WO2020189062A1 - 測距装置および測距装置における異常判定方法 - Google Patents

測距装置および測距装置における異常判定方法 Download PDF

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Publication number
WO2020189062A1
WO2020189062A1 PCT/JP2020/004276 JP2020004276W WO2020189062A1 WO 2020189062 A1 WO2020189062 A1 WO 2020189062A1 JP 2020004276 W JP2020004276 W JP 2020004276W WO 2020189062 A1 WO2020189062 A1 WO 2020189062A1
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WIPO (PCT)
Prior art keywords
light receiving
light
distance measuring
measuring device
abnormality
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
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PCT/JP2020/004276
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English (en)
French (fr)
Japanese (ja)
Inventor
尾崎　憲幸
林内　政人
武廣 泰
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Denso Corp
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Denso Corp
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Filing date
Publication date
Application filed by Denso Corp filed Critical Denso Corp
Priority to CN202080022913.7A priority Critical patent/CN113678021B/zh
Publication of WO2020189062A1 publication Critical patent/WO2020189062A1/ja
Priority to US17/478,731 priority patent/US20220003853A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/497—Means for monitoring or calibrating
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C3/00—Measuring distances in line of sight; Optical rangefinders
    • G01C3/02—Details
    • G01C3/06—Use of electric means to obtain final indication
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/42—Simultaneous measurement of distance and other co-ordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/4808—Evaluating distance, position or velocity data
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4816—Constructional features, e.g. arrangements of optical elements of receivers alone

Definitions

  • the present disclosure relates to an abnormality determination technique in a distance measuring device using a laser beam.
  • An optical ranging device for detecting an object using a laser beam has been proposed (for example, Japanese Patent Application Laid-Open No. 2012-60012, Japanese Patent Application Laid-Open No. 2016-176750).
  • the first aspect provides a distance measuring device.
  • the distance measuring device has a plurality of light receiving regions for receiving incident light, and has a light receiving portion that executes light reception of the incident light in units of the light receiving regions and the light receiving regions.
  • the incident light is received by the light emitting unit that exclusively executes the irradiation of the detection light and the light receiving unit in response to the irradiation of the detection light, the exclusive light receiving region of the plurality of light receiving regions is described.
  • the ranging device light receiving unit according to the difference between the incident light intensity characteristic in the light receiving target region corresponding to the irradiation of the detection light and the incident light intensity characteristic in the light receiving non-target region not corresponding to the exclusive detection light irradiation.
  • an abnormality determination unit that determines an abnormality regarding at least one of the light emitting units.
  • the distance measuring device it is possible to self-determine an abnormality related to at least one of the light receiving unit and the light emitting unit in the distance measuring device.
  • the second aspect provides a method for determining an abnormality in a distance measuring device.
  • the detection light is exclusively irradiated for each of the light receiving regions in the light receiving portion having the plurality of light receiving regions, and the detection light is irradiated according to the irradiation of the detected light.
  • the detection light is exclusive to the characteristics of the incident light intensity in the light receiving target region corresponding to the exclusive irradiation of the detection light among the plurality of light receiving regions. It is provided that an abnormality determination regarding at least one of the light receiving portion and the light emitting portion of the distance measuring device is executed according to the difference from the characteristic of the incident light intensity in the light receiving non-target region corresponding to the irradiation of.
  • the abnormality determination method in the distance measuring device it is possible to self-determine an abnormality related to at least one of the light receiving unit and the light emitting unit in the distance measuring device.
  • the present disclosure can also be realized as an abnormality determination program in a distance measuring device or a computer-readable recording medium for recording the program.
  • Explanatory drawing which shows the schematic structure of the distance measuring apparatus which concerns on 1st Embodiment, A block diagram showing a functional configuration of a control unit of the distance measuring device according to the first embodiment.
  • Explanatory drawing which shows an example of the timing of the light receiving process and the light emitting process in the distance measuring apparatus which concerns on 1st Embodiment A flowchart showing an abnormality determination processing flow executed by the distance measuring device according to the first embodiment.
  • Explanatory drawing illustrating the light receiving mode in the light receiving element array, A flowchart showing an abnormality determination processing flow executed by the distance measuring device according to the second embodiment. A flowchart showing an abnormality determination processing flow executed by the ranging device according to the third embodiment. Explanatory drawing which shows typically the light receiving element array in other embodiment.
  • the distance measuring device and the abnormality determination method in the distance measuring device according to the present disclosure will be described below based on the embodiment.
  • the distance measuring device 100 includes a control unit 10, a light emitting unit 20, a light receiving unit 30, and an electric drive unit 40.
