plurality of adjacent pixels into three-dimensional coordinates, and interpolates the obtained three-dimensional coordinates by bilinear interpolation, bicubic interpolation, etc., thereby specifying the three-dimensional coordinates of the feature point. .

Furthermore, the calibration unit 140 acquires information on feature points extracted by other sensors. The calibration unit 140 identifies the feature points (corresponding points) of other sensors that correspond to each feature point of the LiDAR device 1, and calculates the posture and position of the LiDAR device 1, that is, the external parameters, based on the correspondence relationship therebetween. . The calculated external parameters may be used in image processing in the image acquisition unit 110, or may be used in processing using a distance image or a background light image in another ECU.

Next, the flow of the distance measurement control method executed by the image processing apparatus 100 through collaboration of functional blocks will be described below with reference to FIG. Note that in the flow described below, "S" means multiple steps of the flow executed by multiple instructions included in the program.

First, in S110, mode determination unit 120 determines whether vehicle A has entered the calibration area. If it is determined that the vehicle A has entered the calibration area, the mode determining unit 120 determines in S115 whether or not the vehicle A has stopped.

If it is determined in S110 that the vehicle A has not entered the calibration area, or if it is determined in S115 that the vehicle A is not stopped, the flow shifts to S130. In S130, the mode determining unit 130 determines the distance measurement mode to be the normal distance measurement mode. Specifically, if the previous distance measurement mode was the calibration mode, in S130, a command to switch to the normal distance measurement mode is transmitted. If the previous distance measurement mode was the normal distance measurement mode, the distance measurement mode is maintained in S130.

On the other hand, if it is determined in S115 that vehicle A is stopped, the flow shifts to S140. In S140, the mode determining unit 130 determines the distance measurement mode to be the calibration mode. Specifically, if the previous distance measurement mode was the normal distance measurement mode, a command to switch to the distance measurement mode is transmitted in S140. If the previous distance measurement mode was the calibration mode, the distance measurement mode is maintained in S140.

Next, in S150, the image acquisition unit 110 acquires a distance image and a background light image. In subsequent S160, the calibration unit 140 calculates the attitude and position of the LiDAR device 1 based on the distance image and the background light image.

Note that S110 and S115 described above are examples of a "determination process", and S140 is an example of a "mode execution process". Further, S160 is an example of a "calibration process".

According to the first embodiment described above, when it is determined that the execution conditions that allow calibration to be executed are satisfied, the calibration mode in which the scanning speed of the scanning light is slowed is executed, and the calibration mode is executed based on the distance measurement result in the calibration mode. Calibration is performed. Therefore, since the data collection time per pixel becomes longer in the calibration mode, the amount of information can be increased compared to the normal distance measurement mode. As a result, more accurate distance measurement can be achieved, so it is possible to improve the calculation accuracy and calibration accuracy of external parameters calculated based on the distance measurement results. Therefore, control of the LiDAR device 1 suitable for calibration can be performed under conditions where calibration can be performed. With the above, distance measurement control can be performed depending on the situation. Furthermore, since the data collection time becomes longer, the amount of background light data also increases, making it possible to widen the high dynamic range. Therefore, there may be many situations in which calibration can be performed.

Further, according to the first embodiment, when the vehicle A enters a calibration area where execution of the calibration mode is permitted, it is determined that the execution condition is satisfied. According to this, when the vehicle A carrying the LiDAR device 1 enters the calibration area, the calibration can be reliably executed.

(Second embodiment)
In the second embodiment, a modification of the image processing apparatus 100 in the first embodiment will be described. Components in FIG. 7 that are denoted by the same reference numerals as those in the drawings of the first embodiment are the same components, and have the same effects.

In the second embodiment, the mode determining unit 130 changes the number of light receiving elements for obtaining distance information per pixel in a distance image in addition to the scan speed between the normal distance measurement mode and the calibration mode. Specifically, the mode determining unit 130 makes the scanning speed in the calibration mode slower than in the normal distance measurement mode, and also makes the number of light receiving elements constituting one pixel smaller. As a result, the size of one pixel (calibration pixel) in the calibration mode and the size of one pixel (normal pixel) in the normal ranging mode become smaller. For example, the mode determining unit 130 defines the size of the calibration pixel so that the number of times one calibration pixel receives light in one scan is equal to or greater than the number of times one normal pixel receives light in one scan.

