LIGHT-RECEIVING DEVICE AND RANGING DEVICE

To allow for more accurate ranging in a direct ToF method.SOLUTION: A light-receiving device includes: a light-receiving unit including a light-receiving element; a light-emitting control unit for issuing a trigger to cause a light source to emit light; a reception unit for receiving a feedback signal output according to light-emitting timing when the light source emits light from a light source unit including the light source; a delay acquisition unit for acquiring a delay time by which reception timing when the feedback signal is received by the reception unit is delayed with respect to issuance timing when the trigger is issued; and a representative value acquisition unit for acquiring a representative value of a plurality of delay times acquired by the delay acquisition unit in response to a predetermined number of issuances of the trigger by the light-emitting control unit.SELECTED DRAWING: Figure 9 【課題】直接ＴｏＦ方式においてより高精度な測距を可能とする。【解決手段】受光装置は、受光素子を含む受光部と、光源を発光させるためのトリガを発行する発光制御部と、光源を含む光源部から、光源が発光した発光タイミングに応じて出力されるフィードバック信号を受信する受信部と、フィードバック信号が受信部に受信された受信タイミングがトリガが発行された発行タイミングに対して遅延した遅延時間を取得する遅延取得部と、発光制御部によるトリガの所定回数の発行に応じて遅延取得部により取得された複数の遅延時間の代表値を取得する代表値取得部と、を備える。【選択図】図９