  • the distance measuring device 100 is mounted on a vehicle, for example, and is used to detect an object around the vehicle.
  • the distance measuring device 100 has a predetermined scanning angle range, and the light emitting unit 20 irradiates the detection light and the light receiving unit 30 reflects the light in units of the unit scanning angle obtained by dividing the scanning angle range into a plurality of angles. By executing the light reception of, the distance measurement of the entire scanning angle range is realized.
  • the unit scanning angle defines the resolution of the ranging device 100 or the resolution of the ranging result obtained by the ranging device 100, and the resolution and the resolution increase as the unit scanning angle decreases.
  • the unit scanning angle is also referred to as a scanning column, and may be designated as an N scanning column or an N + 1 scanning column to distinguish them.
  • the object detection result is used as a determination parameter for driving support such as driving force control, braking support, and steering support.
  • the distance measuring device 100 may include at least a control unit 10, a light emitting unit 20, and a light receiving unit 30.
  • the distance measuring device 100 is, for example, a lidar (Light Detection and Ranging), which is a half that transmits laser light emitted from a scanning mechanism 35 and a light emitting unit 20 that are rotationally driven by an electric drive unit 40 and reflects incident light. It is equipped with a mirror 36.
  • the light emitting unit 20 or the light receiving unit 30 may include at least a scanning mechanism 35 and a half mirror 36 that form an optical path for emitting or receiving light, and also includes a cover glass 37 included in the distance measuring device 100. Lenses (not shown) may be included. In this case, it can also be called a light emitting system or a light receiving system.
  • the control unit 10 includes a central processing unit (CPU) 11 as a calculation unit, a memory 12 as a storage unit, an input / output interface 13 as an input / output unit, and a clock generator (not shown).
  • the CPU 11, the memory 12, the input / output interface 13 and the clock generator are bidirectionally connected via the internal bus 14.
  • the memory 12 determines an abnormality related to at least one of the distance measuring device 100 light receiving unit and the light emitting unit according to the difference between the incident light intensity characteristic in the light receiving target region and the incident light intensity characteristic in the light receiving non-target region.
  • It includes a memory for storing the abnormality determination processing program P1 in a non-volatile manner and read-only, for example, a ROM, and a memory for reading and writing by the CPU 11, for example, a RAM.
  • the readable / writable memory or area of the memory 12 is provided with an area-specific histogram storage area 12a for storing a histogram generated for each light receiving area of the plurality of light receiving areas included in the light receiving unit 30.
  • the CPU 11, that is, the control unit 10 functions as an abnormality determination unit by expanding and executing the abnormality determination processing program P1 stored in the memory 12 in a readable and writable memory.
  • the CPU 11 may be a single CPU, a plurality of CPUs that execute each program, or a multitasking type CPU that can execute a plurality of programs at the same time. Further, when the abnormality determination processing program P1 is executed only for abnormality determination, the memory 12 may store the distance measurement program for executing the distance measurement processing, and the CPU 11 executes the distance measurement program. By executing the program, the CPU 11 functions as a distance measuring control unit, and the distance measuring device 100 calculates the distance between the object target and the distance measuring device 100.
  • the light emission control unit 21, the light reception control unit 31, and the electric motor driver 41 are connected to the input / output interface 13 via control signal lines, respectively.
  • a light emission control signal is transmitted to the light emission control unit 21, an incident light intensity signal is received from the light reception control unit 31, and a rotation speed instruction signal is transmitted to the electric motor driver 41.
  • the light receiving unit 30 includes a light receiving control unit 31 and a light receiving element array 32.
  • the light receiving element array 32 is a flat plate-shaped optical sensor in which a plurality of light receiving elements are arranged in the vertical and horizontal directions.
  • a SPAD Single Photon Avalanche Diode
  • other photodiodes constitute each light receiving element.
  • the term light receiving pixel may be used as the minimum unit of the light receiving process. In this case, each light receiving pixel is composed of a single light receiving element or a plurality of light receiving elements, and the light receiving element array 32 has a plurality of light receiving pixels. Can be said to be equipped.
  • the light receiving element array 32 is divided into a plurality of light receiving regions.
  • the light receiving region is a unit of the light receiving region in which the light receiving control unit 31 executes the light receiving processing in the distance measuring process for receiving the reflected light of the detection light emitted from the light emitting unit 20, that is, the unit of the light receiving element group or the light receiving pixel group.
  • the light receiving element array 32 is divided into four light receiving regions Ra1 to Ra4 as shown in FIG. 3, for example, and each light receiving region Ra1 to Ra4 is divided into eight light receiving regions Ra1 to Ra4. It is composed of pixels 321.