As an example, as shown in FIG. 7, the mode determining unit 130 selects the light receiving element in the calibration mode so that the number of times of light reception per pixel is the same in the calibration mode and the normal ranging mode (three times in FIG. 7). The number of Specifically, when the scan speed in the normal mode is 10 Hz and the scan speed in the calibration mode is 1 Hz, the mode determining unit 130 sets the size of the calibration pixel to be half the size of the normal pixel. Thereby, by reducing the number of light receiving elements as described above, it becomes possible to obtain a distance image with higher angular resolution. Note that black dots within pixels in FIG. 7 indicate points of interest when converting distance information at each pixel into three-dimensional coordinates.

According to the second embodiment described above, in the calibration mode, the amount of information per pixel, which decreases by reducing the number of light receiving elements, is reduced to the same level as the amount of information per pixel in the normal ranging mode by slowing down the scanning speed. It becomes possible to do so. This allows the number of light-receiving elements to be reduced while maintaining the amount of information, so it is possible to obtain a distance image with higher angular resolution than in the normal distance measurement mode. When a distance image with high angular resolution is obtained, three-dimensional coordinates of feature points can be obtained with higher precision, making it possible to improve the calculation accuracy and calibration accuracy of external parameters.

(Third embodiment)
In the third embodiment, a modification of the image processing apparatus 100 in the first embodiment will be described. Components in FIG. 8 denoted by the same reference numerals as those in the drawings of the first embodiment are the same components, and have the same effects.

In the third embodiment, the mode determining unit 130 changes the resolution of the distance to the reflection point between the normal distance measurement mode and the calibration mode. Specifically, the mode determining unit 130 increases the resolution of the distance corresponding to one bin of the histogram by changing the light receiving frequency of the light receiving unit 12 in the calibration mode. That is, the mode determining unit 130 makes the light receiving frequency in the calibration mode higher than the light receiving frequency in the normal ranging mode. For example, the mode determining unit 130 adjusts the light reception frequency so that the resolution in the calibration mode is three times that in the normal ranging mode. In other words, the distance range of one bin in the calibration mode is one-third that in the normal distance measurement mode.

At this time, the mode determining unit 130 may make the detection distance in the calibration mode smaller than that in the normal distance measurement mode. Specifically, the mode determining unit 130 multiplies the detected distance in the normal ranging mode by the reciprocal of the multiple of the resolution as the detected distance in the calibration mode. By limiting the detection distance, the mode determining unit 130 suppresses an increase in the amount of distance image data in the calibration mode.

According to the third embodiment described above, when it is determined that the execution conditions that allow calibration to be executed are satisfied, the calibration mode in which the resolution of the distance to the reflection point is high is executed, and the distance measurement result in the calibration mode is executed. Calibration is performed based on Therefore, since the calibration mode can improve the distance accuracy during distance measurement, it is possible to improve the accuracy of calculation of external parameters and the accuracy of calibration performed based on the distance measurement results. Therefore, control of the LiDAR device 1 suitable for calibration can be performed under conditions where calibration can be performed. As described above, it may be possible to control the distance measuring device depending on the situation.

Note that in addition to increasing the distance resolution in the calibration mode, the mode determining unit 130 may also decrease the scanning speed of the scanning light. In other words, the calibration mode may include both increasing the resolution of the distance to the reflection point and making the scanning speed of the scanning light slower than in the normal distance measurement mode. This may enable more accurate calibration.

(Fourth embodiment)
In the fourth embodiment, a modification of the image processing apparatus 100 in the first embodiment will be described. Components in FIG. 9 denoted by the same reference numerals as those in the drawings of the first embodiment are the same components, and have the same effects.

In the fourth embodiment, the mode determination unit 120 determines that the execution condition is satisfied when a predefined calibration target CT exists within the distance measurement area. The mode determination unit 120 may determine whether or not the calibration target CT exists based on the image information acquired in the normal distance measurement mode. For example, the mode determination unit 120 may determine the presence or absence of an identification marker of a predefined calibration target CT from a distance image or a background light image by image processing.

