WO2022050047A1 - Lidar device, lidar system, distance measurement method, and program - Google Patents

Abstract

[Problem] To provide a LiDAR device advantageous for suppressing the degree of protrusion from the object for installing the LiDAR device. [Solution] A LiDAR device comprises: a light emission unit for emitting laser light; a reflection body including a reflection surface that is in ae shape of a part of an ellipse and reflects the laser light and an exit transmission part that laser light reflected by the reflection surface passes through; and an optical path adjustment unit for adjusting the travel direction of the laser light such that the laser light is reflected by the reflection surface after passing through the position of one of the focal points of the ellipse.

Description

LiDAR equipment, LiDAR system, ranging methods and programs

This disclosure relates to a LiDAR device, a LiDAR system, a distance measuring method and a program.

Distance measurement technology using LiDAR (Light Detection and Ringing / Laser Imaging Detection and Ringing) is attracting attention in various fields. For example, in the vehicle field, the development of automatic driving technology using LiDAR technology, which can detect the position and shape of surrounding objects with high accuracy, is underway.

Patent Document 1 discloses a scanning type range sensor that calculates and measures the distance to a peripheral object based on the reception result of the reflected wave of an electromagnetic wave. The scanning type range sensor is used for both a cylindrical rotating body provided together with a motor, a floodlight, a receiver and a light receiving lens provided inside the cylindrical rotating body, and a light emitting / receiving device installed on the rotation axis of the cylindrical rotating body. Equipped with a mirror. These motors, cylindrical rotating bodies, floodlights, photoreceivers, light receiving lenses, and light emitting / receiving mirrors are installed in the device in a state where they are entirely housed inside a vertically long outer cover.

Japanese Unexamined Patent Publication No. 2005-221336

The LiDAR device is generally installed so as to protrude from an object such as a vehicle with the entire mechanism including the optical system covered with a cover body for protection from the surrounding environment. In particular, when scanning a laser beam over a wide range of the surrounding environment, the LiDAR device may be greatly projected from the installation target in order to improve the accuracy of emitting the laser beam and receiving the reflected wave.

The protruding structure of the LiDAR device limits the installation conditions such as placement and is conspicuous in appearance, which can greatly spoil the aesthetic appearance of the entire device. For example, in a LiDAR device that uses laser light of infrared wavelength, when the cover body includes a window that transmits only light of infrared wavelength, it is not always aesthetically harmonious with such a window having a unique hue. It's not easy.

Further, when the LiDAR device is mounted on a moving body such as a vehicle, the protruding structure of the LiDAR device increases the possibility of collision with surrounding objects and causes an increase in noise and air resistance due to the generation of turbulence. In addition, dirt is likely to adhere to the protruding structure of the LiDAR device, and the cleaning mechanism for removing such dirt is also likely to be complicated in order to adapt to the protruding structure of the LiDAR device.

Therefore, the present disclosure provides a LiDAR device, a LiDAR system, a distance measuring method, and a program that are advantageous for suppressing the degree of protrusion from the installation target.

One aspect of the present disclosure is a light emitting portion that emits laser light, a reflecting surface that has a partial shape of an ellipse and reflects the laser light, and an outlet passing portion through which the laser light reflected by the reflecting surface passes. The present invention relates to a LiDAR apparatus including a reflector including a light path adjusting unit for adjusting the traveling direction of the laser light so that the laser light is reflected by a reflecting surface after passing through the position of one focal point of an ellipse.

The reflective surface may have a partial shape of the outer peripheral surface of the spheroid.

The reflective surface may have the shape of a part of the side surface of the elliptical column.

The optical path adjusting unit may have a MEMS mirror.

The optical path adjustment unit may be arranged at the position of one focal point.

The reflector has an entrance passage through which the laser beam can pass, and the optical path adjustment section adjusts the traveling direction of the laser beam outside the reflector, and the laser beam passes through the entrance passage and inside the reflector. It may be reflected by the reflecting surface after being incident on.

The exit passage may be located at the position of the other focal point of the ellipse.

The LiDAR device includes a cover body having an emission window portion through which the laser light after reflection passes on the reflection surface, and the emission window portion may have a diameter smaller than the minor axis of the ellipse.

The exit window may be located at the position of the other focal point of the ellipse.

The cover body has a window support portion that supports the exit window portion, and the outer surface of the exit window portion and the outer surface of the window support portion may be connected to each other without a step.

The LiDAR device may include an optical element to which a laser beam is incident.

Another aspect of the present disclosure includes a light emitting portion that emits laser light, a reflecting surface that has a partial shape of an ellipse and reflects the laser light, and an outlet passing portion through which the laser light reflected by the reflecting surface passes. A LiDAR device comprising a reflector and an optical path adjusting unit that adjusts the traveling direction of the laser light so that the laser light passes through the position of one focal point of the ellipse and is reflected by the reflecting surface, and at least the optical path adjusting unit. The present invention relates to a LiDAR system including a LiDAR control unit for controlling the above.

The LiDAR system includes an environment image acquisition unit that acquires a captured image of the surrounding environment, and the LiDAR control unit identifies a region of interest in the surrounding environment based on the analysis of the captured image, and emits laser light emitted from the LiDAR device. The optical path adjustment unit may be controlled so as to advance toward the region of interest in the surrounding environment.

Another aspect of the present disclosure is a step of emitting a laser beam from a light emitting part of a LiDAR apparatus, and a reflecting surface of a reflector having the laser beam passing through the position of one focal point of the ellipse and then having the shape of a part of the ellipse. The present invention relates to a distance measuring method including a step of adjusting the traveling direction of the laser beam by an optical path adjusting unit so that the light is reflected by the light path and then passes through the exit passing portion of the reflector.

The traveling direction of the laser beam is adjusted by the optical path adjustment unit so as to advance the laser beam toward the region of interest in the surrounding environment, including the step of identifying the region of interest in the surrounding environment based on the analysis of the captured image of the surrounding environment. May be done.

FIG. 1 is a plan view showing a schematic configuration of an example of a LiDAR device. FIG. 2 is a perspective view of the reflector shown in FIG. FIG. 3 is a side view showing an arrangement example of the light emitting unit and the optical path adjusting unit, and the reflective surface is hatched. FIG. 4 is a diagram showing an example of a reflector having a spheroidal shape, in which the dotted line indicates a position corresponding to the short axis of the ellipse, and the reflecting surface is hatched. FIG. 5 is a plan view showing a schematic configuration of a modified example of the LiDAR device. FIG. 6 is a plan view showing a schematic configuration of another modification of the LiDAR apparatus, and the cover body is shown in cross section. FIG. 7 is a functional block diagram showing an example of a control configuration of a LiDAR system. FIG. 8 is a flowchart showing an example of the distance measuring method. FIG. 9 is a flowchart showing an example of a case where the distance measuring method shown in FIG. 8 is applied to a vehicle driving technique (particularly a technique for avoiding the vehicle from coming into contact with an obstacle).

