Abstract: A ranging device includes a plurality of ranging units and a control unit configured to control the plurality of ranging units. Each of the ranging units includes a deflection member configured to deflect laser light and performs ranging processing that scans a predetermined ranging area with emitted laser light by rotating or oscillating the deflection member to change the emission azimuth of the laser light, and measures a distance to an object located in the emission azimuth based on reflected light received from the same azimuth as the emission azimuth. The plurality of ranging units include a first ranging unit and a second ranging unit with the ranging areas overlapping with each other.

Abstract: In a ranging device, a characteristic setting unit is configured to extract, from one or more pieces of received-light information representing changes with time in amount of received light acquired by the light receiving unit, at least one of a received-light amount range and a light reception time range of pulsed light other than emitted light from the light emitting unit, as a specified range. A received-light integration unit is configured to generate integrated received-light information by integrating the received-light information on a time axis with emission timings matched over a plurality of light receptions. A distance calculation unit is configured to exclude or identify distance noise formed of pulsed waveforms arising from pulsed light other than the emitted light, using the specified range extracted by the characteristic setting unit, and calculate a distance to the object reflecting the emitted light.