To provide a technique for suppressing erroneous detection of distance between a vehicle and an object by suppressing interference between laser beams.SOLUTION: A ranging device 14 includes: a first acquisition portion 101a for acquiring a photographed image from a photographing device 16 for photographing the outside of a vehicle; a detection portion 102 for detecting an object outside the vehicle; a second acquisition portion 101b for acquiring a ranging result from a first ranging device 12 for measuring distance between the vehicle and an object by applying laser beams to the outside of the vehicle when the detection portion 102 detects distance to the object; a ranging control portion 103 for stopping irradiation of laser beams to the object by the first ranging device 12 when the second acquisition portion 101b acquires a ranging result; and an estimation portion 104 for estimating distance between the vehicle and the object on the basis of the ranging result acquired by the second acquisition portion 101b and a shift of a form of the object in the photographed image acquired by the first acquisition portion 101a after stopping irradiation of laser beams.SELECTED DRAWING: Figure 3
【課題】レーザ光同士の干渉を抑制し、車両とオブジェクトとの距離の誤検出を抑制する技術を提供する。【解決手段】本開示の測距装置14は、車両外部を撮影する撮影装置16からの撮影映像を取得する第1取得部101aと、車両外部のオブジェクトを検出する検出部102と、検出部102がオブジェクトを検出した場合、レーザ光を車両外部に照射することにより車両とオブジェクトとの間の距離を測定する第1測距装置12から、測距結果を取得する第2取得部101bと、第2取得部101bが測距結果を取得した場合、第1測距装置12によるオブジェクトへのレーザ光の照射を停止させる測距制御部103と、レーザ光の照射の停止後、第2取得部101bが取得した測距結果と、第1取得部101aが取得した撮影映像における前記オブジェクトの形態の推移とに基づき、車両と前記オブジェクトとの間の距離を推定する推定部104と、を備える。【選択図】図3
RANGING DEVICE AND RANGING METHOD
測距装置及び測距方法
2024-02-16
Patent
Electronic Resource
Japanese
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