Optical ranging device

An optical ranging device comprising:

• a light emitting portion configured to emit laser light;
• a scanning portion configured to perform a scan using the laser light emitted from the light emitting portion;
• a light receiving portion configured to receive incident light;
• a rotation angle sensor configured to detect a rotation angle of the scanning portion;
• and
• a control device configured to:
• acquire the rotation angle and output a drive signal to the light emitting portion, and
• use a correction value to perform at least one of a first correction control and a second correction control,
• the correction value being determined using at least an emission delay period from when the rotation angle is acquired to when the laser light is emitted, and a correspondence relationship between a rotation angle of the rotation angle sensor and a detection error in the rotation angle,
• the first correction control being a correction of an emission timing of the laser light, and the second correction control being a correction of a detection angle of distance data generated using a received light signal output from the light receiving portion that received the laser light.