Distance measurement device and distance measurement method

A distance measurement device, comprising:

• a time measurement unit configured to determine time information indicating a time from a light emission timing to a light reception timing, wherein
• a light source emits light at the light emission timing, and
• a light receiving element receives reflected light at the light reception timing;
• a histogram generation unit configured to generate a histogram based on the time information;
• a light source control unit configured to dynamically change driving state of the light source;
• a selection unit configured to:
• detect a plurality of peaks in a frame of a plurality of frames in the histogram;
• generate a learning model based on information associated with the dynamically changed driving state of the light source and information associated with a summary statistic of each peak of the plurality of peaks in the frame,
• wherein the summary statistic includes at least one of a dispersion of the each peak of the plurality of peaks, a skewness of the each peak of the plurality of peaks, a kurtosis of the each peak of the plurality of peaks, an asymmetry of the each peak of the plurality of peaks, or a tailing degree of the each peak of the plurality of peaks;
• and
• select a peak among the plurality of peaks based on the generated learning model;
• and
• a distance calculation unit configured to calculate a distance to an object based on the selected peak.