Imaging system, movable apparatus, imaging method, and storage medium

A movable apparatus comprising:

• a plurality of pixels each including a sensor unit configured to output pulses corresponding to photons and
• a counter configured to count the number of pulses;
• and
• at least one processor or circuit configured to function as:
• a control unit configured to generate a signal on the basis of a difference between count values of the counter when a storage period starts and when the storage period ends, perform storage operations of a first storage period and a second storage period within one full-frame period, and perform a control process in which the first storage period is shorter than the second storage period and a signal generated in the first storage period is output between an end of the first storage period and an end of the second storage period;
• a recognition unit configured to perform a recognition process on the basis of the generated signal and change a recognition frequency on the basis of driving state information about a driving state of a movable apparatus;
• and
• a movement control unit configured to control an operation of the movable apparatus on the basis of a result of the recognition process using at least the signal generated in the first storage period.

An imaging method of an imaging system including a plurality of pixels each including a sensor unit configured to output pulses corresponding to photons and

• a counter configured to count the number of pulses;
• and, the imaging method comprising:
• generating a signal on the basis of a difference between count values of the counter when a storage period starts and when the storage period ends;
• performing storage operations of a first storage period and a second storage period within one full-frame period and performing a control process in which the first storage period is shorter than the second storage period and a signal generated in the first storage period is output between an end of the first storage period and an end of the second storage period;
• and
• performing a recognition process on the basis of the generated signal and changing a recognition frequency on the basis of driving state information about a driving state of a movable apparatus.

A non-transitory computer-readable storage medium configured to store a computer program to control an imaging system,

• wherein the imaging system includes:
• a plurality of pixels each including a sensor unit configured to output pulses corresponding to photons and
• a counter configured to count the number of pulses, and
• wherein the computer program comprises instructions for executing following processes of:
• generating a signal on the basis of a difference between count values of the counter when a storage period starts and when the storage period ends;
• performing storage operations of a first storage period and a second storage period within one full-frame period and performing a control process in which the first storage period is shorter than the second storage period and a signal generated in the first storage period is output between an end of the first storage period and an end of the second storage period;
• and
• performing a recognition process on the basis of the generated signal and changing a recognition frequency on the basis of driving state information about a driving state of a movable apparatus.