| 摘要 |
A scan trajectory of a laser beam is controlled based on external signals each related to a driving direction and a driving speed, a result obtained by detection of an obstacle, and signals related to distances to the obstacle. For example, at the time of a right turn, a scan trajectory for increasing scan frequency on a portion shifted in a right-turn direction from a center axis in a driving direction is set. At the time of high-speed driving, a scan trajectory for increasing scan frequency on a center portion in the driving direction is set. When the obstacle is detected at a position corresponding to a distance shorter than a threshold distance, a scan trajectory for increasing scan frequency in the vicinity of the obstacle is set. Detection and monitoring are performed at the time of: changing of the driving direction, the high-speed driving, and the detection of the obstacle.
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