[LiDAR device]
First, a typical example of the LiDAR device 11 will be described.

FIG. 1 is a plan view showing a schematic configuration of an example of the LiDAR device 11. FIG. 2 is a perspective view of the reflector 22 shown in FIG. 1, and the reflective surface 32 is hatched.

The LiDAR device 11 shown in FIG. 1 includes a light emitting unit 21 including a light source of the laser beam L, a reflector 22 having a reflecting surface 32, and an optical path adjusting unit 23 for adjusting the traveling direction of the laser beam L.

The light emitting unit 21 emits laser light L. The light emitting unit 21 shown in FIG. 1 is provided inside the reflector 22 so as to face the reflecting surface 32, and emits laser light L toward the optical path adjusting unit 23. The laser beam L emitted from the light emitting unit 21 in the horizontal direction is variably changed in the traveling direction by the optical path adjusting unit 23, and travels in the horizontal direction toward various points of the reflecting surface 32.

The arrangement position of the light emitting unit 21 is not limited to the example shown in FIG. For example, on the outside of the reflector 22, the light emitting unit 21 may be provided at a position not facing the reflecting surface 32, and as shown in FIG. 3, the light emitting unit 21 and the optical path adjusting unit 23 are provided at different positions in the height direction. May be. In the example shown in FIG. 3, the traveling direction of the laser beam L emitted upward (that is, directly above) from the light emitting unit 21 is changed by 90 degrees by the optical path adjusting unit 23. Also in the example shown in FIG. 3, the traveling direction of the laser beam L is variably changed by the optical path adjusting unit 23, and the laser beam L travels in the horizontal direction toward various points of the reflecting surface 32.

As shown in FIGS. 1 and 2, the reflector 22 has a reflecting surface 32 that reflects the laser light L traveling through the optical path adjusting unit 23 and an outlet passing portion through which the laser light L reflected by the reflecting surface 32 passes. 33 and.

The reflective surface 32 of this embodiment has a shape of a part of an ellipse. That is, the shape formed when the reflecting surface 32 is cut vertically is an elliptical partial shape. The first focal point F1 (that is, one focal point) and the second focal point F2 (that is, the other focal point) are located on the long axis A1 of the ellipse formed by the reflecting surface 32. The second focal point F2 is closer to the exit passage portion 33 than the first focal point F1.

The reflective surface 32 shown in FIGS. 1 and 2 has a part of the shape of the side surface of the elliptical column, and has a shape like a rectangular planar plate curved in an elliptical shape. The sides of an elliptical column form an ellipse when cut in a direction perpendicular to the height of the elliptical column.

The shape of the reflective surface 32 is not limited to the examples shown in FIGS. 1 and 2. For example, as shown in FIG. 4, the reflecting surface 32 may have a shape of a part of the outer peripheral surface of the spheroid. The spheroid is a spheroid obtained by using an ellipse as its major axis or a minor axis as its axis of rotation, and has a three-dimensional ellipsoidal shape.

The exit passage portion 33 can be provided at an arbitrary position through which the laser beam L reflected by the reflection surface 32 passes. The exit passage portion 33 shown in FIG. 1 is arranged at the position of the second focal point F2 of the ellipse formed by the reflecting surface 32.

The optical path adjusting unit 23 adjusts the traveling direction of the laser beam L so that the laser beam L is reflected by the reflecting surface 32 after passing through the position of the first focal point F1 of the ellipse formed by the reflecting surface 32.

The optical path adjusting unit 23 can be installed at various positions on the optical path of the laser beam L from the light emitting unit 21. The optical path adjusting unit 23 shown in FIG. 1 is arranged at the position of the first focal point F1 of the ellipse formed by the reflecting surface 32, and is provided inside the reflecting body 22 so as to face the reflecting surface 32.

The optical path adjusting unit 23 of this example has a MEMS mirror (that is, a MEMS type mirror system), and can variably reflect the laser beam L in various directions. In general, the MEMS mirror is configured to be compact and can be driven at a low voltage, and it is possible to swing and drive the reflection mirror quickly and with high positional accuracy while suppressing the inertial force acting on the reflection mirror to a small value. The specific configuration of the MEMS mirror is not limited. For example, the runout drive of the reflection mirror of the MEMS mirror may be performed via a fixed rotation axis or may be performed via a floating rotation axis.

The configuration and installation position of the optical path adjusting unit 23 are not limited to the above example. The optical path adjusting unit 23 may have a laser light scanning mechanism other than the MEMS mirror, and may be realized by, for example, a Galvano type mirror system. Further, the optical path adjusting unit 23 may be provided on the outside of the reflector 22 so as not to face the reflecting surface 32.

FIG. 5 is a plan view showing a schematic configuration of a modified example of the LiDAR device 11. The reflector 22 of the LiDAR device 11 shown in FIG. 5 has, in addition to the above-mentioned reflecting surface 32 and the exit passing portion 33, an inlet passing portion 34 provided at the position of the first focal point F1 and through which the laser beam L can pass. The light emitting unit 21 and the optical path adjusting unit 23 are provided on the outside of the reflector 22. Although the light emitting unit 21 is fixedly provided as a whole, the emission position and the emission direction of the laser beam L are variably provided. The optical path adjusting unit 23 is fixedly provided, and can be configured by, for example, a microprism or a diffraction grating.

In the example shown in FIG. 5, the laser beam L emitted from the light emitting unit 21 on the outside of the reflector 22 and whose traveling direction is adjusted by the optical path adjusting unit 23 passes through the inlet passing unit 34 and enters the inside of the reflector 22. It is incident, then reflected by the reflecting surface 32 and emitted from the exit passing portion 33. The optical path adjusting unit 23 basically emits almost all the laser light L toward the inlet passing unit 34 regardless of the incident position of the laser light L from the light emitting unit 21. The specific shape and size of the entrance passage portion 34 are not limited. From the viewpoint of suppressing the incident of unnecessary light inside the reflector 22, the shape of the inlet passing portion 34 and the shape of the inlet passing portion 34 so as to correspond to the desired beam shape and desired beam diameter of the laser beam L passing through the inlet passing portion 34. It is preferable that the size (for example, the opening diameter) is determined. As described above, in the example shown in FIG. 5, since the traveling direction of the laser light L is adjusted according to the combination of the light emitting unit 21 (particularly the emission mode of the laser light L) and the optical path adjusting unit 23, the light emitting unit is functionally 21 also forms a part of the optical path adjusting unit 23.

