Imaging system, movable apparatus, imaging method, and storage medium

1 . An imaging system comprising:

a plurality of pixels each including a sensor unit configured to output pulses corresponding to photons and

a counter configured to count the number of pulses; and

at least one processor or circuit configured to function as:

a control unit configured to generate a signal on the basis of a difference between count values of the counter when a storage period starts and when the storage period ends, perform storage operations of a first storage period and a second storage period within one full-frame period, and perform a control process in which the first storage period is shorter than the second storage period and a signal generated in the first storage period is output between an end of the first storage period and an end of the second storage period; and

a recognition unit configured to perform a recognition process on the basis of the generated signal and change a recognition frequency on the basis of driving state information about a driving state of a movable apparatus.

2 . The imaging system according to claim 1 , wherein intervals between timings at which the recognition unit starts the recognition process are equal.

3 . The imaging system according to claim 1 , wherein the first storage period overlaps the second storage period.

4 . The imaging system according to claim 3 , wherein the first storage period and the second storage period simultaneously start.

5 . The imaging system according to claim 1 , wherein the time when the second storage period ends coincides with the time when the full-frame period ends.

6 . The imaging system according to claim 1 , wherein the recognition unit recognizes a subject on the basis of at least the signal generated in the first storage period.

7 . The imaging system according to claim 6 , wherein the recognition unit further recognizes the subject on the basis of a signal generated in the second storage period.

8 . The imaging system according to claim 6 , wherein the recognition unit performs the recognition process of the subject based on the signals generated in the plurality of first storage periods within the second storage period.

9 . The imaging system according to claim 1 , comprising a display unit configured to display at least the signal generated in the second storage period as an image.

10 . The imaging system according to claim 1 , wherein the sensor unit includes an avalanche photodiode.

11 . The imaging system according to claim 1 , wherein the driving state information includes at least one of a traveling speed of the movable apparatus, a steering angle of the movable apparatus, response characteristics of a driver of the movable apparatus, the age of the driver, and a surrounding environment of the movable apparatus.

12 . A movable apparatus comprising:

a plurality of pixels each including a sensor unit configured to output pulses corresponding to photons and

a counter configured to count the number of pulses; and

at least one processor or circuit configured to function as:

a control unit configured to generate a signal on the basis of a difference between count values of the counter when a storage period starts and when the storage period ends, perform storage operations of a first storage period and a second storage period within one full-frame period, and perform a control process in which the first storage period is shorter than the second storage period and a signal generated in the first storage period is output between an end of the first storage period and an end of the second storage period;

a recognition unit configured to perform a recognition process on the basis of the generated signal and change a recognition frequency on the basis of driving state information about a driving state of a movable apparatus; and

a movement control unit configured to control an operation of the movable apparatus on the basis of a result of the recognition process using at least the signal generated in the first storage period.

13 . An imaging method of an imaging system including a plurality of pixels each including a sensor unit configured to output pulses corresponding to photons and

a counter configured to count the number of pulses; and, the imaging method comprising:

generating a signal on the basis of a difference between count values of the counter when a storage period starts and when the storage period ends;

performing storage operations of a first storage period and a second storage period within one full-frame period and performing a control process in which the first storage period is shorter than the second storage period and a signal generated in the first storage period is output between an end of the first storage period and an end of the second storage period; and

performing a recognition process on the basis of the generated signal and changing a recognition frequency on the basis of driving state information about a driving state of a movable apparatus.

14 . A non-transitory computer-readable storage medium configured to store a computer program to control an imaging system,

wherein the imaging system includes:

a plurality of pixels each including a sensor unit configured to output pulses corresponding to photons and

a counter configured to count the number of pulses, and

wherein the computer program comprises instructions for executing following processes of:

generating a signal on the basis of a difference between count values of the counter when a storage period starts and when the storage period ends;

performing storage operations of a first storage period and a second storage period within one full-frame period and performing a control process in which the first storage period is shorter than the second storage period and a signal generated in the first storage period is output between an end of the first storage period and an end of the second storage period; and

performing a recognition process on the basis of the generated signal and changing a recognition frequency on the basis of driving state information about a driving state of a movable apparatus.