Image acquiring apparatus for vehicle, control device, vehicle having image acquiring apparatus for vehicle or control device, and image acquiring method for vehicle
An image acquiring apparatus for a vehicle includes a light emitting unit configured to emit pulse light to a predetermined direction, an image acquisition unit configured to acquire a plurality of different images of target distance ranges by imaging reflected light returning from the target distance ranges at imaging timings set according to the target distance ranges, and a timing controller configured to control a light emission cycle of the pulse light and the imaging timings. The timing controller is configured to control the light emission cycle and the imaging timings such that the light emission cycle and the imaging timings are modulated by random numbers.
1. An image acquiring apparatus for a vehicle comprising:
a light emitting unit configured to emit pulse light to a predetermined direction;
an image acquisition unit configured to acquire a plurality of different images of target distance ranges by imaging reflected light returning from the target distance ranges at imaging timings set according to the target distance ranges; and
a timing controller configured to control a light emission cycle of the pulse light and the imaging timings, the light emission cycle representing a timing difference between two consecutive light emissions,
wherein the timing controller is configured to control the light emission cycle and the imaging timings such that the light emission cycle and the imaging timings are modulated by random numbers, and
wherein the timing controller is configured to modulate the light emission cycle and the imaging timings by adding a time generated randomly to each of a basic interval period of the light emission cycle and a basic interval period of the imaging timings.
2. The image acquiring apparatus according to claim 1 ,
wherein the timing controller is configured to perform control such that a part of the basic interval period is changed for the target distance ranges, and
wherein the timing controller is configured to perform control such that the time generated randomly is added to each of the different basic interval periods for the different target distance ranges.
3. A control device for controlling an image acquiring apparatus for a vehicle,
the vehicle comprising:
a light emitting unit configured to emit pulse light to a predetermined direction, and
an image acquisition unit configured to acquire a plurality of different images of target distance ranges by imaging reflected light returning from the target distance ranges at imaging timings set according to the target distance ranges,
the control device comprising:
a controller configured to control a light emission cycle of the pulse light and the imaging timings such that the light emission cycle and the imaging timings are modulated by random numbers,
wherein the light emission cycle representing a timing difference between two consecutive light emissions, and
wherein the controller is configured to modulate the light emission cycle and the imaging timings by adding a time generated randomly to each of a basic interval period of the light emission cycle and a basic interval period of the imaging timings.
4. An image acquiring method for a vehicle, comprising:
acquiring a plurality of different images of target distance ranges by imaging reflected light of pulse light emitted to a predetermined direction while changing imaging timings; and
controlling a light emission cycle of the pulse light and the imaging timings such that the light emission cycle and the imaging timings are modulated by random numbers,
wherein the light emission cycle represents a timing difference between two consecutive light emissions, and
wherein modulating the light emission cycle and the imaging timings comprises adding a time generated randomly to each of a basic interval period of the light emission cycle and a basic interval period of the imaging timings.
5. A vehicle comprising:
the image acquiring apparatus according to claim 1 .
6. The control device according to claim 3 ,
wherein the timing controller is configured to perform control such that a part of the basic interval period is changed for the target distance ranges, and
wherein the timing controller is configured to perform control such that the time generated randomly is added to each of the different basic interval periods for the different target distance ranges.
7. The image acquiring method according to claim 4 ,
wherein the controlling includes performing control such that a part of the basic interval period is changed for the target distance ranges, and
wherein the time generated randomly is added to each of the different basic interval periods for the different target distance ranges.