| 摘要 |
A range finding device of scanning type including a laser beam emitting means which emits pulse laser beams from a single light source while changing an emission angle and scanning, and a range finding means for detecting a range from an object from reciprocating times of the pulse laser beams reflected by the object, wherein the scan is conducted by shifting the pulse laser beams for each scan and the amount of shifting the beams is a value obtained by equally dividing an interval of the beams into a plural, whereby the range from the object can be measured at a high rate in many directions with a low cost, and an angular resolution in horizontal directions, an accuracy of relative position and an accuracy of relative velocity of the object are improved, and a time lag in judging a horizontal direction angle of the object can be minimized.
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