  • the light receiving control unit 31 outputs a light receiving light intensity signal corresponding to the incident light intensity or the incident light intensity signal incident on each light receiving region for each unit scanning angle, that is, in units of scanning columns. Execute the process.
  • reference numeral f indicates execution of the light receiving process when the light emitting unit 20 emits light once for each scanning sequence
  • reference numeral f + p indicates execution of light emission by the light emitting unit 20 for each scanning row a plurality of times. Shows the execution of the light receiving process in the case of four times.
  • an incident light intensity signal is generated by one light emission and a light receiving process of adding the detection values of each light receiving element, and the light is received.
  • an incident light intensity signal is generated by a plurality of light receiving processes that do not involve multiple light emission and addition, and S / N. Is improved.
  • the light receiving processing is performed by the light receiving control unit 31 from the current or the current generated by each light receiving pixel constituting each light receiving area for each scanning column in units of each light receiving area.
  • the converted voltage is added and output to the control unit 10 as an incident light intensity signal.
  • an incident light intensity signal corresponding to the total number of photons received by the light receiving elements constituting each light receiving pixel is output to the control unit 10.
  • the light emitting unit 20 includes a light emitting control unit 21 and a light emitting element 22, and irradiates detection light for each unit scanning angle.
  • the light emitting element 22 is, for example, an infrared laser diode, and emits infrared laser light as detection light.
  • the light emitting unit 20 includes light emitting elements LD1 to LD4, and each light emitting element LD1 to LD4 is associated with a light receiving region Ra1 to Ra4.
  • the light emission control unit 21 is shown in FIG. 5 in response to a light emission control signal instructing exclusive light emission of the four light emitting elements LD1 to LD4 input from the control unit 10 for each unit scanning angle via the input / output interface 13.
  • the light emitting elements LD1 to LD4 are exclusively driven by the drive signal of the pulse drive waveform to emit the infrared laser light corresponding to each light receiving region Ra1 to Ra4. That is, the light emitting unit 20 and the light receiving unit 30 are optical so that the irradiation region or scanning region of the detection light exclusively irradiated by one light emitting element in units of the unit scanning angle is associated with the one light receiving region. The reflected light from the target existing in one irradiation region is incident on the associated light receiving region. Further, the light receiving process by the light receiving control unit 31 in units of each light receiving region is a process executed at the timing when the detected light is exclusively irradiated by one associated light emitting element. Note that, in FIG.
  • the light emitting unit 20 provided with four LD1 to LD4 corresponding to each light receiving region Ra1 to Ra4 is illustrated, but one light emitting element 22 may be used.
  • the reference numerals of LD1 to LD4 in FIG. 4 conceptually indicate the exclusive light emission timing of the single light emitting element 22.
  • the scanning mechanism 35 may omit scanning in the vertical direction and realize scanning in the horizontal direction.
  • scanning may be performed.
  • the mechanism 35 realizes scanning in the vertical direction in addition to the horizontal direction.
  • the electric drive unit 40 includes an electric motor driver 41 and an electric motor 42.
  • the electric motor driver 41 receives a rotation speed instruction signal from the control unit 10 and changes the voltage applied to the electric motor 42 to control the rotation speed of the electric motor 42.
  • the electric motor 42 is, for example, a brushless motor or a brush motor.
  • a scanning mechanism 35 is attached to the tip of the output shaft of the electric motor 42.
  • the scanning mechanism 35 is a reflector that scans the detection light emitted from the light emitting element 22 in the horizontal direction, that is, a mirror body, and scanning in the horizontal direction is realized by being rotationally driven by the electric motor 42.
  • the scanning mechanism 35 realizes scanning of detected light and reception of reflected light in a scanning angle range of, for example, 120 degrees or 180 degrees.
  • the scanning mechanism 35 may further realize scanning in the vertical direction instead of the horizontal direction or in addition to the horizontal direction.
  • the scanning mechanism 35 may be a multi-sided mirror, for example, a polygon mirror, or a single-sided mirror having a mechanism that swings in the vertical direction.
  • another single-sided mirror body that swings in the vertical direction may be provided.
  • the detection light emitted from the light emitting unit 20 passes through the half mirror 36 and is scanned through the scanning mechanism 35 over a predetermined scanning range in the horizontal direction, that is, a rotation angle in units of a unit scanning angle.
  • the reflected light whose detection light is reflected by the target passes through the same optical path as the detection light, is reflected by the half mirror 36, and is incident on the light receiving unit 30 at each unit scanning angle.
