Optical ranging apparatus and optical ranging method

An optical ranging apparatus using laser light comprising:

• an emission unit that emits laser light to perform a detection for at least 2 pixel parts in a predetermined direction;
• a first scanning unit that scans the laser light in a first direction corresponding to the predetermined direction, covering at least a predetermined angle of field range;
• a reflection body that reflects the laser light scanned by the first scanning unit;
• a second scanning unit that scans the laser light in a second direction intersecting the first direction, covering a predetermined external range and receives a reflected light from an object existing in the predetermined external range;
• a route changing unit provided in a middle of a path from the reflection body of the second scanning unit to the first scanning unit, turning the reflected light from the object towards a light receiving lens;
• a light receiving unit provided with a light receiving element for at least 2 pixel parts, detecting the reflected light from the object which is condensed by the light receiving lens;
• and
• a ranging unit that detects a distance to the object depending on a period from a time when the emission unit emits the laser light to a time when the light receiving unit receives the reflected light from the object,
• wherein
• the first scanning unit is provided between the emission unit and the route changing unit;
• and
• the first scanning unit, the route changing unit and the second scanning unit are arranged in positions where the laser light from the first scanning unit passes through the route changing unit to reach the second scanning unit.