Patent Publication Number: US-2019191119-A1

Title: Imaging device and control method

Description:
TECHNICAL FIELD 
     The present disclosure is related to an imaging device and a control method. 
     BACKGROUND ART 
     The technology of aiming to reduce a circuit scale of a solid-state imaging device has been developed. As the technology with regard to the solid-state imaging device of aiming to reduce a circuit scale by including two analog-to-digital converting sections that convert analog pixel signals into digital signals with mutually-different reference signals, for example, the technology described in the following Patent Literature 1 is cited. 
     CITATION LIST 
     Patent Literature 
     Patent Literature 1: JP 2013-207433A 
     DISCLOSURE OF INVENTION 
     Technical Problem 
     For example, in the imaging device in which the technology described in Patent Literature 1 is used, in two analog-to-digital converting sections, analog signals output from pixels that perform photoelectric conversion, are converted into digital signals by mutually-different reference signals. Moreover, in the imaging device in which the technology described in Patent Literature 1 is used, digital signals having been converted in the two analog-to-digital converting sections are synthesized. Therefore, in the case where the technology described in Patent Literature 1 is used, since it is possible to obtain digital signals with a wider dynamic range by high dynamic range synthesis (hereinafter, denoted as “HDR” (High Dynamic Range imaging)), it is possible to attain making the image quality of a captured image obtained by imaging, higher. 
     However, for example, in the case where the technology described in Patent Literature 1 is used, at the time of converting analog signals into digital signals, two mutually-different reference signals become necessary. 
     In the present disclosure, proposed are a novel and improved imaging device capable of attaining making the image quality of a captured image obtained by imaging higher, and a control method. 
     Solution to Problem 
     According to the present disclosure, there is provided an imaging device including: an imaging section that includes a plurality of pixel circuits that perform photoelectric conversion; a first converting section that converts an analog signal output from the pixel circuit that constitutes the imaging section, into a digital signal; and a second converting section that converts an analog signal output from the pixel circuit that constitutes the imaging section, into a digital signal. A same reference signal used for analog-to-digital conversion is supplied to the first converting section and the second converting section, the first converting section and the second converting section convert the analog signal output from the same pixel circuit that constitutes the imaging section, into a digital signal, and one or both of the first converting section and the second converting section is/are able to adjust a gain of the analog signal to be converted into a digital signal. 
     In addition, according to the present disclosure, there is provided a control method to be executed in an imaging device that includes an imaging section that includes a plurality of pixel circuits that perform photoelectric conversion, a first converting section that converts an analog signal output from the pixel circuit that constitutes the imaging section, into a digital signal, a second converting section that converts an analog signal output from the pixel circuit that constitutes the imaging section, into a digital signal, a first switching section that is electrically connected between the imaging section and the first converting section and switches the pixel circuit to be electrically connected to the first converting section, and a second switching section that is electrically connected between the imaging section and the second converting section and switches the pixel circuit to be electrically connected to the second converting section. A same reference signal used for analog-to-digital conversion is supplied to the first converting section and the second converting section, the first converting section and the second converting section convert the analog signal output from the same pixel circuit that constitutes the imaging section, or the analog signal output from the different pixel circuits that constitute the imaging section, into a digital signal, and one or both of the first converting section and the second converting section is/are able to adjust a gain of the analog signal to be converted into a digital signal. The control method includes a step of performing one or two or more of control of the gain in the first converting section capable of adjusting the gain, control of the gain in the second converting section capable of adjusting the gain, and control of switching of connection in the first switching section and the second switching section, on a basis of an operation signal corresponding to an operation of a user of the imaging device or a state of the imaging device. 
     Advantageous Effects of Invention 
     According to the present disclosure, it is possible to attain making the image quality of a captured image obtained by imaging, higher. 
     Note that the effects described above are not necessarily limitative. With or in the place of the above effects, there may be achieved any one of the effects described in this specification or other effects that may be grasped from this specification. 
    
    
     
       BRIEF DESCRIPTION OF DRAWINGS 
         FIG. 1  is a block diagram showing one example of a constitution of an imaging device according to the first embodiment. 
         FIG. 2  is an explanatory diagram for describing one example of a hardware constitution of an imaging section equipped in an imaging device according to the first embodiment. 
         FIG. 3  is an explanatory diagram for describing a converting circuit capable of adjusting a gain according to the present embodiment. 
         FIG. 4  is an explanatory diagram showing one example of a switching circuit according to the present embodiment. 
         FIG. 5  is an explanatory diagram for describing a converting circuit capable of adjusting a gain according to the present embodiment. 
         FIG. 6  is an explanatory diagram for describing a converting circuit capable of adjusting a gain according to the present embodiment. 
         FIG. 7  is a block diagram showing one example of a constitution of an imaging device according to the second embodiment. 
         FIG. 8  is a block diagram showing one example of a schematic configuration of a vehicle control system. 
         FIG. 9  is a diagram showing one example of an installation position of a vehicle outside information detecting section and an imaging section. 
     