  • the unit operation angle at which the distance measuring process is executed that is, the scanning sequence is sequentially incremented such as N, N + 1, and as a result, the distance measuring process over a desired scanning range by synthesizing the light receiving results of all the scanning columns, that is, , Scanning to detect an object becomes possible.
  • the reflected light is incident on the light receiving regions Ra1 to Ra4 corresponding to the irradiation of the exclusive detection light from the light emitting elements LD1 to LD4. Therefore, the light receiving regions Ra1 to Ra4 are divided into a light receiving target region corresponding to the irradiation of the exclusive detection light and a light receiving non-target region corresponding to the irradiation of the exclusive detection light. It can also be said that the light receiving target area is a light receiving area where the reflected light of the detection light should be incident, and the light receiving non-target area is a light receiving area where the reflected light of the detection light should not be incident.
  • the light emitting unit 20 and the light receiving unit 30 may be rotated by the electric motor 42 together with the scanning mechanism 35, and may be separate from the scanning mechanism 35 and may not be rotated by the electric motor 42. Further, a plurality of light emitting elements 22 and a light receiving element array 32 arranged in an array are provided without a scanning mechanism 35, and a laser beam is directly irradiated to the outside world to directly receive the reflected light. You may have it.
  • the processing flow shown in FIG. 6 is repeatedly executed at a predetermined interval, for example, in units of several msec, after the distance measuring device 100 is started.
  • a predetermined interval for example, in units of several msec
  • the processing flow shown in FIG. 6 is repeatedly executed at a predetermined interval, for example, in units of several msec, after the distance measuring device 100 is started.
  • the distance measuring device 100 is mounted on the vehicle, the period from when the system of the vehicle is started until the system is terminated, or the period when the operation switch of the distance measuring device 100 is turned on, is in advance. It may be repeatedly executed at a predetermined interval, for example, in units of several milliseconds, and may be executed a predetermined number of times at an arbitrary timing such as when the system of the vehicle is started or stopped.
  • the CPU 11 outputs a light emission control signal for causing the light emitting element LDn to emit light to the light emitting unit 20 (step S102).
  • the CPU 11 outputs a light receiving control signal for simultaneously executing the light receiving processing of the incident light in each of the light receiving regions Ra1 to Ra4 to the light receiving unit 30 (step S104).
  • the CPU 11 uses the detection signal input from the light receiving unit 30, that is, the incident light intensity signal, to generate a histogram showing the characteristics of the incident light intensity for each light receiving region Ra1 to Ra4 as shown in FIG. It is stored in the area-specific histogram storage area 12a of the memory 12.
  • the generated histogram has the incident light intensity on the vertical axis and the incident time t [ ⁇ s] from the irradiation of the detected light to the incident on the horizontal axis, and is incident at a unit scanning angle. It shows the incident light intensity with respect to the time of. Therefore, the peak value of the waveform W of the incident light intensity indicates the possibility of the existence of the target, and the distance [m] between the distance measuring device 100 and the target can be calculated using the time t.
  • the light emitting element LD1 emits light
  • the light receiving region Ra1 becomes the light receiving target region
  • Ra2 to Ra4 become the light receiving non-target region.
  • the light receiving element array 32 includes a plurality of light receiving regions Ra1 to Ra4, it is possible to simultaneously execute the light receiving processing in the light receiving target region and the light receiving non-target region. As shown in FIG. 3, histograms are similarly generated for the N-1 scanning sequence and the N + 1 scanning sequence.
  • the CPU 11 executes a target detection process for the light receiving target area Ran (step S106). Specifically, the CPU 11 acquires the peak value ILp of the incident light intensity in the light receiving target region Ran using the generated histogram, and calculates the distance to the target using the time t at which the peak value ILp occurs. Execute the distance measurement process. The CPU 11 determines whether or not the peak value ILp of the incident light intensity in the light receiving target region Ran is larger than the target determination value ILr predetermined for determining the presence or absence of the target, that is, ILp> ILr. Whether or not it is determined (step S108).
  • the incident light incident on the light receiving element array 32 includes not only the reflected light reflected by the detection light on the target, but also ambient light caused by ambient light such as sunlight and street light. Therefore, the target determination value ILr is used to determine whether the incident light is caused by ambient light or reflected light, and the light receiving target region including the target and the light receiving non-target region are used. By determining the correlation, the accuracy of abnormality determination can be improved. Further, when there is a lot of ambient light, the peak value ILp of the incident light intensity is also small, and the reliability of the received light result is low, so that the abnormality determination is not performed. In the example of FIG. 3, the peak value ILp of the signal waveform Wa1 of the incident light intensity of the light receiving target region Ra1 is larger than the target determination value ILr, and it is determined that the light receiving target region Ra1 contains the target. ..
