Light signal detection device, range finding device, and detection method

1. A light signal detection device comprising:

an irradiation unit configured to emit irradiation light towards an object a plurality of times;

a light receiving optical system configured to receive a reflection signal of the irradiation light that is reflected from the object for the plurality of times that the irradiation light is emitted towards the object; and

circuitry configured to:

binarize the received reflection signal using a first threshold value based on whether the reflection signal is equal to or greater than the first threshold value;

binarize the received reflection signal using a second threshold value based on whether the reflection signal is equal to or greater than the second threshold value, the second threshold value having a value similar to a noise signal value;

generate an undershoot in the reflection signal;

binarize the reflection signal including the undershoot using a third threshold value, based on whether the reflection signal including the undershoot is equal to or less than the third threshold value, the third threshold value being set smaller than a base voltage of the reflection signal;

measure a time difference between a time at which the irradiation unit emits the irradiation light and a time at which a reflection signal that is equal to or greater than either of the first threshold value or the second threshold value is received;

create a first histogram by voting an indicator indicating that the reflection signal is coming from the object based on the signals binarized using the second binarization value; and

create a second histogram by voting an indicator indicating that the reflection signal is coming from the object based on the signals binarized using the third binarization value, wherein

the reflection signals are binarized along the timeline,

in response to binarizing the reflection signal using the second binarization value and the third binarization value along a timeline, the circuitry determines a time at which a reflection signal that is equal to or greater than the second threshold value caused by a reflection from the object based on the binarizing of the reflection signal using the second threshold value and the binarizing of the reflection signal using the third threshold value, and

in a case where the first histogram and the second histogram have a given relationship, the circuitry determines a position indicating a peak of the first histogram as the time of receiving the reflection signal that becomes equal to or greater than the second threshold value caused by the reflection from the object.

2. The light signal detection device according to claim 1 , wherein

the second threshold value is a positive value set larger than the base voltage of the reflection signal, and

the third threshold value is a negative value set smaller than the base voltage of the reflection signal.

3. The light signal detection device, according to claim 2 , wherein the circuitry is further configured to:

in a case where the reflection signal binarized using the second threshold value satisfies a given relationship with the reflection signal binarized using the third threshold value, determine a time at which the reflection signal binarized using the second threshold value satisfies a given relationship with the reflection signal binarized using the third threshold value is received is set as the time at which the reflection signal that is equal to or greater than the second threshold value is received.

4. The light signal detection device according to claim 1 , wherein the circuitry is further configured to:

in a case where a distance between a position of a peak of the first histogram and a position of a peak of the second histogram satisfy a given condition, determine the position of the peak in the first histogram as the specific time of receiving the specific reflection signal that becomes equal to or greater than the second threshold value caused by the reflection from the object.

5. The light signal detection device according to claim 1 , wherein the circuitry is further configured to:

in a case where a width of the peak of the first histogram and a width of the peak of the second histogram satisfy a given condition, determine the position of the peak in the first histogram as the specific time of receiving the specific reflection signal that becomes equal to or greater than the second, threshold value caused by the reflection from the object.

6. The light signal detection device according to claim 1 , wherein

the given condition is determined by a design value of the circuitry.

7. The light signal detection device according to claim 6 , wherein the circuitry is further configured to:

determine the reflection signal equal to or less than the third threshold value set smaller than the base voltage within a given time period starting from a time when the reflection signal is determined to be equal to or greater than the second threshold value set larger than the base voltage,

create a third histogram by voting an indicator indicating that the reflection is caused by the object at the time when determining the reflection signal is equal to or greater than the second threshold value, and

determine a time when a frequency in the third histogram becomes the maximum.