The mode determining unit 130 determines distance measurement in the calibration mode for a specific range including the calibration target CT in the sensing region. For example, the mode determining unit 130 may set the azimuth range assumed from the position of the detected identification marker as the specific range. In the fourth embodiment, the mode determining unit 130 transmits information regarding the specific range to the control circuit 14 together with a switching command. The calibration unit 140 performs calibration based on image information in a specific range.

Next, a distance measurement control method executed by the image processing apparatus 100 in the fourth embodiment will be described below according to the flowchart of FIG.

First, in S100, the image acquisition unit 110 acquires image information generated in the normal ranging mode. Next, in S120, the mode determination unit 120 determines whether or not the calibration target CT is detected. If it is determined that the calibration target CT is not detected, the flow moves to S130. On the other hand, if it is determined that the calibration target CT has been detected, the flow shifts to S145. In S145, the mode determining unit 130 determines to execute the calibration mode only for a specific range including the calibration target CT during scanning. After that, the flow moves to S150 and S160.

According to the fourth embodiment described above, when a predefined calibration target CT exists within the distance measurement area, it is determined that the execution condition is satisfied. Then, the distance measurement range in the calibration mode is limited to a specific range within the distance measurement area that includes the calibration target CT. Therefore, when there is a calibration target CT that can be used for calibration, calibration can be performed reliably, and the amount of data can be reduced by limiting the ranging range.

(Fifth embodiment)
In the fifth embodiment, a modification of the image processing apparatus 100 in the first embodiment will be described. Components in FIG. 10 denoted by the same reference numerals as those in the drawings of the first embodiment are the same components, and have the same effects.

In the fifth embodiment, the mode determination unit 120 determines whether there are a prescribed number or more of reflection points within the allowable distance range, based on image information acquired in the normal distance measurement mode. Here, the allowable distance range is a distance range that is less than or equal to a threshold value regarding the distance to the reflection point. As an example, the threshold value may be 30 m. Furthermore, as an example, the prescribed number may be 80% of the total reflection points.

Next, a distance measurement control method executed by the image processing apparatus 100 in the fifth embodiment will be described below according to the flowchart of FIG. 10. Note that for steps with the same reference numerals as in the flow of the first embodiment or the second embodiment, the explanation in the corresponding embodiment is used.

When the image acquisition unit 110 acquires image information generated in the normal ranging mode in S100, the flow shifts to S125. In S125, the mode determination unit 120 determines whether a prescribed number of reflection points exist within the allowable distance range. If it is determined that the specified number of reflection points does not exist, the flow moves to S130. On the other hand, if it is determined that a specified number of reflection points exist, the flow moves to S140, and continues to S150 and S160.

According to the fifth embodiment described above, when the number of reflection points whose distance from vehicle A is within the allowable distance range exceeds a predetermined number, it is determined that the execution condition is satisfied. Therefore, a situation in which many calibration targets CT exist at relatively close distances, that is, a situation suitable for calibration, is detected, and calibration can be performed reliably in this situation.

(Sixth embodiment)
In the sixth embodiment, a modification of the image processing apparatus 100 in the fourth embodiment will be described. Components in FIG. 11 denoted by the same reference numerals as those in the drawings of the first embodiment are the same components, and have the same effects.

In the sixth embodiment, the mode determination unit 120 determines that the execution condition is satisfied when a predefined calibration target CT exists within the distance measurement area. The mode determination unit 120 may determine whether or not the calibration target CT exists based on the image information acquired in the normal distance measurement mode. For example, the mode determination unit 120 may determine the presence or absence of an identification marker of a predefined calibration target CT from a distance image or a background light image by image processing.

The mode determining unit 130 determines distance measurement in the calibration mode for a specific range including the calibration target CT in the sensing region. The mode determining unit 130 determines the size of the specific range and scans so that the scan cycle in the calibration mode (hereinafter referred to as the calibration cycle) falls within an allowable cycle range that includes the scan cycle in the normal ranging mode (normal cycle). Set at least one speed. The allowable cycle range is, for example, a range in which the calibration cycle is equal to or greater than a predetermined threshold. In this case, the threshold value is a value less than or equal to the normal cycle. The smaller the difference between the threshold value and the normal cycle, the more desirable.