  • the CPU 11 uses the light receiving areas Ra1 to Ra4 stored in the area-specific histogram storage area 12a of the memory 12 to determine the incident light intensity in the light receiving target area. Anomaly determination is performed for at least one of the light receiving unit and the light emitting unit according to the difference between the characteristics and the characteristics of the incident light intensity in the light receiving non-target region. The CPU 11 determines whether or not the characteristics of the incident light intensity in the light receiving target region and the light receiving non-target region have a correlation.
  • the correlation is the similarity of the waveform of the incident light intensity with respect to time, or the degree of approximation of the peak occurrence time in the waveform of the incident light intensity with respect to time.
  • the CPU 11 calculates the similarity S as an index showing the correlation (step S110).
  • the similarity S takes a value of 0 to 1, and it can be said that the larger the value, the more the characteristics of the incident light intensity in the light receiving target region and the light receiving non-target region have a correlation.
  • n 1
  • the light receiving target area is the light receiving area Ra1
  • the light receiving non-target area is the light receiving areas Ra2 to Ra4.
  • the characteristics of the incident light intensity are, for example, the peak value, the histogram, and the luminance value as the average value of the histogram, and when the histogram is used, the discrete value of the incident light intensity at a plurality of time sampling points of the waveform W, or The peak occurrence time is used.
  • the similarity is determined by, for example, a known cosine similarity or cluster analysis when discrete values of incident light intensity at a plurality of time sampling points of the waveform W are used.
  • the peak occurrence time that is, the approximation of time t may be used, and as in the case of the similarity S, it is determined whether or not it is larger than the predetermined determination approximation. It should be done.
  • the latter statistical value for example, when the difference between the values is included in the predetermined range, it is determined to be similar, and when it exceeds the predetermined range, it is determined to be dissimilar.
  • the CPU 11 counts the light receiving non-target area where the calculated similarity S is larger than the determination similarity Sr, that is, the light receiving non-target area where S> Sr, and obtains the total value T (step S112).
  • the determination similarity Sr is a determination value for discriminating a light receiving non-target region that should not resemble the histogram of the light receiving target region unless there is an abnormality in the light receiving system, and is, for example, 0.5 to 1.
  • the light receiving non-target region Ra2 is counted as the light receiving non-target region where S> Sr
  • the light receiving non-target regions Ra3 and Ra4 are not counted as the light receiving non-target region where S> Sr.
  • the CPU 11 may store the maximum number nmax and the minimum number nmin of the light receiving non-target area where S> Sr1 in the memory 12.
  • the CPU 11 determines whether or not the total value T is larger than the abnormality determination value Tr, that is, whether or not T> Tr (step S114). Considering that the accuracy or reliability of the similarity S calculated by the influence of ambient light is lowered, in the present embodiment, the total value of the light receiving non-target regions in which the similarity S is higher than the judgment similarity Sr is used. Therefore, the accuracy of abnormality determination can be improved. If no abnormality has occurred in at least one of the light receiving portion and the light emitting portion of the distance measuring device 100, the reflected light from the target is not incident in the light receiving non-target region. Therefore, in the present embodiment, the abnormality determination is made.
  • the value Tr may be 1, or may be 2 or 3 in consideration of the disturbance light element.
  • step S114: Yes When the CPU 11 determines that T> Tr (step S114: Yes), at least one of the light receiving unit and the light emitting unit of the distance measuring device 100, for example, the light emitting element 22, the light receiving element array 32, the cover glass 37, and scanning. It is determined that an abnormality has occurred in the mechanism 35 (step S116), and the process proceeds to step S118.
  • the CPU 11 determines that T> Tr (step S114: No)
  • the CPU 11 proceeds to step S118 without performing an abnormality determination regarding at least one of the light receiving unit and the light emitting unit of the distance measuring device 100.
  • the CPU 11 determines the occurrence of an abnormality, the CPU 11 may notify the driver of the abnormality of the distance measuring device.
  • the CPU 11 may record an abnormality occurrence log in the memory 12, for example, recording the total value T as an index indicating the degree of abnormality, and receiving light in the light receiving target area stored in the memory 12.
  • the maximum number nmax and the minimum number nmin of the non-target area may be used to record the light receiving non-target area farthest from the light receiving target area in which S> Sr as an index indicating the degree of abnormality. .. In this case, the larger the total value T and the farther the light receiving non-target region is, the greater the degree of abnormality.
