Image capture control device, image capture control method, and recording medium

1. An image capture control device that controls an imaging device, the imaging device including an infrared light irradiation unit, an infrared light reception unit, and a visible light reception unit, the image capture control device comprising:

a distance detector that measures a distance to a target that reflects transmission pulses with a time-of-flight (TOF) method, based on a time difference between a time when the infrared light irradiation unit emits the transmission pulses and a time when the infrared light reception unit receives infrared light;

a recognition unit that determines whether a peripheral situation of peripheral of the imaging device corresponds to a predetermined situation based on image data generated by the visible light reception unit that has received visible light; and

a controller that causes the infrared light irradiation unit to increase a pulse number of the transmission pulses to be emitted to the target when the recognition unit determines that the peripheral situation corresponds to the predetermined situation.

2. The image capture control device according to claim 1 , wherein the predetermined situation is a situation in which the target has a low reflective color that is a color whose reflection rate to the transmission pulses is less than a predetermined threshold value for the reflection rate.

3. The image capture control device according to claim 2 , wherein

the distance detector generates distance image data based on infrared image data generated by the distance detector, and

the recognition unit extracts the target from the distance image data, and gives an object identification (ID) to the target.

4. The image capture control device according to claim 3 , wherein the recognition unit extracts a contour of the target from the image data, and determines whether the low reflective color is present inside the contour.

5. The image capture control device according to claim 4 , wherein the recognition unit determines whether a portion having a distance difference greater than or equal to a predetermined value in a portion corresponding to an inner side of the contour in the distance image data, and, when the recognition unit determines that the portion having the distance difference is present, determines whether a peripheral situation corresponds to the predetermined situation based on the image data.

6. The image capture control device according to claim 2 , wherein the controller controls the infrared light irradiation unit to increase the pulse number of the transmission pulses, and increase pulse intensity of the transmission pulses.

7. The image capture control device according to claim 2 , wherein the recognition unit extracts a part of infrared image data, the part being of the target and regionally divided from the infrared image data generated by the distance detector, and generates distance image data based on the part of the infrared image data.

8. The image capture control device according to claim 2 , wherein the controller that causes the infrared light irradiation unit to increase a pulse number of the transmission pulses to be emitted to the target when the recognition unit determines that the target includes the low reflective color, and a relative speed with the target is less than or equal to a predetermined threshold value for the relative speed.

9. The image capture control device according to claim 1 , wherein the controller lowers a frame rate of infrared image data generated by the distance detector when increasing the pulse number of the transmission pulses.

10. The image capture control device according to claim 9 , wherein the controller determines whether an area rate of a portion with the low reflective color in the target with respect to a whole of the target in the image data is less than or equal to a predetermined threshold value for the area rate, and does not decrease the frame rate of the infrared image data when determining that the area rate is less than or equal to the predetermined threshold value for the area rate.

11. The image capture control device according to claim 9 , wherein the controller determines whether the target is a moving object, and does not decrease the frame rate of the infrared image data when determining that the target is the moving object.

12. The image capture control device according to claim 1 , wherein the predetermined situation is a situation where backlight is present in the periphery.

13. The image capture control device according to claim 1 , wherein the predetermined situation is a situation where fog is present in the periphery.

14. An image capture control method that controls an imaging device including an infrared light irradiation unit, an infrared light reception unit, and a visible light reception unit, the image capture control method comprising:

measuring a distance to a target that reflects transmission pulses with a time-of-flight (TOF) method, based on a time difference between a time when the infrared light irradiation unit emits the transmission pulses and a time when the infrared light reception unit receives infrared light;

determining whether a peripheral situation corresponds to a predetermined situation of the peripheral of imaging device based on image data generated by the visible light reception unit that has received visible light; and

controlling the infrared light irradiation unit to increase a pulse number of the transmission pulses to be emitted to the target when the peripheral situation is determined to correspond to the predetermined situation.

15. A non-transitory computer-readable storage medium that stores an executable program for an image capture control method that controls an imaging device including an infrared light irradiation unit, an infrared light reception unit, and a visible light reception unit, the program causing a computer to perform:

measuring a distance to a target that reflects transmission pulses with a time-of-flight (TOF) method, based on a time difference between a time when the infrared light irradiation unit emits the transmission pulses and a time when the infrared light reception unit receives infrared light;

determining whether a peripheral situation corresponds to a predetermined situation based on image data generated by the visible light reception unit that has received visible light; and

controlling the infrared light irradiation unit to increase a pulse number of the transmission pulses to be emitted to the target when the peripheral situation is determined to correspond to the predetermined situation.