The LiDAR device 11 may further include an optical element such as a lens to which the laser beam L emitted from the light emitting unit 21 is incident. The installation position of such an optical element is not limited, and one type or a plurality of types of optical elements can be appropriately installed on the optical path of the laser beam L. For example, an optical element may be provided at a position where the laser beam L after being reflected by the reflecting surface 32 is incident, or an optical element may be provided at a position where the laser light L before being reflected by the reflecting surface 32 is incident. May be done.

For example, as shown in FIG. 1, the optical element 26 may be arranged at the position of the second focal point F2 of the ellipse formed by the reflecting surface 32. In this case, it is possible to optically correct all of the laser light L reflected by the reflecting surface 32 by the single optical element 26. Further, an optical element may be installed between the light emitting unit 21 and the optical path adjusting unit 23, and the laser beam L in a state where the optical characteristics are adjusted by the optical element may be incident on the optical path adjusting unit 23. The specific configuration and function of the optical element are not limited. The optical element 26, for example, changes the beam diameter of the laser beam L, collimates the laser beam L, adjusts the traveling direction of the laser beam L, and adjusts the traveling range (that is, the angle range) of the laser beam L. It can be (for example, enlarged).

The LiDAR device 11 may include a cover body that covers the exit passage portion 33 of the reflector 22. The cover body 25 shown in FIG. 6 has an exit window portion 38 through which the laser beam L after reflection passes through the reflection surface 32, and a window support portion 39 that supports the exit window portion 38. The outer surface of the exit window portion 38 (that is, the surface exposed to the outside) and the outer surface of the window support portion 39 are connected to each other without a step and are arranged on the same plane. The exit window portion 38 shown in FIG. 6 is arranged at the position of the second focal point F2, and has a diameter smaller than the minor axis of the ellipse formed by the reflecting surface 32 (length in the vertical direction in FIG. 6). The exit window portion 38 can be installed at an arbitrary position on the optical path of the laser beam L after being reflected by the reflecting surface 32, and may be provided at a position other than the position of the second focal point F2. For example, while the optical element 26 is installed at the position of the second focal point F2 (see FIG. 1), the exit window portion 38 may be arranged downstream of the second focal point F2 in the traveling direction of the laser beam L.

The LiDAR device 11 further includes a light receiving unit (see FIG. 7 described later) that receives the reflected light of the laser light L from the surrounding environment (that is, the laser light L scattered in the surrounding environment). Information on the surrounding environment can be obtained by analyzing the light reception result of the reflected light in the light receiving unit. For example, information on whether or not an object such as an object or a person exists in the vicinity, information on the orientation and distance to an object existing in the vicinity, and information on the nature of the object are obtained based on the analysis of the light reception result of the reflected light. It is possible to derive it. The light receiving unit may be provided integrally with the light emitting unit 21 or may be provided separately from the light emitting unit 21, and the installation position and mode of the light receiving unit are not limited.

Next, the operation and effect of the above-mentioned LiDAR device 11 will be described. The distance measuring method described below is performed by driving the LiDAR device 11 under the control of a control device (see FIG. 7 described later).

The distance measuring method performed by the LiDAR device 11 includes a step of emitting laser light L from the light emitting unit 21, a step of adjusting the traveling direction of the laser light L by the optical path adjusting unit 23, and a step of receiving reflected light by the light receiving unit. including. In particular, in the laser light traveling direction adjusting step, the traveling direction of the laser light L adjusts the optical path so that the laser light L passes through the first focal point F1, is reflected by the reflecting surface 32, and then passes through the exit passing portion 33. It is adjusted by the unit 23.

Since the laser beam L emitted from the light emitting unit 21 is reflected by the elliptical reflecting surface 32 after passing through the first focal point F1, it always passes through the second focal point F2 regardless of the reflecting position on the reflecting surface 32. .. Therefore, the second focal point F2 can be regarded as a virtual scanning center of the laser beam L, and the laser beam L is considered to be emitted in all directions of the scanning range centering on the second focal point F2.

As described above, according to the above-mentioned LiDAR device 11, laser light scanning can be substantially performed centering on the second focal point F2 without installing equipment such as an optical path adjusting unit 23 in the second focal point F2. Therefore, it is possible to simplify the device configuration in the second focus F2 (that is, the substantially center of laser light scanning), and the second focus is a protrusion such as a wide-range cover that surrounds the entire device such as the optical path adjustment unit 23. It can be prevented from being installed in F2.

Therefore, when the above-mentioned LiDAR device 11 is installed on a target such as a vehicle, by designing the exposed portion of the LiDAR device 11 to the outside based on the position of the second focal point F2, the protrusion of the LiDAR device 11 from the installation target can be prevented. It can be suppressed.

Further, according to the above-mentioned LiDAR device 11, the laser light scanning can be performed while emitting the laser light L from a very limited range at the second focal point F2. Therefore, when the exit window portion 38 (see FIG. 6) through which the laser beam L is passed is installed in the vicinity of the second focus F2 or the second focus F2, the emission window portion 38 is configured to be very small and the laser light over a wide range. Scanning is possible. As described above, the size of the emission window portion 38 can be determined according to the scanning range of the laser beam L. Further, even when the exit window portion 38 has a peculiar color, the emission window portion 38 can be made inconspicuous from the outside by making the exit window portion 38 sufficiently small.

Most of the LiDAR devices currently on the market use a rotary scanner and infrared light to support a wide angle. In addition, in order not to expose the rotation mechanism of the scanner to the outside and to remove visible light that is a noise of infrared light detection, a device such as a rotation mechanism is provided with a black cylindrical cover that transmits infrared light but does not transmit visible light. Often covered. When such a LiDAR device is installed on an object such as a vehicle, the original design of the object to be installed is not a little impaired by the LiDAR device.

On the other hand, according to the above-mentioned LiDAR device 11, the degree of freedom in installing the LiDAR device 11 can be improved by suppressing the degree of protrusion of the LiDAR device 11 from the installation target and making the externally exposed portion small. , The LiDAR device 11 can be installed in various forms. In particular, the influence on the design of the installation target such as a vehicle can be suppressed to a small extent, and the LiDAR device 11 can be appropriately installed while being in harmony with the peripheral design at a high level. Generally, when an externally exposed part of the LiDAR device 11 is provided as a part of a certain design, the area of the externally exposed part is set to less than 50% of the area of the entire design, so that the conspicuousness of the externally exposed part can be effectively suppressed. can. According to the above-mentioned LiDAR device 11, it is possible to sufficiently satisfy the condition of less than 50%.

Further, by suppressing the degree of protrusion of the LiDAR device 11, safety can be improved and noise and air resistance can be reduced. Further, it is possible to suppress the adhesion of dirt to the externally exposed portion of the LiDAR device 11, and it is possible to remove the stain adhering to the externally exposed portion by a simple cleaning mechanism. For example, it is possible to appropriately clean the externally exposed portion of the LiDAR device 11 by a cleaning mechanism combined with a water droplet removing mechanism such as a high-speed rotating window used in a ship.