  • step S108 when the CPU 11 determines that ILp> ILr, that is, ILp ⁇ ILr (step S108: No), the process proceeds to step S118. That is, when there is no target in the light receiving target region Ran, there is no point in executing the abnormality determination regarding at least one of the light receiving unit and the light emitting unit related to the target detection, so that the CPU 11 executes the similarity determination. The process proceeds to step S118 without doing so.
  • the CPU 11 determines that the process of setting all the light receiving areas Ra1 to Ra4 as the light receiving target areas has been completed, and ends this processing routine.
  • the CPU 11 increments n (step S120) in order to change the target light receiving region, and proceeds to step S102.
  • the light receiving unit of the distance measuring device 100 depends on the difference between the characteristics of the incident light intensity in the light receiving target region and the characteristics of the incident light intensity in the light receiving non-target region. And an abnormality relating to at least one of the light emitting parts is determined. Therefore, the distance measuring device 100 can self-determine an abnormality related to at least one of the light receiving unit and the light emitting unit, and the distance measuring device 100 can determine the accuracy of determining an abnormality related to at least one of the light receiving unit and the light emitting unit. Can be improved.
  • the similarity between the light receiving target area and the light receiving non-target area in the plurality of light receiving regions Ra1 to Ra4 of the light receiving element array 32 Correspondingly, it is possible to determine an abnormality such as dirt on the cover glass 37 in the range measuring device 100 or deviation in at least one of the light receiving portion and the light emitting portion. Further, according to the distance measuring device 100 according to the first embodiment, it is possible to determine an abnormality related to at least one of the light receiving unit and the light emitting unit by using the light receiving element array 32 provided in the distance measuring device 100. it can.
  • the light receiving target region is the light receiving regions Ra1 and Ra4 at the end of the light receiving element array 32 or the light receiving regions Ra2 and Ra3 at the non-ends, and the light receiving target region and the light receiving region. Correlated light receiving non-target areas were counted.
  • an abnormality relating to the light receiving region Ra3 at the non-end portion of the light receiving element array 32 for example, a light receiving position deviation can be detected as Ed2 in the light receiving regions Ra2 and Ra4, respectively.
  • the abnormality relating to the light receiving region Ra1 at the end of the light receiving element array 32 is detected as Ed2 in the light receiving region Ra2, but the abnormality Ed1 cannot be detected.
  • the light receiving region having a correlation with the light receiving region Ra1 at the end may not be counted correctly. Therefore, for the light receiving regions Ra1 and Ra4 at the ends, the number of light receiving non-target regions that correlate with the light receiving target region may be counted by doubling or adding 1. In this case, the accuracy of determining an abnormality in the light receiving system can be further improved.
  • the light emitting unit 20 including the four light emitting elements LD1 to LD4 and the light receiving element array 32 including the four light receiving regions Ra1 to Ra4 have been described as an example, but the light emitting element LD or the light emitting region and the light receiving region have been described.
  • the numbers do not have to match and may be less than 4 or 5 or more. Further, the number of light receiving regions may be less than or equal to the number of light receiving pixels, and the number of irradiation regions or light emitting regions may be less than or equal to the number of light emitting elements.
  • Second embodiment In the abnormality determination process according to the first embodiment, an abnormality relating to at least one of the light receiving unit and the light emitting unit of the distance measuring device 100 was determined. On the other hand, in the abnormality determination process in the second embodiment, it is determined whether the abnormality is related to the light receiving unit or the light emitting unit. Since the configuration of the distance measuring device according to the second embodiment is the same as the configuration of the distance measuring device 100 according to the first embodiment, the same reference numerals are given and the description thereof will be omitted.
  • the abnormality determination process according to the second embodiment executed by the ranging device 100, more specifically, the control unit 10 will be described.
  • the processing flow shown in FIG. 8 is executed in the same manner as the processing flow shown in FIG.
  • the same step numbers as those of the process flow shown in FIG. 6 will be assigned and the description thereof will be omitted.
  • the CPU 11 outputs a light emission control signal for causing the light emitting element LDn to emit light to the light emitting unit 20 (S102).
  • the CPU 11 executes light receiving processing of incident light in each light receiving area Ra1 to Ra4 in the light receiving unit 30, generates a histogram for each light receiving area Ra1 to Ra4 using the incident light intensity signal, and generates a histogram for each area of the memory 12. It is stored in the storage area 12a (step S104).
  • the CPU 11 executes a target detection process for the light receiving target area Ran (step S106). Specifically, the CPU 11 uses the generated histogram to acquire the peak value ILp of the incident light intensity in the light receiving target region Ran. The CPU 11 calculates the similarity S of the incident light intensity characteristics in the light receiving target area and the light receiving non-target area using the light receiving areas Ra1 to Ra4 stored in the area-specific histogram storage area 12a of the memory 12 (step). S110).
