| 摘要 |
PROBLEM TO BE SOLVED: To provide a surrounding object detecting apparatus and a surrounding object detection method which can accurately detect surrounding objects. SOLUTION: The surrounding object detecting apparatus 1 includes an irradiation means 2 for irradiating a target space with irradiation light which is intensity-modulated at a predetermined cycle; a photoelectric conversion means 5 for receiving reflected light generated in the target space in a plurality of light receiving periods set in the predetermined cycle and generating electric charges, corresponding to the light-receiving amount of the received reflected light; a light-receiving amount detection means for detecting a light-receiving amount for each of the plurality of light-receiving periods in a predetermined cycle, on the basis of the electric charges; a phase difference calculation means for calculating the phase difference between the irradiation light and the reflected light on the basis of the light receiving amount for each of the plurality of light receiving periods and a first conversion formula; a brightness calculation means for calculating the luminance of the reflected light, on the basis of a second conversion formula; a relative distance calculation means for calculating the relative distance to the surrounding object, on the basis of the phase difference and a third conversion formula; and a virtual image determination means for determining the surrounding object to be a virtual image, when the luminance is threshold or higher and the fluctuating distance of the relative distance within a certain period is a certain fluctuating distance or lower. COPYRIGHT: (C)2011,JPO&INPIT
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