Further, according to the above-mentioned LiDAR device 11, the optical path adjusting unit 23 can be arranged in the inner space of the reflector 22 in a state of being protected by the reflector 22. In particular, by configuring the optical path adjusting unit 23 with a compact and lightweight MEMS mirror, it is possible to easily and appropriately install the optical path adjusting unit 23 even if the inner space of the reflector 22 is small. Further, by configuring the optical path adjusting unit 23 with a compact and lightweight MEMS mirror, high-speed scanning of the laser beam L is possible as compared with the housing rotation type LiDAR device and the scanner head integrated low-speed rotation type LiDAR device.

[LiDAR system]
Next, a LiDAR system using the above-mentioned LiDAR device 11 will be described.

Below, as an example, a case where the LiDAR device 11 is mounted on a vehicle will be described. However, the installation target of the LiDAR device 11 is not limited to the vehicle, and the following description can be similarly applied when the LiDAR device 11 is mounted on another target (including a moving body and a stationary body).

FIG. 7 is a functional block diagram showing an example of the control configuration of the LiDAR system 10.

The LiDAR system 10 shown in FIG. 7 includes a LiDAR device 11, a control device 15, and a photographing device 50. In the present embodiment, the control device 15 and the photographing device 50 are mounted on the target on which the LiDAR device 11 is installed (in this example, the vehicle (not shown)), but are mounted on the target on which the LiDAR device 11 is installed. It does not have to be. For example, the control device 15 and the photographing device 50 may be provided at a position away from the target in which the LiDAR device 11 is installed, or data may be transmitted / received to / from another device via a wireless signal.

The photographing device 50 is an environment image acquisition unit that acquires a photographed image D1 (that is, image data) of the surrounding environment, and includes a solid-state image sensor such as a CCD image sensor or a CMOS image sensor. The photographing device 50 shoots under the control of the control device 15 (particularly the photographing control unit 16), and transmits the photographed image D1 to the control device 15 (particularly the photographing control unit 16). The photographing device 50 may have any configuration, and may be configured by, for example, a monocular camera or a stereo camera.

The control device 15 has a LiDAR control unit 12 and an imaging control unit 16.

The LiDAR control unit 12 controls the LiDAR device 11 (at least the optical path adjustment unit 23). The LiDAR control unit 12 shown in FIG. 7 controls the light emitting unit 21 and the optical path adjusting unit 23. The light emitting unit 21 emits the laser beam L based on the control signal D2 sent from the LiDAR control unit 12. The optical path adjusting unit 23 adjusts the traveling direction of the laser beam L based on the control signal D2 sent from the LiDAR control unit 12.

The LiDAR control unit 12 receives the light receiving result D3 of the reflected light of the laser light L from the surrounding environment from the light receiving unit 24 of the LiDAR device 11. Then, the LiDAR control unit 12 analyzes the light receiving result D3 of the light receiving unit 24 and acquires information regarding the state of the surrounding environment.

As will be described later, the LiDAR control unit 12 of the present embodiment also functions as an area of interest specifying unit that specifies an area of interest in the surrounding environment based on the analysis of the captured image D1.

The photographing control unit 16 controls the photographing device 50 and stores the photographed image D1 sent from the photographing device 50 in a storage unit (not shown). Further, the photographing control unit 16 shown in FIG. 7 transmits the captured image D1 to the LiDAR control unit 12.

The LiDAR system 10 having the above configuration can perform selective priority detection processing according to the situation by performing a wide range coarse scan (Coarse Scan) and a fine scan of the region of interest (Fine Scan) in combination. That is, the wide-range co-earth scan performs high-speed photodetection and distance measurement with a relatively coarse resolution over a wide range of the surrounding environment. Based on the results of this wide-area co-earth scan, a region defined based on the position of a candidate for obstacle (for example, an object and a person) is specified as a region of interest (ROI). Then, by performing a limited fine scan on the region of interest, detailed information on the candidate for disability (specific types such as humans, animals, and objects) is specified. In this way, by performing a time-consuming fine scan only on the region of interest, it is possible to perform light detection and distance measurement over a wide area and acquire detailed information on failure candidates in a short time and with high accuracy. Can be done.

FIG. 8 is a flowchart showing an example of the distance measuring method.

First, under the control of the LiDAR control unit 12, a wide range co-earth scan is performed by the LiDAR device 11 (S1 in FIG. 8). That is, the LiDAR control unit 12 controls the optical path adjustment unit 23 so that the laser beam L emitted from the LiDAR device 11 travels toward the scan range of a wide range coearth scan in the surrounding environment. As a result, the light receiving result D3 of the light receiving unit 24 is sent to the LiDAR control unit 12.

The wide-range co-earth scan performed here is performed at a relatively coarse resolution and at high speed, and its main purpose is to search for a failure candidate in the scan range and to detect the position (for example, direction and distance) of the failure candidate. Therefore, the wide area co-earth scan does not detect the specific detailed information of the failure candidate.

The scan range (for example, azimuth and viewing angle) of the wide-range co-earth scan is not limited, and may be a predetermined range or a range variably determined according to the situation. For example, when the vehicle is running, the LiDAR control unit 12 may adaptively determine the scan range of the wide range co-earth scan according to the map information such as LDM (Local Dynamic Map) and the vehicle speed. The LiDAR control unit 12 can acquire map information and vehicle speed information by any method, for example, map information and vehicle speed from another control unit (for example, speed monitoring unit) or memory included in the control device 15. You may get the information of.

The search particle size of the wide-range co-earth scan (for example, scan resolution) is not limited and may be fixedly determined in advance, and the LiDAR control unit 12 changes the search particle size of the wide-range co-earth scan according to the situation (for example, search application). You may decide on the target.

Wide-range co-earth scanning is similar to the behavior of a person observing and acquiring an overall picture of the surrounding environment, but in that it requires highly accurate detection of the position (eg, orientation and distance) of the detection target (ie, failure candidate). It is different from the observation operation of.

On the other hand, under the control of the photographing control unit 16, a wide range of the surrounding environment is photographed by the photographing device 50, and the photographed image D1 is acquired (S2).

The shooting range of the shooting device 50 is not limited, and may be a predetermined range, or may be a range variably determined by the shooting control unit 16 or the LiDAR control unit 12 according to the situation. The photographing range by the photographing device 50 may be larger, smaller, or the same as, for example, the scan range of the wide area co-earth scan, and may be adaptively determined according to the map information and the vehicle speed. However, the photographing range by the photographing apparatus 50 is at least partially common with the scanning range of the wide range co-earth scan.

