Distance measuring device and distance measuring method

A distance measuring device comprising:

• a plurality of sensors configured to include a plurality of pixels that convert reflected light of laser light received via a light-receiving optical system which receives the reflected light of the laser light through a mirror rotating at a predetermined period with respect to a predetermined rotation axis, into multiple per-channel current signals, and to output the current signals of each of the plurality of pixels as output signals, light receiving positions of the plurality of sensors with respect to the light-receiving optical system being different from one another;
• a setting circuit configured to set coordinates of pixels on the basis of timing information concerning irradiation timing of the laser light and rotation position information concerning a rotation position of the mirror;
• a selecting circuit configured to select and output output signals used for measurement from the corresponding plurality of output signals for each of the plurality of sensors;
• and
• a distance measurement circuit configured to measure distances to a measurement target object on the basis of time differences between light emission timing of the laser light and timing of a peak position of each of time-series luminance signals based on the output signals of the selecting circuit, wherein
• the setting circuit gives identification information to coordinates not treated as adjacent pixels on the basis of the timing information concerning the irradiation timing of the laser light and the rotation position information concerning the rotation position of the mirror.