As an example, the mode determining unit 130 sets the calibration cycle to be substantially equal to the normal cycle. In other words, the mode determining unit 130 maintains the calibration cycle at the same scan cycle as the normal cycle. If the scan speed in the calibration mode is predefined, the mode determining unit 130 determines the size of the specific range based on the normal cycle and the scan speed. For example, if the normal cycle is 10 Hz and the scan speed is defined as one-tenth of the normal mode, the mode determining unit 130 sets the size of the specific range to one-tenth of the sensing area. Alternatively, the mode determining unit 130 may set the scan speed based on the size of a preset specific range.

Next, a distance measurement control method executed by the image processing apparatus 100 in the sixth embodiment will be described below according to the flowchart of FIG. 11.

If it is determined in S120 that the calibration target CT has been detected, the flow moves to S146. In S146, the mode determining unit 130 determines to execute the calibration mode in a state where the calibration cycle is maintained at the same scan cycle as the normal cycle for the specific range including the calibration target CT. After that, the flow moves to S150 and S160.

According to the sixth embodiment described above, when the ranging range in the calibration mode is limited to a specific range within the ranging area including the calibration target CT, the specific range is At least one of the size and scan speed is set. Therefore, it is possible to prevent the calibration cycle from becoming slow. In particular, by setting the calibration cycle to be equal to or higher than the normal cycle, distance measurement in the calibration mode can be completed at a speed equal to or faster than range measurement in the normal range measurement mode.

(Seventh embodiment)
In the seventh embodiment, a modification of the image processing apparatus 100 in the first embodiment will be described. Components in FIGS. 12 and 13 denoted by the same reference numerals as those in the drawings of the first embodiment are the same components, and have the same effects.

In the seventh embodiment, the image processing device 100 is communicably connected to an information presentation system 60 and a communication system 70.

The information presentation system 60 includes an in-vehicle presentation unit 61 that presents notification information to the occupants of the vehicle A. The in-vehicle presentation unit 61 may present notification information by stimulating the occupant's vision. The visual stimulation type information presentation system 60 is, for example, at least one type of a HUD (Head-Up Display), an MFD (Multi-Function Display), a combination meter, a navigation unit, a light emitting unit, and the like. The in-vehicle presentation unit 61 may present notification information by stimulating the occupant's auditory senses. The auditory stimulation type information presentation system 60 is, for example, at least one type of speaker, buzzer, vibration unit, or the like. The in-vehicle presentation unit 61 may present the notification information by stimulating the occupant's skin sensation. The skin sensations stimulated by the skin sensation stimulation type in-vehicle presentation unit 61 include, for example, at least one of tactile sensations, temperature sensations, wind sensations, and the like. The skin sensation stimulation type in-vehicle presentation unit 61 includes, for example, a steering wheel vibration unit, a driver seat vibration unit, a steering wheel reaction force unit, an accelerator pedal reaction force unit, a brake pedal reaction force unit, and an air conditioning unit. At least one of them.

The information presentation system 60 includes an outside presentation unit 62 that presents notification information to people around the vehicle A. The external presentation unit 62 includes, for example, at least one of a visual stimulation type and an auditory stimulation type. The visual stimulation type external vehicle presentation unit 62 is, for example, at least one type of indicator light, vehicle external display, or the like. The auditory stimulation type external presentation unit 62 is, for example, at least one type of speaker, buzzer, or the like.

The communication system 70 transmits and receives predetermined communication information by wireless communication. For example, the communication system 70 may transmit and receive communication signals to and from a V2X system that exists outside the vehicle A. The V2X type communication system 70 is at least one type of, for example, a DSRC (Dedicated Short Range Communications) communication device, a cellular V2X (C-V2X) communication device, or the like. The communication system 70 enables the vehicle A to communicate with the center C. The center C has a configuration that includes at least a server device that controls and controls the operation of the vehicle A that is capable of automatically driving. The communication system 70 is configured to notify the outside by transmitting communication information to the outside, such as the center C.

