Ranging device and ranging method

A ranging method comprising:

• controlling a light emitting unit that emits a pulse light according to a light emitting condition;
• detecting reflected light emitted from the light emitting unit and reflected by an object and converting the reflected light into a pulse signal;
• holding, in a holding unit, frequency distribution information in which a count value of the pulse signal is associated with each of a plurality of bin periods obtained by dividing a period from an emission timing of the pulse light to a measurement end timing of the reflected light;
• and
• determining the light emission condition based on the frequency distribution information.

A ranging method comprising:

• controlling a light emitting unit that emits a pulse light according to a light emitting condition;
• detecting reflected light emitted from the light emitting unit and reflected by an object and converting the reflected light into a pulse signal;
• setting an exposure period for detecting the reflected light;
• holding, in a holding unit, frequency distribution information in which a count value of the pulse signal is associated with each of the plurality of exposure periods;
• and
• determining the light emission condition based on the frequency distribution information.