Abstract: A control device includes a processor configured to acquire turning angle information related to a turning angle of a tire under a turning control of the tire, and present steering-related information related to a virtual steering control that corresponds to the turning control of the tire. The steering-related information includes a steering-related image including a steering object. The processor is configured to present the steering-related information by displaying the steering object to rotate at a rotation angle corresponding to the turning angle during the autonomous driving on a display system, and change a display mode of the steering-related image including the steering object according to a control state of the vehicle.

Abstract: A steering of a vehicle is controlled by acquiring a steering angle of the steering during the autonomous driving, and when the vehicle is autonomously stopped under a stop control at a boarding area and a stop steering angle of the steering after the stop control completes falls outside an allowable angle range including the steering angle when the vehicle travels straight, performing a reset control for the steering to return the stop steering angle to a specified steering angle within the allowable angle range. A linkage between the steering and a tire is disconnected when performing the reset control.

Abstract: A diagnostic data generating method includes obtaining an internal reflection intensity by receiving an internal reflection beam, which is reflected on an inner surface of a light-transmitting panel, with an imaging element at an internal reflection receiving position, obtaining an external reflection intensity by receiving an external reflection beam, which is reflected on an outer surface of the light-transmitting panel, with the imaging element at an external reflection receiving position, and generating the diagnostic data indicating a degradation state of the outer surface on which a light-transmitting coating layer is disposed, which is determined based on a relative intensity ratio between the internal reflection intensity and the external reflection intensity.

Abstract: A processing system includes at least one processor, which is configured to: acquire a required content of user service; acquire service capability information representing provision capabilities of the user service, which are associated with autonomous traveling devices waiting in a visual field area visually recognized by the user through a wearable terminal worn by the user; search for a target autonomous traveling device whose provision capability matches the required content among the provision capabilities represented by the service capability information for the respective autonomous traveling devices in the visual field area; display, in a superimposed manner, an XR enhanced image, which highlights the target autonomous traveling device, on the visual field area; and provide the user service by driving, within the visual field area, the target autonomous traveling device selected by the user in response to superimposed display of the XR enhanced image.

Abstract: A light ranging apparatus is provided with a light source; a light receiving unit having a plurality of light receiving elements capable of outputting a pulse signal; a summing unit calculating a sum value by summing the number of pulses; a histogram generation unit generating a histogram that records the sum value; a peak detecting unit acquiring the sum value of the peak in the histogram to be a signal intensity and calculating a distance value; and a first low signal intensity detecting unit detecting a low signal intensity lower than a predetermined first threshold. The histogram generation unit repeatedly acquires and accumulates the sum value for the histogram where the low signal intensity is detected until the signal intensity becomes the first threshold or more, thereby updating the histogram; and the peak detecting unit calculates a new distance value from the updated histogram.

Abstract: A processing system includes a processor that executes a service related process for providing a user service to a user. The processor acquires content information, which includes a service content and a display content, corresponding to an intention of the user based on sensing information of a mobile terminal carried by the user. The processor monitors a background area that configures a display background of the mobile terminal when the user is oriented to the mobile terminal, and provides the user service having a type corresponding to the service content by controlling an autonomous driving apparatus in the background area currently displayed. The mobile terminal displays a background video of the background area in which the autonomous driving apparatus exists, and displays, in a superimposed manner, a cross reality image corresponding to the display content at an existence position of the autonomous driving apparatus in the background video.

Abstract: An optical distance measuring apparatus comprises a laser diode emitting a light pulse, light receiver including a photon-counting light receiver, distance measurement unit including a signal discriminator and propagation estimator, and threshold determiner. The signal discriminator discriminates the signal component, exceeding a threshold, of the signal as a reflected signal resulting from reflection of the light pulse at a measurement object. The propagation estimator estimates a round-trip propagation time of the light pulse to the measurement object using the signal. The threshold determiner sets a boundary level as the threshold, corresponding to a reference level obtained from the signal when the signal discriminator determines the reflected signal, using the relationship between the reference and the boundary level. The reference level is obtained from the average value of a noise probability distribution in the signal.

Abstract: An optical distance measuring device includes: a light source unit that irradiates a measurement region with irradiation light; a light receiving unit that has a light receiving surface including a plurality of light receiving elements capable of receiving reflected light from a range including the measurement region corresponding to irradiation with the irradiation light and outputs a signal corresponding to a light receiving state of the reflected light for each of the light receiving elements; and a measurement unit that measures a distance to an object in the measurement region by using the signal outputted from the light receiving unit. The light receiving unit has a function of selecting a light receiving element that outputs the signal so that a light receiving position at which the reflected light is received is variable, and the light receiving unit changes the light receiving position to a plurality of positions with respect to a position of the reflected light.

Abstract: A distance measuring apparatus is provided which includes an illuminator, a plurality of photodetectors which detect reflected light arising from reflection of light, as emitted from the illuminator, from an object using SPADs, a time measuring unit which measures time elapsed after the emission of light from the illuminator until a number of the photodetectors which is larger than a given value have detected light, a timing controller which instructs the illuminator to emit the light, activates the SPADs in a Geiger mode, and instructs the time measuring unit to execute the time measurement, and a timing instruction unit which determines a light emission timing and an activation start timing of each of the SPADs for the timing controller.

Abstract: An optical ranging device includes a light emitting section provided with a semiconductor laser element having a light emitting region whose length in a first direction is more than that in a second direction intersecting the first direction. The device measures the distance to an object based on the time from light emission from the light emitting section to reception of the light by a light receiving section. A plurality of light emitting regions may be provided in the light emitting section such that they are separated in the second direction and abut or partially overlap each other in the first direction so that the light emitting regions are continuous in the first direction.