The acquisition of the photographed image of the surrounding environment by the photographing apparatus 50 may be performed after the wide area co-earth scan as shown in FIG. 8, but it can be performed at any timing. That is, the acquisition of the captured image of the surrounding environment by the photographing device 50 may be performed prior to the wide-range co-earth scan, or may be performed simultaneously with the wide-range co-earth scan.

Then, the LiDAR control unit 12 identifies one or a plurality of regions of interest based on the result of the wide area co-earth scan (that is, the light receiving result D3 of the light receiving unit 24) (S3). The region of interest is a limited region determined based on the position of the detection target (that is, the failure candidate) derived from the light receiving result D3, and is smaller than each of the scan range of the wide range co-earth scan and the shooting range of the photographing device 50.

The LiDAR control unit 12 of the present embodiment identifies the region of interest based on the combination of the result of the wide area co-earth scan and the analysis result of the captured image D1. For example, the LiDAR control unit 12 analyzes the captured image D1 to acquire area information (for example, heat map information) indicating the possibility of existence of a detection target (that is, a failure candidate), and is interested in referring to the area information. The region may be determined. Generally, the captured image acquired by the visible light image sensor is excellent in azimuth resolution and depth-depth resolution. The LiDAR control unit 12 can accurately determine the region of interest by using the region information obtained from the analysis of the captured image D1 having such characteristics in combination with the result of the wide range co-earth scan.

The specific derivation method and information form of heat map information (for example, information elements included in heat map information) are not limited. For example, the LiDAR control unit 12 can derive heat map information indicating the possibility of existence of a detection target (that is, a failure candidate) in the shooting range by applying a semantic segmentation technique to the shot image D1.

The analysis of the above-mentioned captured image D1 and the acquisition of area information such as heat map information may be performed by a device element other than the LiDAR control unit 12 (for example, the photographing control unit 16). In this case, the area information indicating the possibility of existence of the detection target (that is, the failure candidate) is sent from the device element to the LiDAR control unit 12.

Then, under the control of the LiDAR control unit 12, the LiDAR device 11 performs a fine scan of the region of interest (S4). That is, the LiDAR control unit 12 controls the optical path adjusting unit 23 so that the laser beam L emitted from the LiDAR device 11 travels toward the region of interest in the surrounding environment. As a result, the light receiving result D3 of the light receiving unit 24 is sent to the LiDAR control unit 12.

The region of interest fine scan (S4) is performed at a higher resolution than the wide area co-earth scan (S1), and provides scan data capable of detecting detailed information of failure candidates. Generally, the higher the scan resolution, the longer the time required for scanning, but since the scan range of the region of interest fine scan is limited to the region of interest, the region of interest fine scan can be performed in a short time.

The scan operation of the region of interest fine scan is similar to the target identification operation (that is, high-speed central visual field movement) indicated by the human eyeball with so-called saccade behavior. In general, the human eye can search for visual information at an extremely high speed compared to the movement speed of the human neck or body.

In particular, when a MEMS mirror having high-speed response performance is used as the optical path adjusting unit 23, high-speed scanning that imitates the saccade behavior of the human eyeball is possible. A general scanner-type LiDAR device performs a scanning operation at a constant speed. On the other hand, according to the above-mentioned LiDAR device 11 using a MEMS mirror having an extremely small inertial load, adaptive and variable speed high-speed scanning can be performed, and a region of interest fine scan similar to the high-speed information search behavior of the human eyeball can be performed. It can be performed.

In this way, in the region of interest fine scan process, a high-resolution scan of the selected region (that is, the region of interest) determined based on the result of the wide area co-earth scan and the region information such as heat map information is performed on demand, actively and shortly. It is feasible in time. The search particle size (for example, scan resolution) of the region of interest fine scan is not limited and may be fixedly determined in advance, and the LiDAR control unit 12 searches for the region of interest fine scan according to the situation (for example, search use). The particle size may be variably determined.

Then, the LiDAR control unit 12 acquires peripheral information based on the result of the fine scan of the region of interest (that is, the light receiving result D3 of the light receiving unit 24) (S5). That is, the LiDAR control unit 12 acquires specific detailed information on the failure candidate based on the result of the fine scan of the region of interest. For example, whether obstacle candidates are classified into humans, animals, buildings, or other objects is determined based on the results of the region of interest fine scan.

Then, the LiDAR control unit 12 acquires analysis information based on the peripheral information (S6). For example, the LiDAR control unit 12 analyzes peripheral information (for example, information on the type of failure candidate), and "is there a high possibility that the failure candidate can be an actual failure?" Or "the vehicle may come into contact with the failure candidate." Is it expensive? ”Can be acquired as analysis information.

The above-mentioned process of acquiring peripheral information (S5) and the process of acquiring analysis information (S6) are not necessarily processes that are clearly distinguished from each other, and may actually be performed simultaneously. .. In addition, peripheral information and analysis information are not always clearly distinguished from each other.

[Specific example of acquisition of peripheral information and analysis information]
The following is a typical concrete example of acquisition of peripheral information and analysis information.

[Acquisition of peripheral object information]
By performing the above-mentioned ranging method (see FIG. 8) while the vehicle is running, the presence or absence of a failure candidate is detected by a wide range co-earth scan, and the specific type of the failure candidate is detected by a subsequent fine scan of the region of interest. be able to. The types of obstacle candidates that can be detected are not limited, and the obstacle candidates may be classified into, for example, simple people, animals, cars, buildings, road objects, etc., and in more detail, adults, children, small animals, large animals, etc. Disability candidates may be classified into.

The above-mentioned series of processing flows shown in FIG. 8 may be repeated over time. As a result, the LiDAR control unit 12 can acquire time-series search information indicating the transition of the state of the failure candidate over time. The LiDAR control unit 12 may acquire peripheral information and analysis information based on the time-series search information acquired in this way. For example, the LiDAR control unit 12 derives a prediction locus of a failure candidate based on the time-series search information, and derives a traveling path for avoiding a collision between the vehicle and the failure candidate based on the information of the prediction locus. You may. The information derived from the time-series search information in this way may be notified to the driver via a notification device (for example, a display or a voice guide) (not shown), or may be used as basic information for driving assist operation. It is possible.

[Failure possibility judgment of failure candidate]
The LiDAR control unit 12 may determine whether the failure candidate detected as a failure candidate has a high possibility of becoming a failure from a practical point of view.

According to the above-mentioned wide-range co-earth scan, for example, an object such as paper flying in the air (that is, an object that is unlikely to interfere with vehicle running) is also detected as an obstacle candidate.

Therefore, the LiDAR control unit 12 may apply a specific analysis method to the result of the region of interest fine scan and determine the possibility that the failure candidate becomes an actual failure. For example, the LiDAR control unit 12 derives information on whether or not the failure candidate is in contact with the road surface, the size of the failure candidate, and the temporal behavior of the failure candidate based on the result of the region of interest fine scan, and the derivation result. The actual possibility of failure of the failure candidate may be determined from.