The information presentation system 60, such as the in-vehicle presentation unit 61 and the out-of-vehicle presentation unit 62, and the communication system 70 are each an example of a "notification device."

In the seventh embodiment, the image processing apparatus 100 further includes a notification section 150 as a functional section. The notification unit 150 causes at least one of the in-vehicle presentation unit 61, the out-of-vehicle presentation unit 62, and the communication system 70 to execute a notification related to the execution of the calibration mode (calibration notification). The calibration notification, for example, indicates that the ranging mode will be switched between the normal ranging mode and the calibration mode. In other words, the calibration notification indicates the start of the calibration mode and the end of the calibration mode.

When causing the in-vehicle presentation unit 61 and the out-of-vehicle presentation unit 62 to execute a calibration notification, the notification unit 150 may display a message, an icon, etc. indicating that the calibration mode is being executed, even if the notification unit 150 displays a message and an icon indicating that the calibration mode is being executed. good. Alternatively, the notification unit 150 may cause an indicator light indicating that the calibration mode is being executed to turn on and off while the calibration mode is being executed. Alternatively, the notification unit 150 may output an announcement, a notification sound, or the like indicating that the calibration mode is being executed while the calibration mode is being executed. By causing the in-vehicle presentation unit 61 to execute the calibration notification, the notification unit 150 realizes the calibration notification targeting the occupants of the vehicle A. By causing the outside-of-vehicle presentation unit 62 to execute the calibration notification, the notification unit 150 realizes the calibration notification targeting people around the vehicle A.

When causing the communication system 70 to issue a calibration notification, the notification unit 150 causes the center C to transmit information indicating that the calibration mode is being executed. For example, the notification unit 150 executes the calibration notification by switching the ID indicating the current ranging mode included in the packet of transmission data to the ID indicating the calibration mode. Thereby, the notification unit 150 realizes a calibration notification targeted at the server device of the center C or the operator of the center C.

Next, a distance measurement control method executed by the image processing apparatus 100 in the seventh embodiment will be described below according to the flowchart of FIG. 13.

If it is determined in S115 that vehicle A is stopped, the flow moves to S139. In S139, the notification unit 150 causes a proofreading notification to be executed. That is, if the previous distance measurement mode was the normal distance measurement mode, the notification unit 150 starts the calibration notification, and if the previous distance measurement mode was the calibration mode, the notification unit 150 starts the calibration notification. continue. After executing the process of S139, the flow shifts to S140.

Further, if it is determined in S110 that the vehicle A has not entered the calibration area or that the vehicle A is not stopped in S115, the flow shifts to S129. In S129, the notification unit 150 causes the calibration notification termination process to be executed. That is, if the previous distance measurement mode was the normal distance measurement mode, the notification unit 150 terminates the execution of the calibration notification. After executing the process of S129, the flow shifts to S130. In the above, S129 and S139 are examples of the "notification process".

According to the seventh embodiment described above, notification related to execution of the calibration mode is executed. Therefore, notification targets such as the occupants of the vehicle A, surrounding persons, and operators may be able to understand that the calibration mode is being executed in the LiDAR device 1. Furthermore, this may enable the notification target to grasp the current ranging mode among the calibration mode and the normal ranging mode.

(Other embodiments)
The disclosure in this specification is not limited to the illustrated embodiments. The disclosure includes the illustrated embodiments and variations thereon by those skilled in the art. For example, the disclosure is not limited to the combinations of parts and/or elements illustrated in the embodiments. The disclosure can be implemented in various combinations. The disclosure may have additional parts that can be added to the embodiments. The disclosure includes those in which parts and/or elements of the embodiments are omitted. The disclosure encompasses any substitutions or combinations of parts and/or elements between one embodiment and other embodiments. The disclosed technical scope is not limited to the description of the embodiments. The technical scope of some of the disclosed technical scopes is indicated by the description of the claims, and should be understood to include all changes within the meaning and scope equivalent to the description of the claims. .

