Measurement device, measurement method, and non-transitory storage medium

1. A measurement device mounted to a moving body, the measuring device comprising:

an irradiator and a receiver which perform measurement by emitting electromagnetic waves and scanning an object with the electromagnetic waves;

a memory configured to store instructions; and

a processor configured to execute the instructions to control the irradiator and the receiver,

wherein the irradiator and the receiver are operable in a first scan mode in which the object is scanned in a first direction, and a second scan mode in which the object is scanned in a second direction different from the first direction, and

wherein the processor determines a scan mode to be executed by the irradiator and the receiver based on a moving state of the moving body, and

wherein the processor:

acquires information on a current position of the moving body;

acquires information on a traveling direction of the moving body;

acquires map information; and

determines the scan mode, based on the information on the current position, the information on the traveling direction, and the map information.

2. The measurement device according to claim 1 , wherein the first direction is a direction from left to right with respect to the traveling direction of the moving body,

wherein the second direction is a direction from right to left with respect to the traveling direction of the moving body, and

wherein the irradiator and the receiver perform vertical scanning in a height direction of the moving body.

3. The measurement device according to claim 1 , wherein the processor determines the scan mode, based on a steering signal of a steering wheel of the moving body.

4. The measurement device according to claim 3 , wherein the processor determines the scan mode as the first scan mode, in a case where the steering wheel is turned to left by a predetermined angle or more, and determines the scan mode as the second scan mode, in a case where the steering wheel is turned to right by a predetermined angle or more.

5. The measurement device according to claim 4 , wherein the irradiator and the receiver are also operable in a third mode in which the object is scanned by performing a reciprocating operation in the first direction and the second direction, and

wherein the processor determines the scan mode as the third scan mode, in a case where the steering wheel is not turned to the left by a predetermined angle or more, and is not turned to the right by a predetermined angle or more.

6. The measurement device according to claim 1 , wherein the processor determines the scan mode, based on a planned travel route of the moving body.

7. The measurement device according to claim 6 , wherein the processor determines the scan mode as the first scan mode in a case where it is predicted that a steering wheel of the moving body is turned to left by a predetermined angle or more within a predetermined traveling distance, based on the planned travel route, and determines the scan mode as the second scan mode in a case where it is predicted that the steering wheel of the moving body is turned to right by a predetermined angle or more within a predetermined traveling distance, based on the planned travel route.

8. The measurement device according to claim 7 , wherein the irradiator and the receiver are also operable in a third mode in which the object is scanned by performing a reciprocating operation in the first direction and the second direction, and

wherein the processor determines the scan mode as the third scan mode in a case where it is not predicted that the steering wheel of the moving body is turned to the left and the right by a predetermined angle or more within the predetermined traveling distance, based on the planned travel route.

9. The measurement device according to claim 1 , wherein the processor is operable in a first determination mode in which the scan mode is determined based on a steering signal of a steering wheel of the moving body and in a second determination mode in which the scan mode is determined based on a planned travel route of the moving body, and switches the determination mode in accordance with a traveling speed of the moving body.

10. The measurement device according to claim 1 , wherein the processor fixes the scan mode to any one of the scan modes, in a case where a traveling speed of the moving body is less than a predetermined value, and determines one of a plurality of the scan modes, based on a steering signal of a steering wheel of the moving body or a planned travel route of the moving body, in a case where the traveling speed of the moving body is a predetermined value or more.

11. A measurement method executed by a computer mounted to a moving body, the measurement method comprising:

performing measurement by emitting electromagnetic waves and scanning object with the electromagnetic waves; and

controlling the measurement,

wherein the measurement is operable in a first scan mode in which the object is scanned in a first direction, and a second scan mode in which the object is scanned in a second direction different from the first direction, and

wherein, in the controlling the measurement;

a scan mode to be executed in the measurement is determined based on a moving state of the moving body;

information on a current position of the moving body is acquired;

information on a traveling direction of the moving body is acquired;

map information is acquired; and

the scan mode, based on the information on the current position, the information on the traveling direction, and the map information is determined.

12. A non-transitory storage medium storing a program causing a computer mounted to a moving body to:

perform measurement by emitting electromagnetic waves and scanning an object with the electromagnetic waves; and

control the measurement,

wherein the measurement is operable in a first scan mode in which the object is scanned in a first direction, and a second scan mode in which the object is scanned in a second direction different from the first direction, and

wherein the computer:

determines a scan mode to be executed in the measurement based on a moving suite of the moving body;

acquires information on a current position of the moving body;

acquires information on a traveling direction of the moving body;

acquires map information; and

determines the scan mode, based on the information on the current position, the information on the trawling direction, and the map information.

13. A measurement device mounted to a moving body, the measurement device comprising:

an irradiator and a receiver which perform measurement by emitting electromagnetic waves and scanning an object with the electromagnetic waves;

a memory configured to store instructions; and

a processor configured to execute the instructions to control the irradiator and the receiver,

wherein the irradiator and the receiver are operable in a first scan mode in which the object is scanned in a first direction, and a second scan mode in which the object is scanned in a second direction different from the first direction, and

wherein the processor determines a scan mode, as one of the first scan mode and the second scan mode, based on a planned travel route of the moving body from a current position to a destination input by a user.

14. The measurement device according to claim 13 , wherein the processor determines the scan mode as the first scan mode in a case where it is predicted that a steering wheel of the moving body is turned to left by a predetermined angle or more within a predetermined traveling distance, based on the planned travel route, and determines the scan mode as the second scan mode in a case where it is predicted that the steering wheel of the moving body is turned to right by a predetermined angle or more within a predetermined traveling distance, based on the planned travel route.

15. A measurement device mounted to a moving laxly, measurement device comprising:

an irradiator and a receiver which perform measurement by emitting electromagnetic waves and scanning an object with the electromagnetic waves;

a memory configured to store instructions; and

a processor configured to execute the instructions to control the irradiator and the receiver,

wherein the irradiator and the receiver are operable in a first scan mode in which the object is scanned in a first direction, and a second scan mode in which the object is scanned in a second direction different from the first direction, and

wherein the processor is operable in a first determination mode in which the scan mode is determined based on a steering signal of a steering wheel of the moving body and in a second determination mode in which the scan mode is determined based on a planned travel route of the moving body, and switches the determination mode in accordance with a traveling speed of the moving body.

16. A measurement method executed by a computer mounted to a moving body, the measurement method comprising:

performing measurement by emitting electromagnetic waves and scanning an object with the electromagnetic waves; and

controlling the measurement,

wherein the measurement is operable in a first scan mode in which the object is scanned in a first direction from left to right with respect to a traveling direction of the moving body, and a second scan mode in which the object is scanned in a second direction, different from the first direction, the second direction being a direction from right to left with respect to the traveling direction of the moving body,

wherein, in the controlling the measurement, a scan mode, as one of the first scan mode and the second scan mode, is determined based on a planned travel route of the moving body from a current position to a destination input by a user, and

wherein the performing measurement is performed by a vertical scanning in a height direction of the moving body.