  • the CPU 11 determines whether or not the peak value ILp of the incident light intensity in the light receiving target region Ran is larger than the target determination value ILr predetermined for determining the presence or absence of the target, that is, ILp> ILr. Whether or not it is determined (step S111).
  • the CPU 11 determines the light receiving non-target region in which the calculated similarity S is larger than the first determination similarity Sr1, that is, the light receiving non-target region where S> Sr1. Count and obtain the total value T (step S112). The CPU 11 determines whether or not the total value T is larger than the first abnormality determination value Tr1, that is, whether or not T> Tr1 (step S114).
  • the light receiving unit of the ranging device 100 specifically, a light receiving system such as a light receiving element array 32, a scanning mechanism 35, a half mirror 36, and a cover glass 37.
  • step S117 It is determined that an abnormality has occurred in (step S117), and the process proceeds to step S118. If the CPU 11 determines that T> Tr1 is not satisfied (step S114: No), the CPU 11 proceeds to step S118 without performing an abnormality determination of the distance measuring device 100.
  • step S111 when ILp> ILr is not satisfied (step S111: No), the CPU 11 determines that there is no target in the light receiving target region Ran, and the absolute value of the calculated similarity S is calculated from the second determination similarity Sr2.
  • the light receiving non-target area that is, the light receiving non-target area where
  • the target should not be detected even in the light receiving non-target region, and the similarity S of the incident light intensity characteristics in the light receiving target region and the light receiving non-target region is similar. There must be.
  • the second determination similarity Sr2 is used to determine a light receiving non-target region that does not approximate the similarity of the light receiving target region, that is, a light receiving non-target region having a peak value of incident light intensity corresponding to the target. ..
  • the second determination similarity degree Sr2 is, for example, a value of 0 to 0.4.
  • the CPU 11 determines whether or not the total value T is larger than the second abnormality determination value Tr2, that is, whether or not T> Tr2 (step S124). If there is no target in the light receiving target area, that is, if it is not detected, the target should not be detected even in the light receiving non-target region that does not correspond to the detected light. Therefore, the second abnormality determination value Tr2 is, for example, , 0.
  • step S124: Yes the light emitting unit of the distance measuring device 100, specifically, the light emitting system such as the light emitting element 22, the scanning mechanism 35, the half mirror 36, and the cover glass 37. It is determined that an abnormality has occurred (step S126), and the process proceeds to step S118. If the CPU 11 determines that T> Tr2 is not satisfied (step S124: No), the CPU 11 proceeds to step S118 without performing an abnormality determination of the distance measuring device 100.
  • the CPU 11 determines that the process of setting all the light receiving areas Ra1 to Ra4 as the light receiving target areas has been completed, and ends this processing routine.
  • the CPU 11 increments n (step S120) in order to change the target light receiving region, and proceeds to step S102.
  • the abnormality in the distance measuring device 100 is an abnormality in the light receiving unit. It can be determined whether it is an abnormality in the light emitting unit. Therefore, it is possible to further improve the accuracy of determining an abnormality related to at least one of the light receiving unit and the light emitting unit in the distance measuring device 100.
  • the abnormality determination process according to the third embodiment executed by the distance measuring device 100, more specifically, the control unit 10 will be described.
  • the processing flow shown in FIG. 9 is executed in the same manner as the processing flow shown in FIG.
  • the same step numbers as those of the process flow shown in FIG. 6 or 8 will be assigned and the description thereof will be omitted.
  • the CPU 11 outputs a light emission control signal for causing the light emitting element LDn to emit light to the light emitting unit 20 (S102).
  • the CPU 11 executes light receiving processing of incident light in each light receiving area Ra1 to Ra4 in the light receiving unit 30, generates a histogram for each light receiving area Ra1 to Ra4 using the incident light intensity signal, and generates a histogram for each area of the memory 12. It is stored in the storage area 12a (step S104).
  • the CPU 11 executes a target detection process for the light receiving target area Ran (step S106). Specifically, the CPU 11 uses the generated histogram to acquire the peak value ILp of the incident light intensity in the light receiving target region Ran.
  • the CPU 11 determines whether or not the peak value ILp of the incident light intensity in the light receiving target region Ran is larger than the target determination value ILr predetermined for determining the presence or absence of the target, that is, ILp> ILr. Whether or not it is determined (step S108). When the CPU 11 determines that ILp> ILr (step S108: Yes), the CPU 11 proceeds to step S118.