In the above-described embodiment, the dedicated computer configuring the distance measurement control device is the image processing device 100. Alternatively, the dedicated computer configuring the ranging control device may be the control circuit 14 of the LiDAR device 1 (see FIG. 14). Alternatively, the dedicated computer constituting the distance measurement control device may be a driving control ECU mounted on the vehicle A, or may be an actuator ECU that individually controls the travel actuators of the vehicle A. Alternatively, the dedicated computer constituting the image processing device 100 may be a locator ECU or a navigation ECU. Alternatively, the dedicated computer constituting the image processing apparatus 100 may be an HCU (HMI (Human Machine Interface) Control Unit) that controls information display of an information display system. Further, the dedicated computer constituting the ranging control device may be a server device provided outside the vehicle A.

In the first to seventh embodiments described above, the execution conditions for which the mode determining unit 120 determines whether or not they are satisfied have been described. As a modification of the embodiment, the mode determination unit 120 may determine whether at least two or more of the plurality of execution conditions are satisfied. In this case, the mode determining unit 130 may decide to execute the calibration mode when at least one of the plurality of execution conditions is satisfied. Alternatively, the mode determining unit 130 may decide to execute the calibration mode only when at least two of the plurality of execution conditions or all of the determined execution conditions are satisfied.

In the first embodiment described above, the mode determination unit 120 determines to execute the calibration mode when the vehicle A enters the calibration area and stops. Alternatively, when it is determined that the vehicle A has entered the calibration area, the mode determination unit 120 may determine that the calibration mode is to be executed regardless of whether or not the vehicle A is stopped.

In the embodiment described above, the calibration target CT is assumed to be installed in a calibration space provided in advance. Alternatively, the calibration target CT may be a specific feature existing in the driving environment. The features include, for example, road signs, road markings, and buildings (pillars, etc.). In this case, the image processing device 100 may acquire feature point information of the calibration target CT detected by another sensor such as an on-vehicle camera. Alternatively, the image processing device 100 may acquire feature point information regarding a feature as a calibration target CT from a three-dimensional map.

In the seventh embodiment described above, the notification unit 150 notifies the presentation of information indicating switching between the calibration mode and the normal distance measurement mode as the calibration notification, but the notification unit 150 notifies the presentation of information indicating switching between the calibration mode and the normal distance measurement mode. It's okay. For example, when the outside presentation unit 62 executes information presentation indicating switching of the ranging mode, the notification unit 150 notifies surrounding persons of the switching of the ranging mode as a calibration notification to be executed by the in-vehicle presentation unit 61. It may also be possible to display information indicating that the user is present. This allows the occupant to understand that surrounding persons are being notified of the execution of the calibration mode. Therefore, the occupant's anxiety about executing the calibration mode can be reduced.

The image processing device 100 may be a dedicated computer that includes at least one of a digital circuit and an analog circuit as a processor. In particular, digital circuits include, for example, ASIC (Application Specific Integrated Circuit), FPGA (Field Programmable Gate Array), SOC (System on a Chip), PGA (Programmable Gate Array), and CPLD (Complex Programmable Logic Device). At least one of these. Further, such a digital circuit may include a memory storing a program.

Image processing device 100 may be provided by one computer or a set of computer resources linked by a data communication device. For example, some of the functions provided by the image processing device 100 in the embodiment described above may be realized by another ECU or a server device.

1 LiDAR device (distance measurement device), 60 information presentation system (notification device), 70 communication system (notification device), 100 image processing device (distance measurement control device), 102 processor, 120 mode determination unit (determination unit), 130 mode determination unit (mode execution unit), 140 calibration unit, 150 notification unit, A vehicle (mobile object), CT calibration target.

Claims (22)