8. A range finding device comprising:

the light signal detection device according to claim 1 , and

a stereo image processing unit configured to generate matching evaluation values of a plurality of image data captured by using a stereo camera and to generate a processing range based on the generated matching evaluation values,

wherein the light signal detection device obtains, from the stereo image processing unit, the processing range to be used for determining a specific time range,

wherein the light signal detection device determines the specific time range corresponding to the processing range, and outputs distance information that is converted from time information of the specific time range, to the stereo image processing unit,

wherein the stereo image processing unit integrates the distance information received from the light signal detection device and distance information determined from the matching evaluation values.

9. A movable apparatus comprising the light signal detection device of claim 1 .

10. A method comprising:

emitting, using an, irradiation unit, irradiation light towards an object a plurality of times;

receiving, using a light, receiving optical system, a reflection signal of the irradiation light that is reflected from the object for the plurality of times that the irradiation light is emitted towards the object;

binarizing the received reflection signal using a first threshold value based on whether the reflection signal is equal to or greater than the first threshold value;

binarizing the received reflection signal using a second threshold value based on whether the reflection signal is equal to or greater than the second threshold value, the second threshold value having a value similar to a noise signal value;

generating an undershoot in the reflection signal;

binarizing the reflection signal including the undershoot using a third threshold value, based on whether the reflection signal including the undershoot is equal to or less than the third threshold value, the third threshold value being set smaller than a base voltage of the reflection signal;

measuring a time difference between a time at which the irradiation unit emits the irradiation light and a time at which a reflection signal that is equal to or greater than either of the first threshold value or the second threshold value is received;

creating a first histogram by voting an indicator indicating that the reflection signal is coming from the object based on the signals binarized using the second binarization value; and

creating a second histogram by voting an indicator indicating that the reflection signal is coming from the object based on the signals binarized using the third binarization value, wherein

the reflection signals are binarized along the timeline,

in response to binarizing the reflection signal using the second binarization value and the third binarization value along a timeline, determining a time at which a reflection signal that is equal to or greater than the second threshold value caused by a reflection from the object based on the binarizing of the reflection signal using the second threshold value and the binarizing of the reflection signal using the third threshold value, and

in a case where the first histogram and the second histogram have a given relationship, determining a position indicating a peak of the first histogram as the time of receiving the reflection signal that becomes equal to or greater than the second threshold value caused by the reflection from the object.

11. A non-transitory computer readable storage medium storing one or more instructions that, when performed by one or more processors, cause the one or more processors to execute a method comprising:

emitting, using an irradiation unit, irradiation light towards an object a plurality of times;

receiving, using a light receiving optical system, a reflection signal of the irradiation light that is reflected from the object for the plurality of times that the irradiation light is emitted towards the object;

binarizing the received reflection signal using a first threshold value based on whether the reflection signal is equal to or greater than the first threshold value;

binarizing the received reflection signal using a second threshold value based on whether the reflection signal is equal to or greater than the second threshold value, the second threshold value having a value similar to a noise signal value;

generating an undershoot in the reflection signal;

binarizing the reflection signal including the undershoot using a third threshold value, based on whether the reflection signal including the undershoot is equal to or less than the third threshold value, the third threshold value being set smaller than a base voltage of the reflection signal;

measuring a time difference between a time at which the irradiation unit emits the irradiation light and a time at which a reflection signal that is equal to or greater than either of the first threshold value or the second threshold value is received;

creating a first histogram by voting an indicator indicating that the reflection signal is coming from the object based on the signals binarized using the second binarization value; and

creating a second histogram by voting an indicator indicating that the reflection signal is coming from the object based on the signals binarized using the third binarization value, wherein

the reflection signals are binarized along the timeline,

in response to binarizing the reflection signal using the second binarization value and the third binarization value along a timeline, determining a time at which a reflection signal that is equal to or greater than the second threshold value caused by a reflection from the object based on the binarizing of the reflection signal using the second threshold value and the binarizing of the reflection signal using the third threshold value, and

in a case where the first histogram and the second histogram have a given relationship, determining a position indicating a peak of the first histogram as the time of receiving the reflection signal that becomes equal to or greater than the second threshold value caused by the reflection from the object.