[Determination of contact possibility between the planned route space of the vehicle projected on the bird's-eye view projection space and the obstacle candidate]
The LiDAR control unit 12 may generate a bird's-eye view distribution map based on the result of a wide range co-earth scan. The bird's-eye view outline distribution map is map information showing the rough position (for example, direction and distance) of the obstacle candidate in the range including the planned traveling route of the own vehicle and the area near the planned traveling route. Regarding the obstacle candidates reflected in the bird's-eye view distribution map, it does not matter whether or not the obstacle candidates are likely to be obstacles from a practical point of view.

Then, the LiDAR control unit 12 may perform a fine scan of the region of interest based on the bird's-eye view outline distribution map and the analysis result of the captured image D1. Based on the result of the region of interest fine scan, the LiDAR control unit 12 may determine whether or not to classify the failure candidate into a target (that is, a tracking target) that needs to be tracked over time. For example, obstacle candidates recognized as vehicles (including motorcycles), bicycles, pedestrians, or animals as a result of a region of interest fine scan may be classified as tracking targets.

Further, the LiDAR control unit 12 may perform a course prediction evaluation of the tracking target. For example, the LiDAR control unit 12 may perform a course prediction evaluation of the tracking target based on the characteristics based on the type of the target. For example, if the tracking target is a vehicle, it is likely to follow the roadway, if it is a person, it is likely to follow the sidewalk, and if it is an animal, it is likely to follow the entire road (whether it is a roadway or a sidewalk). Is high.

The LiDAR control unit 12 determines whether or not the failure candidate is classified as a tracking target and predicts the course of the tracking target, taking into consideration not only the result of the fine scan of the region of interest but also the analysis result of the captured image D1. Evaluation may be performed. In this case, it is possible to perform more detailed classification determination and course prediction evaluation. For example, the LiDAR control unit 12 obtains information on the presence / absence of a road without a curb and a road with a curb and information on the presence / absence of a guardrail in the planned travel route and the area near the planned travel route from the analysis result of the captured image D1. It is possible.

Next, an example will be described when the above-mentioned distance measuring method is applied to vehicle driving technology (particularly technology for avoiding contact of a vehicle with an obstacle).

FIG. 9 is a flowchart showing an example of a case where the distance measuring method shown in FIG. 8 is applied to a vehicle driving technique (particularly a technique for avoiding the vehicle coming into contact with an obstacle).

The LiDAR control unit 12 determines the possibility of contact between the vehicle and the obstacle candidate based on the peripheral information and analysis information (see S5 and S6 in FIG. 8) derived from the result of the region of interest fine scan (FIG. 9). S11). The contact possibility can be determined by comprehensively considering various information. For example, the possibility of contact between the vehicle and the obstacle candidate may be determined based on the relative position (for example, distance and direction) between the vehicle and the obstacle candidate. When the LiDAR control unit 12 determines that the contact possibility between the vehicle and the obstacle candidate is not large (N in S12), the contact possibility determination is continuously repeated (S11).

On the other hand, when the LiDAR control unit 12 determines that the possibility of contact between the vehicle and the obstacle candidate is high (Y in S12), the LiDAR control unit 12 avoids contact with the vehicle based on peripheral information and analysis information. It is determined whether or not the operation is possible (S13). The contact avoidance operation is not limited, but the operation of changing the vehicle course by the steering operation may be included in the contact avoidance operation. When the LiDAR control unit 12 determines that the contact avoidance operation is possible (Y in S14), the LiDAR control unit 12 causes the vehicle to execute the contact avoidance operation (S15).

On the other hand, when the LiDAR control unit 12 determines that the contact avoidance operation is not possible (N in S14), the LiDAR control unit 12 determines whether or not the vehicle braking operation is possible based on the peripheral information and the analysis information. Judgment (S16). When the LiDAR control unit 12 determines that the braking operation is possible (Y in S17), the LiDAR control unit 12 causes the vehicle to execute the braking operation (S18).

On the other hand, when the LiDAR control unit 12 determines that the braking operation is not possible (N in S17), the LiDAR control unit 12 causes the vehicle to perform an emergency operation. The emergency operation is not limited, and for example, an operation of stopping the vehicle in an emergency and an operation of notifying the driver that an emergency situation has occurred may be included in the emergency operation.

Then, the LiDAR control unit 12 determines whether or not the vehicle can continue to run based on the peripheral information and the analysis information (S20). When the LiDAR control unit 12 determines that the vehicle can continue to run (Y in S21), the LiDAR control unit 12 can again make contact between the vehicle and the obstacle candidate based on the peripheral information and the analysis information. The sex is determined (S11).

On the other hand, when the LiDAR control unit 12 determines that the continuous running of the vehicle is not possible (N in S21), the LiDAR control unit 12 issues a command signal for stopping the running of the vehicle, and the vehicle is completely stopped. (S22).

Below, other application examples of the above-mentioned ranging method are illustrated.

[Application example 1]
When driving a vehicle on a road (for example, a highway), the relative between the own vehicle and an obstacle candidate located on the planned driving route (for example, another vehicle or an obstacle on the road) and an obstacle candidate near the planned driving route. The above-mentioned distance measuring method can be applied to the detection of the positional relationship.

For example, the scan range of a wide range co-earth scan can be determined based on the lane on the planned driving route (that is, the driving lane) and the lane adjacent to the driving lane (that is, the adjacent lane).

In the area of interest fine scan process, obstacle candidates can be scanned with a resolution that can be classified into falling objects, vehicles, motorcycles, and the like.

[Application example 2]
The above-mentioned distance measuring method can be performed when the vehicle travels on a city road where a building such as a house exists nearby and pedestrians may exist.

For example, determine the scan range of a wide range of co-earth scans based on the roads (including roadways and sidewalks) where people and animals are likely to walk in the vicinity of the driving lane, in addition to the driving lane and adjacent lanes on the planned driving route. Can be done.

In the area of interest fine scan process, it is possible to scan with a resolution that can classify obstacle candidates into many types (including interfering objects such as food stalls). In addition, it is possible to acquire time-series search information with a resolution sufficient for tracking the dynamic behavior of a pedestrian. In this way, detailed directional information and vehicle trajectory information for avoiding contact with the vehicle can be acquired in the region of interest.

[Application example 3]
The above-mentioned distance measuring method can be performed when the vehicle travels in an accident-prone area with wild animals (for example, a country road at night) and the map information such as LDM is acquired in advance.

For example, determine the scan range of a wide range of co-earth scans based on the roads (including roadways and sidewalks) where people and animals are likely to walk in the vicinity of the driving lane, in addition to the driving lane and adjacent lanes on the planned driving route. Can be done.

In the area of interest fine scan process, the scan range can be a three-dimensional space based on the position of the failure candidate identified from the result of the wide area co-earth scan.