A distance measuring device having a processor (102) and controlling a distance measuring device that is mounted on the moving body (A) and measures the distance to the reflection point by detecting the reflected light from the reflection point in response to the irradiation of the scanning light. A control device,
a determination unit (120) that determines whether an execution condition that allows the calibration of the distance measuring device to be executed is satisfied;
When it is determined that the execution condition is met, the scanning speed of the scanning light is higher than in the normal distance measurement mode that is executed by the distance measurement device when it is determined that the execution condition is not met. a mode execution unit (130) that causes the distance measuring device to execute a calibration mode that slows down the calibration mode;
a calibration unit (140) that performs the calibration based on the distance measurement result of the distance measurement device in the calibration mode;
A distance measurement control device comprising: A distance measuring device having a processor (102) and controlling a distance measuring device that is mounted on the moving body (A) and measures the distance to the reflection point by detecting the reflected light from the reflection point in response to the irradiation of the scanning light. A control device,
a determination unit (120) that determines whether an execution condition that allows the calibration of the distance measuring device to be executed is satisfied;
When it is determined that the execution condition is met, the distance to the reflection point is greater than the normal distance measurement mode that is executed by the distance measurement device when it is determined that the execution condition is not met. a mode execution unit (130) that causes the distance measuring device to execute a calibration mode that increases the resolution of;
a calibration unit (140) that performs the calibration based on the distance measurement result of the distance measurement device in the calibration mode;
A distance measurement control device comprising: The distance measurement control device according to claim 2, wherein the calibration mode includes making the scanning speed of the scanning light slower than the normal distance measurement mode. According to any one of claims 1 to 3, the determination unit determines that the execution condition is satisfied when the moving object enters a calibration area where execution of the calibration mode is permitted. The distance measurement control device described. The determination unit determines that the execution condition is satisfied when a predefined calibration target (CT) exists within the ranging area;
The ranging control device according to any one of claims 1 to 4, wherein the mode execution unit limits a ranging range in the calibration mode to a specific range within the ranging area that includes the calibration target. . The mode execution unit adjusts at least one of the size of the specific range and the scan speed of the scanning light so that the scan cycle in the calibration mode falls within an allowable cycle range that includes the scan cycle in the normal ranging mode. The ranging control device according to claim 5, wherein the distance measuring control device sets: The determination unit determines that the execution condition is satisfied when the number of reflection points whose distance from the moving object is within an allowable distance range exceeds a predetermined number. The distance measurement control device according to any one of the items. The distance measuring device is capable of acquiring a distance image having distance information for each pixel including a plurality of light receiving elements by detecting the reflected light with a plurality of light receiving elements,
8 . The mode execution unit according to claim 1 , wherein the mode execution unit makes the number of light receiving elements for acquiring the distance information per pixel smaller in the calibration mode than in the normal distance measurement mode. The distance measurement control device described. The ranging control device according to any one of claims 1 to 8, further comprising a notification unit (150) that causes the notification device (60, 70) to issue a notification related to execution of the calibration mode. Executed by the processor (102) in order to control a distance measuring device mounted on the moving body (A) and measuring the distance to the reflection point by detecting the reflected light from the reflection point in response to the irradiation of the scanning light. A distance measurement control method comprising:
a determination process (S110, S115; S120; S125) for determining whether an execution condition that allows the calibration of the distance measuring device to be executed is satisfied;
When it is determined that the execution condition is met, the scanning speed of the scanning light is higher than in the normal distance measurement mode that is executed by the distance measurement device when it is determined that the execution condition is not met. a mode execution process (S140; S145; S146) that causes the distance measuring device to execute a calibration mode that slows down the calibration mode;
a calibration process (S160) that executes the calibration based on the distance measurement result of the distance measurement device in the calibration mode;
Distance control method including. Executed by the processor (102) in order to control a distance measuring device mounted on the moving body (A) and measuring the distance to the reflection point by detecting the reflected light from the reflection point in response to the irradiation of the scanning light. A distance measurement control method comprising:
a determination process (S110, S115; S120; S125) for determining whether an execution condition that allows the calibration of the distance measuring device to be executed is satisfied;
When it is determined that the execution condition is met, the distance to the reflection point is greater than the normal distance measurement mode that is executed by the distance measurement device when it is determined that the execution condition is not met. a mode execution process (S140; S145; S146) that causes the distance measuring device to execute a calibration mode that increases the resolution of the