Abstract: An optical distance measuring device includes: a light source unit that irradiates a measurement region with irradiation light; a light receiving unit that has a light receiving surface including a plurality of light receiving elements capable of receiving reflected light from a range including the measurement region corresponding to irradiation with the irradiation light and outputs a signal corresponding to a light receiving state of the reflected light for each of the light receiving elements; and a measurement unit that measures a distance to an object in the measurement region by using the signal outputted from the light receiving unit. The light receiving unit has a function of selecting a light receiving element that outputs the signal so that a light receiving position at which the reflected light is received is variable, and the light receiving unit changes the light receiving position to a plurality of positions with respect to a position of the reflected light.

Abstract: An optical distance measuring device includes: a light source unit; a light receiving unit that includes a plurality of light receiving elements; an addition unit that adds the number of pulse signals; a histogram generation unit that generates a histogram that records the addition value for each time of flight; a peak detection unit that determines a distance value from the time of flight corresponding to the peak; an image generation unit that generates signal intensity image data and distance image data; a low signal intensity element detection unit that detects a low signal intensity element from the elements of the signal intensity image data; and an image correction unit that corrects a distance value recorded in a target element corresponding to the low signal intensity element in accordance with a distance value of at least one other element in the elements of the distance image data.

Abstract: An optical distance measuring device includes: a light source unit that irradiates a measurement region with irradiation light; a light receiving unit that has a light receiving surface including a plurality of light receiving elements capable of receiving reflected light from a range including the measurement region corresponding to irradiation with the irradiation light and outputs a signal corresponding to a light receiving state of the reflected light for each of the light receiving elements; and a measurement unit that measures a distance to an object in the measurement region by using the signal outputted from the light receiving unit. The light receiving unit has a function of selecting a light receiving element that outputs the signal so that a light receiving position at which the reflected light is received is variable, and the light receiving unit changes the light receiving position to a plurality of positions with respect to a position of the reflected light.

Abstract: A light reception array unit receives light irradiated from an irradiation unit and reflected from an object, and outputs in parallel a pulse signal respectively output from a plurality of light reception units. A timer unit measures an elapsed time since an input of an irradiation timing signal. A response acquisition unit acquires a number of responses, which is a number of the light reception units outputting the pulse signal, at each fixed cycle timing, and outputs an adjusted number of responses obtained by subtracting a bias value from the number of responses or dividing the number of responses by the bias value. An address of a memory is associated with a timer value measured by the timer unit. A histogram generation unit integrates and stores, in a memory address specified from a timer value, the adjusted number of responses as data at that address.

Abstract: A plurality of photodetectors form a light receiving group, and a plurality of the light receiving groups form one pixel. A light receiving array is provided with one or more of such pixels. The photodetectors each output a pulse signal in response to irradiation of a photon. A measuring unit is provided for each of the plurality of light receiving groups. The measuring unit generates time information representing an elapsed time from an irradiation timing input from outside and light quantity information acquired at each of one or more timings identified from the time information, in accordance with the pulse signal output from the light receiving group. The number of the photodetectors outputting the pulse signal among the plurality of photodetectors belonging to the light receiving group is used as the light quantity information.

Abstract: A plurality of photodetectors form a light receiving group, and a plurality of the light receiving groups form one pixel. A light receiving array is provided with one or more of such pixels. The photodetectors each output a pulse signal in response to irradiation of a photon. A measuring unit is provided for each of the plurality of light receiving groups. The measuring unit generates time information representing an elapsed time from an irradiation timing input from outside and light quantity information acquired at each of one or more timings identified from the time information, in accordance with the pulse signal output from the light receiving group. The number of the photodetectors outputting the pulse signal among the plurality of photodetectors belonging to the light receiving group is used as the light quantity information.

Abstract: A light detector is provided to include a light receiving array having a plurality of light receivers respectively outputting pulse signals upon incidence of photons. A delay setting value is set which is used to adjust a time interval from when the pulse signals are output from the light receiving array to when a response number, which is a specified number of the light receivers outputting the pulse signals, is acquired.

Abstract: A photodetector includes plural detectors. Each of the plural detectors has a single photon avalanche diode (hereinafter referred to as SPAD) which responds to incidence of a photon. The plural detectors include at least a first detector and a second detector. The SPAD has a recovery time period until the SPAD reaches a next photon-responsive state, in response to the SPAD responding to the incidence of the photon. The recovery time period of the SPAD in the first detector is different from the recovery time period of the SPAD in the second detector.

Abstract: A photodetector includes: a photoreceptor provided with a SPAD that is configured to respond to incidence of a photon, and as the response of the SPAD, configured to output a pulse signal; and a pulse rate control circuit configured to control sensitivity of the photoreceptor to have a pulse rate as the number of pulse signals outputted per unit time from the photoreceptor to be a set value set in advance, (i) in a set range including the set value, (ii) in a set range of the set value or more, or (iii) in a set range of the set value or less.

Abstract: A light detector is provided to include a detection module, and a monitoring SPAD. The detection module includes an SPAD that is an avalanche photodiode operable in Geiger mode; the detection module is configured to perform light detection by applying, to the SPAD, a reverse bias voltage in a reverse direction. The monitoring SPAD has characteristics identical to characteristics of the SPAD in the detection module. The reverse bias voltage is generated to be applied to the SPAD in the detection module based on (i) a reference breakdown voltage set from a breakdown voltage generated across the monitoring SPAD in Geiger mode and (ii) a predetermined excess voltage.