[Application example 4]
When the vehicle is parked in the garage where the unspecified object is arranged, the above-mentioned distance measuring method can be performed.

For example, the LiDAR control unit 12 can recognize the approximate space shape of the garage from the result of the wide area co-earth scan, and can also recognize the presence / absence and position of protrusions in the garage.

In the area of interest fine scan process, it is possible to scan with a high resolution that can detect objects that may come into contact with each other in the garage. For example, in the case of a home garage, the time constraints are relatively loose, so it is possible to perform a fine scan of the region of interest at a very high resolution over time.

As described above, since the above-mentioned LiDAR device 11 uses the reflective surface 32 having a partial shape of an ellipse, it is advantageous to suppress the degree of protrusion from the installation target such as a vehicle, and the LiDAR device 11 protrudes from the installation target at all. It is also possible to install it so that it does not.

Further, by using the reflective surface 32 (see FIG. 2) having a part shape of the outer peripheral surface of the spheroid, the reflective surface 32 can be easily formed and the size of the occupied space of the reflective surface 32 can be suppressed. can.

Further, by using the reflecting surface 32 (see FIG. 4) having a part of the shape of the side surface of the elliptical column, the reflecting surface 32 basically appropriately reflects the laser beam L traveling in all directions and is second. It can be advanced towards focus F2.

Further, since the optical path adjusting unit 23 has a MEMS mirror, the LiDAR device 11 can perform adaptive and variable speed scanning.

Further, by arranging the optical path adjusting unit 23 at the first focal point F1, the laser beam L can appropriately pass through the first focal point F1.

Further, as shown in FIG. 5, the optical path adjusting unit 23 adjusts the traveling direction of the laser beam L on the outside of the reflector 22 so that the laser beam L is incident on the inside of the reflector 22 via the inlet passing portion 34. Therefore, it is possible to promote the miniaturization of the reflector 22.

Further, by arranging the exit passing portion 33 at the position of the second focal point F2, it is easy to design the device based on the second focal point F2 which is the substantial center of laser light scanning.

Further, the exit window portion 38 (see FIG. 6) through which the laser beam L after reflection passes on the reflection surface 32 has a diameter smaller than the minor axis of the ellipse formed by the reflection surface 32, so that the exit window portion 38 is small and conspicuous. It can be configured so that it does not.

Further, by arranging the exit window portion 38 at the position of the second focal point F2, it is possible to minimize the size of the exit window portion 38.

Further, by connecting the outer surface of the exit window portion 38 and the outer surface of the window support portion 39 to each other without a step, the connection portion of the exit window portion 38 and the window support portion 39 has a smooth outer surface without having a protruding structure. be able to.

Further, by providing the LiDAR device 11 with an optical element 26 as required, it is possible to emit the laser beam L having desired optical characteristics from the LiDAR device 11.

Further, by combining the LiDAR control unit 12 with the LiDAR device 11 provided with the reflecting surface 32 having a part of the ellipse shape, the degree of protrusion of the LiDAR system 10 from the installation target is suppressed, and a wide range of the surrounding environment is covered. Laser light scanning can be performed. Similarly, by implementing a distance measuring method using a laser beam L reflected by a reflecting surface 32 having a part of an ellipse, the surrounding environment can be suppressed while suppressing the degree of protrusion of the LiDAR system 10 from the installation target. A wide range of laser light scanning can be performed.

Further, as shown in FIG. 8, by combining a wide area co-earth scan and a fine area of interest scan, light detection and distance measurement for a wide range and acquisition of detailed information on failure candidates can be performed in a short time and with high accuracy. be able to. Similarly, by a distance measuring method in which a wide range co-earth scan and a fine scan of a region of interest are performed, it is possible to perform light detection and distance measurement for a wide range and acquire detailed information on failure candidates in a short time and with high accuracy. can. In particular, by specifying the region of interest in the surrounding environment based on the analysis of the captured image D1, the region of interest can be specified with high accuracy.

It should be noted that the embodiments and variations disclosed herein are merely exemplary in all respects and are not to be construed in a limited way. The above-described embodiments and modifications can be omitted, replaced or modified in various forms without departing from the scope and purpose of the attached claims. For example, the above-described embodiment and modification may be combined, or an embodiment other than the above may be combined with the above-mentioned embodiment or modification. In addition, the effects of the present disclosure described herein are merely exemplary and may have other effects.

Also, the technical categories that embody the above-mentioned technical ideas are not limited. For example, the above-mentioned technical idea may be embodied by a computer program for causing a computer to execute one or a plurality of procedures (steps) included in the above-mentioned distance measuring method. Further, the above-mentioned technical idea may be embodied by a computer-readable non-transitory recording medium in which such a computer program is recorded.