a calibration process (S160) that executes the calibration based on the distance measurement result of the distance measurement device in the calibration mode;
Distance control method including. 12. The ranging control method according to claim 11, wherein the calibration mode includes making the scanning speed of the scanning light slower than the normal ranging mode. According to any one of claims 10 to 12, in the determination process, it is determined that the execution condition is satisfied when the moving object enters a calibration area where execution of the calibration mode is permitted. Distance control method described. In the determination process, it is determined that the execution condition is satisfied when a predefined calibration target (CT) exists within the ranging area;
The ranging control method according to any one of claims 10 to 13, wherein in the mode execution process, the ranging range in the calibration mode is limited to a specific range within the ranging area that includes the calibration target. . In the mode execution process, at least one of the size of the specific range and the scan speed of the scanning light is adjusted so that the scan cycle in the calibration mode falls within an allowable cycle range that includes the scan cycle in the normal ranging mode. 15. The distance measurement control method according to claim 14, wherein: Claims 10 to 15, wherein in the determination process, it is determined that the execution condition is satisfied if the number of reflection points whose distance from the moving object is within an allowable distance range exceeds a predetermined number. The ranging control method according to any one of the items. The distance measuring device is capable of acquiring a distance image having distance information for each pixel including a plurality of light receiving elements by detecting the reflected light with a plurality of light receiving elements,
According to any one of claims 10 to 16, in the mode execution process, the number of light receiving elements for acquiring the distance information per pixel in the calibration mode is made smaller than in the normal distance measurement mode. Distance control method described. The ranging control method according to any one of claims 10 to 17, further comprising a notification process (S129, S139) for causing a notification device (60, 70) to issue a notification related to execution of the calibration mode. . to be executed by the processor (102) in order to control a distance measuring device that is mounted on the moving body (A) and measures the distance to the reflection point by detecting the reflected light from the reflection point in response to the irradiation of the scanning light. A distance measurement control program including instructions,
The said instruction is
a determination process (S110, S115; S120; S125) that determines whether execution conditions that allow the calibration of the distance measuring device to be executed are satisfied;
When it is determined that the execution condition is met, the scanning speed of the scanning light is higher than in the normal distance measurement mode that is executed by the distance measurement device when it is determined that the execution condition is not met. a mode execution process (S140; S145; S146) that causes the distance measuring device to execute a calibration mode that slows down the calibration mode;
a calibration process (S160) in which the calibration is executed based on the distance measurement result of the distance measurement device in the calibration mode;
A ranging control program including: to be executed by the processor (102) in order to control a distance measuring device that is mounted on the moving body (A) and measures the distance to the reflection point by detecting the reflected light from the reflection point in response to the irradiation of the scanning light. A distance measurement control program including instructions,
The said instruction is
a determination process (S110, S115; S120; S125) that determines whether execution conditions that allow the calibration of the distance measuring device to be executed are satisfied;
When it is determined that the execution condition is met, the distance to the reflection point is greater than the normal distance measurement mode that is executed by the distance measurement device when it is determined that the execution condition is not met. a mode execution process (S140; S145; S146) that causes the distance measuring device to execute a calibration mode that increases the resolution of the
a calibration process (S160) in which the calibration is executed based on the distance measurement result of the distance measurement device in the calibration mode;
A ranging control program including: The distance measuring device includes a processor (102), is configured to be mounted on a moving object (A), and measures the distance to the reflection point by detecting the reflected light from the reflection point in response to the irradiation of scanning light. hand,
a determination unit (120) that determines whether an execution condition that allows the calibration to be executed is satisfied;
When it is determined that the execution condition is satisfied, a calibration mode is executed in which the scanning speed of the scanning light is slower than the normal ranging mode that is executed when it is determined that the execution condition is not satisfied. a mode execution unit (130) to
a calibration unit (140) that executes the calibration based on the distance measurement result in the calibration mode;
A distance measuring device equipped with. The distance measuring device includes a processor (102), is configured to be mounted on a moving object (A), and measures the distance to the reflection point by detecting the reflected light from the reflection point in response to the irradiation of scanning light. hand,
a determination unit (120) that determines whether an execution condition that allows the calibration to be executed is satisfied;
a calibration mode in which the resolution of the distance to the reflection point is higher when it is determined that the execution condition is met than in the normal ranging mode that is executed when it is determined that the execution condition is not met; a mode execution unit (130) that executes;
a calibration unit (140) that executes the calibration based on the distance measurement result in the calibration mode;
A distance measuring device equipped with.

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