  • step S108 When ILp> ILr is not satisfied (step S108: No), the CPU 11 determines that there is no target in the light receiving target area Ran, and each light receiving area Ra1 to Ra4 stored in the area-specific histogram storage area 12a of the memory 12. Is used to calculate the similarity S of the incident light intensity characteristics between the light receiving target region and the light receiving non-target region (step S110).
  • the CPU 101 counts the light-receiving non-target areas where the calculated absolute value of the similarity S is smaller than the second determination similarity Sr2, that is, the light-receiving non-target areas where
  • the CPU 11 determines whether or not the total value T is larger than the second abnormality determination value Tr2, that is, whether or not T> Tr2 (step S124). If there is no target in the light receiving target area, that is, if it is not detected, the target should not be detected even in the light receiving non-target region that does not correspond to the detected light. Therefore, the second abnormality determination value Tr2 is, for example, , 0.
  • step S124: Yes determines that an abnormality has occurred in at least one of the light receiving unit and the light emitting unit of the distance measuring device 100 (step S125), and the CPU 11 determines that an abnormality has occurred in step S118. Move to. If the CPU 11 determines that T> Tr2 is not satisfied (step S124: No), the CPU 11 proceeds to step S118 without performing an abnormality determination of the distance measuring device 100.
  • the CPU 11 determines that the process of setting all the light receiving areas Ra1 to Ra4 as the light receiving target areas has been completed, and ends this processing routine.
  • the CPU 11 increments n (step S120) in order to change the target light receiving region, and proceeds to step S102.
  • an abnormality relating to at least one of the light receiving unit and the light emitting unit in the distance measuring device 100 is similar to the distance measuring device 100 according to the first embodiment. Can be self-determined, and the accuracy of determining an abnormality related to at least one of the light receiving unit and the light emitting unit in the distance measuring device 100 can be improved.
  • a light receiving unit 30 including a light receiving element array 32 corresponding to the scanning sequence was used.
  • a light receiving unit 30 including a light receiving element array 32 corresponding to the N-2 scanning row to the N + 2 scanning row may be used.
  • a margin can be provided for the light receiving processing time.
  • the horizontal direction is described as an example of the scanning direction of the scanning mechanism 35, and the light receiving element array 32 includes a plurality of light receiving regions in the vertical direction.
  • the scanning direction by the scanning mechanism 35 is the vertical direction
  • the light receiving element array 32 may include a plurality of light receiving regions in the horizontal direction.
  • the similarity S when the similarity S between the light receiving target region and all the light receiving non-target regions is determined, the similarity S may be determined using a histogram excluding the clutter portion. ..
  • the influence of the peak, which is noise can be eliminated or reduced to improve the determination accuracy of the similarity S.
  • the target detection process for the light receiving target region that is, the distance measurement process is executed, but the target detection process may not be executed. That is, the target detection process and the abnormality determination process may be executed separately. In this case, the execution frequency of the abnormality determination process may be lower than that of the target detection process. Further, the light receiving processing of the incident light in the light receiving regions Ra1 to Ra4 of the light receiving unit 30 does not have to be performed at the same time as long as the light emitting timing by the light emitting unit 20 is not straddled.
  • an abnormality is obtained according to the acquisition or generation of the incident light intensity characteristic for each light receiving region Ra, and the difference between the incident light intensity characteristic for the light receiving target region and the incident light intensity characteristic for the light receiving non-target region. Should be determined. Judgment whether the peak value ILp of the incident light intensity in the light receiving target region is larger than the target judgment value ILr, and whether the total value of the light receiving non-target region having a correlation with the light receiving target region is larger than the abnormality judgment value Tr. Any of these determinations may be performed in order to improve the accuracy of the abnormality determination.
  • a control unit that executes various processes including an abnormality determination process by software is realized by executing a program by the control unit 10, but a pre-programmed integrated circuit or It may be realized in hardware by a discrete circuit. That is, the control unit and its method in each of the above embodiments are provided by a dedicated computer provided by configuring a processor and memory programmed to perform one or more functions embodied by a computer program. It may be realized. Alternatively, the controls and methods thereof described in the present disclosure may be implemented by a dedicated computer provided by configuring the processor with one or more dedicated hardware logic circuits.
  • the controls and methods thereof described in the present disclosure consist of a combination of a processor and memory programmed to perform one or more functions and a processor composed of one or more hardware logic circuits. It may be realized by one or more dedicated computers. Further, the computer program may be stored in a computer-readable non-transitional tangible recording medium as an instruction executed by the computer.

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