The present disclosure may also have the following structure.
[Item 1]
A light emitting part that emits laser light and
A reflector including a reflective surface having a partial shape of an ellipse and reflecting the laser beam, and an outlet passing portion through which the laser beam reflected by the reflective surface passes.
An optical path adjusting unit that adjusts the traveling direction of the laser beam so that the laser beam is reflected by the reflecting surface after passing through the position of one focal point of the ellipse.
A LiDAR device comprising.
[Item 2]
Item 2. The LiDAR device according to Item 1, wherein the reflective surface has a shape of a part of the outer peripheral surface of a spheroid.
[Item 3]
The LiDAR device according to item 1 or 2, wherein the reflective surface has a shape of a part of a side surface of an elliptical column.
[Item 4]
The LiDAR device according to any one of items 1 to 3, wherein the optical path adjusting unit has a MEMS mirror.
[Item 5]
The LiDAR device according to any one of items 1 to 4, wherein the optical path adjusting unit is arranged at the position of one of the focal points.
[Item 6]
The reflector has an inlet passage through which the laser beam can pass.
The optical path adjusting portion adjusts the traveling direction of the laser light outside the reflector, and the laser light passes through the inlet passing portion and enters the inside of the reflector, and then is reflected by the reflecting surface. The LiDAR apparatus according to any one of items 1 to 5.
[Item 7]
The LiDAR device according to any one of items 1 to 6, wherein the exit passage portion is arranged at the position of the other focal point of the ellipse.
[Item 8]
A cover body having an emission window portion through which the laser beam after reflection is passed by the reflection surface is provided.
The LiDAR device according to any one of Items 1 to 7, wherein the exit window portion has a diameter smaller than the minor axis of the ellipse.
[Item 9]
The LiDAR device according to item 8, wherein the exit window portion is arranged at the position of the other focal point of the ellipse.
[Item 10]
The cover body has a window support portion that supports the exit window portion, and the cover body has a window support portion.
The LiDAR device according to item 8 or 9, wherein the outer surface of the exit window portion and the outer surface of the window support portion are connected to each other without a step.
[Item 11]
The LiDAR apparatus according to any one of Items 1 to 10, further comprising an optical element to which the laser beam is incident.
[Item 12]
A reflector including a light emitting portion that emits laser light, a reflecting surface that has a partial shape of an ellipse and reflects the laser light, and an outlet passing portion through which the laser light reflected by the reflecting surface passes. A LiDAR device comprising an optical path adjusting unit that adjusts the traveling direction of the laser light so that the laser light passes through the position of one focal point of the ellipse and then is reflected by the reflecting surface.
A LiDAR system including at least a LiDAR control unit that controls the optical path adjustment unit.
[Item 13]
Equipped with an environment image acquisition unit that acquires captured images of the surrounding environment
The LiDAR control unit
Based on the analysis of the captured image, the area of interest in the surrounding environment is identified.
The LiDAR system according to item 12, wherein the optical path adjusting unit is controlled so that the laser beam emitted from the LiDAR device travels toward the region of interest in the surrounding environment.
[Item 14]
The process of emitting laser light from the light emitting part of the LiDAR device,
The optical path is such that the laser beam passes through the position of one focal point of the ellipse, then is reflected by the reflecting surface of the reflector having the shape of a part of the ellipse, and then passes through the exit passage portion of the reflector. The process of adjusting the traveling direction of the laser beam by the adjusting unit, and
Distance measurement method including.
[Item 15]
Including the step of identifying the region of interest in the surrounding environment based on the analysis of the captured image of the surrounding environment.
The distance measuring method according to item 14, wherein the traveling direction of the laser beam is adjusted by the optical path adjusting unit so that the laser beam is advanced toward the region of interest in the surrounding environment.
[Item 16]
The step of emitting laser light from the light emitting part of the LiDAR device,
The optical path is such that the laser beam passes through the position of one focal point of the ellipse, then is reflected by the reflecting surface of the reflector having the shape of a part of the ellipse, and then passes through the exit passage portion of the reflector. The step of adjusting the traveling direction of the laser beam by the adjusting unit, and
A program that lets your computer run.
[Item 17]
Have the computer perform the steps to identify the area of interest in the surrounding environment based on the analysis of the captured image of the surrounding environment.
The program according to item 16, wherein the traveling direction of the laser beam is adjusted by the optical path adjusting unit so as to advance the laser beam toward the region of interest in the surrounding environment.

10 LiDAR system 11 LiDAR device 12 LiDAR control unit 21 Light emitting unit 22 Reflector 23 Optical path adjustment unit 26 Optical element 32 Reflective surface 33 Exit passage 34 Entrance passage 38 Exit window 39 Window support 50 Imaging device F1 First focus F2 Second focus L laser light

Claims (17)

1. A light emitting part that emits laser light and
   A reflector including a reflective surface having a partial shape of an ellipse and reflecting the laser beam, and an outlet passing portion through which the laser beam reflected by the reflective surface passes.
   An optical path adjusting unit that adjusts the traveling direction of the laser beam so that the laser beam is reflected by the reflecting surface after passing through the position of one focal point of the ellipse.
   A LiDAR device comprising.
2. The LiDAR device according to claim 1, wherein the reflective surface has a shape of a part of the outer peripheral surface of a spheroid.
3. The LiDAR device according to claim 1, wherein the reflective surface has a shape of a part of a side surface of an elliptical column.
4. The LiDAR device according to claim 1, wherein the optical path adjusting unit has a MEMS mirror.
5. The LiDAR device according to claim 1, wherein the optical path adjusting unit is arranged at the position of one of the focal points.
6. The reflector has an inlet passage through which the laser beam can pass.
   The optical path adjusting portion adjusts the traveling direction of the laser light outside the reflector, and the laser light passes through the inlet passing portion and enters the inside of the reflector, and then is reflected by the reflecting surface. The LiDAR apparatus according to claim 1.
7. The LiDAR device according to claim 1, wherein the exit passage portion is arranged at the position of the other focal point of the ellipse.
8. A cover body having an emission window portion through which the laser beam after reflection is passed by the reflection surface is provided.
   The LiDAR device according to claim 1, wherein the exit window portion has a diameter smaller than the minor axis of the ellipse.
9. The LiDAR device according to claim 8, wherein the exit window portion is arranged at the position of the other focal point of the ellipse.
10. The cover body has a window support portion that supports the exit window portion, and the cover body has a window support portion.
    The LiDAR device according to claim 8, wherein the outer surface of the exit window portion and the outer surface of the window support portion are connected to each other without a step.
11. The LiDAR device according to claim 1, further comprising an optical element to which the laser beam is incident.
12. A reflector including a light emitting portion that emits laser light, a reflecting surface that has a partial shape of an ellipse and reflects the laser light, and an outlet passing portion through which the laser light reflected by the reflecting surface passes, and the above. A LiDAR device comprising an optical path adjusting unit that adjusts the traveling direction of the laser light so that the laser light passes through the position of one focal point of the ellipse and then is reflected by the reflecting surface.
    A LiDAR system including at least a LiDAR control unit that controls the optical path adjustment unit.
13. Equipped with an environment image acquisition unit that acquires captured images of the surrounding environment
    The LiDAR control unit
    Based on the analysis of the captured image, the area of interest in the surrounding environment is identified.
    The LiDAR system according to claim 12, wherein the optical path adjusting unit is controlled so that the laser beam emitted from the LiDAR device travels toward the region of interest in the surrounding environment.
14. The process of emitting laser light from the light emitting part of the LiDAR device,
    The optical path is such that the laser beam passes through the position of one focal point of the ellipse, then is reflected by the reflecting surface of the reflector having the shape of a part of the ellipse, and then passes through the exit passage portion of the reflector. The process of adjusting the traveling direction of the laser beam by the adjusting unit, and
    Distance measurement method including.
15. Including the step of identifying the region of interest in the surrounding environment based on the analysis of the captured image of the surrounding environment.
    The distance measuring method according to claim 14, wherein the traveling direction of the laser beam is adjusted by the optical path adjusting unit so as to advance the laser beam toward the region of interest in the surrounding environment.
16. The step of emitting laser light from the light emitting part of the LiDAR device,
    The optical path is such that the laser beam passes through the position of one focal point of the ellipse, then is reflected by the reflecting surface of the reflector having the shape of a part of the ellipse, and then passes through the exit passage portion of the reflector. The step of adjusting the traveling direction of the laser beam by the adjusting unit, and
    A program that lets your computer run.
17. Have the computer perform the steps to identify the area of interest in the surrounding environment based on the analysis of the captured image of the surrounding environment.
    16. The program according to claim 16, wherein the traveling direction of the laser beam is adjusted by the optical path adjusting unit so as to advance the laser beam toward the region of interest in the surrounding environment.

Images