    
    
     MODE(S) FOR CARRYING OUT THE INVENTION 
     Hereinafter, (a) preferred embodiment(s) of the present disclosure will be described in detail with reference to the appended drawings. Note that, in this specification and the appended drawings, structural elements that have substantially the same function and structure are denoted with the same reference numerals, and repeated explanation of these structural elements is omitted. 
     Moreover, hereinafter, description is given in the order shown in the below. 
     1. Imaging device according to first embodiment 
     2. Imaging device according to second embodiment 
     3. Application example of imaging device according to present embodiment 
     4. Program according to present embodiment 
     Imaging Device According to First Embodiment 
       FIG. 1  is a block diagram showing one example of a constitution of an imaging device  100  according to the first embodiment. In  FIG. 1 , a part of hardware that constitutes the imaging device  100  is illustrated for convenience of illustration. 
     The imaging device  100  includes, for example, an imaging section  102 , a first converting section  104 A, a second converting section  104 B, a generating section  106 , a control section  108 , and a processing section  110 . The imaging device  100  is driven by electric power supplied from an internal electrical power source such as a battery or electric power supplied from an external electrical power source. 
     (1) Imaging Section  102   
     The imaging section  102  includes a plurality of pixel circuits P that perform photoelectric conversion. The pixel circuit P that constitutes the imaging section  102  outputs analog signals (hereafter, merely denoted as “analog signals”) corresponding to incident light. 
       FIG. 2  is an explanatory diagram for describing one example of a hardware constitution of the imaging section  102  equipped in the imaging device  100  according to the first embodiment, and shows a part of the hardware constitution of the imaging section  102 . 
     The imaging section  102  includes, for example, a lens (not shown) of an optical system, an image sensor (not shown), a pixel array  154  corresponding to the image sensor (not shown), and a driver  156 . 
     As the image sensor (not shown) according to the present embodiment, for example, a CMOS (Complementary Metal Oxide Semiconductor) and a CCD (Charge Coupled Device) are cited. Moreover, the image sensor (not shown) according to the present embodiment may be a stacked type image sensor in which other components, such as a CCD, are stacked on the CMOS. That is, it is possible to apply a global shutter system and a rolling shutter system to the imaging device according to the present embodiment equipped with the imaging section  102 . 
     In the pixel array  154 , a plurality of pixel circuits P are arranged in a matrix form, and each of the pixel circuits P is electrically connected with the driver  156  via signal lines. The pixel circuit P includes, for example, a light receiving element, such as a photo diode, a transistor, a capacitive element, and so on. In the pixel circuit P, by control signals transmitted from the driver  156  via signal lines, accumulation of signal electric charges corresponding to incident light, initialization of the pixel circuit P, and so on are performed. 
     As the above-described transistor that constitutes the pixel circuit P, for example, a bipolar transistor, FET (Field-Effect Transistor), such as TFT (Thin Film Transistor) and MOSFET (Metal-Oxide-Semiconductor Field Effect Transistor), and so on are cited. Moreover, as the above-described capacitive element that constitutes the pixel circuit P, for example, a capacitor is cited. In this connection, in the above-described capacitive element that constitutes the pixel circuit P, parasitic capacitance, such as wiring, may be included. 
     The driver  156  drives the pixel circuit P by transmitting control signals to the pixel circuit P. 
     For example, by including the constitution having been described with reference to  FIG. 2 , analog signals by photoelectric conversion in the pixel circuit P are output from the imaging section  102 . In this connection, it goes without saying that the constitution of the imaging section  102  is not limited to the constitution having been described with reference to  FIG. 2 . 
     (2) First Converting Section  104 A, Second Converting Section  104 B 
     The first converting section  104 A converts analog signals output from the pixel circuit P that constitutes the imaging section  102 , into digital signals. The first converting section  104 A includes a converting circuit  150  that converts analog signals into digital signals, and converts analog signal output from the pixel circuit P into digital signals by the converting circuit  150 . 
     As the converting circuit  150  that constitutes the first converting section  104 A, for example, an analog-to-digital converting circuit in which a gain of analog signal to be converted into digital signal is being fixed, is cited. As the above-described analog-to-digital converting circuit, for example, an arbitrary type analog-to-digital converting circuit, such as a successive comparison type analog-to-digital converting circuit, is cited. 
     Moreover, the converting circuit  150  that constitutes the first converting section  104 A may have a constitution capable of adjusting a gain of analog signals to be converted into digital signals (constitution capable of switching a gain of analog signals). 
     The converting circuit  150  capable of adjusting a gain according to the present embodiment includes a comparator. Then, in the converting circuit  150  capable of adjusting a gain according to the present embodiment, a gain is adjusted by switching a capacitance ratio of a capacitance connected to a terminal to be applied with a reference signal and a capacitance connected to a terminal to be electrically connected to the pixel circuit P in a comparator. One example of a constitution of the converting circuit  150  capable of adjusting a gain according to the present embodiment is mentioned later. 
     The second converting section  104 B converts analog signals output from the pixel circuit P that constitutes the imaging section  102 , into digital signals. The second converting section  104 B includes a converting circuit  150  that converts analog signals into digital signals, and converts analog signal output from the pixel circuit P into digital signals by the converting circuit  150 . 
     As the converting circuit  150  that constitutes the second converting section  104 B, for example, an analog-to-digital converting circuit in which a gain of analog signal to be converted into digital signal is being fixed, is cited. As the above-described analog-to-digital converting circuit, for example, an arbitrary type analog-to-digital converting circuit, such as a successive comparison type analog-to-digital converting circuit, is cited. 
     Moreover, the converting circuit  150  that constitutes the second converting section  104 B may be a constitution capable of adjusting a gain of analog signals to be converted into digital signals. As described in the above, the converting circuit  150  capable of adjusting a gain according to the present embodiment includes a comparator, and a gain is adjusted by switching a capacitance ratio of capacitances connected to terminals of the comparator. One example of a constitution of the converting circuit  150  capable of adjusting a gain according to the present embodiment is mentioned later. 
     The first converting section  104 A and the second converting section  104 B have, for example, the features of the following (a) to (c). 
     (a) First Feature 
     It is possible for the first converting section  104 A and the second converting section  104 B to convert analog signals output from the same pixel circuit P that constitutes the imaging section  102 , into digital signals. 
     For example, in the imaging device  100  shown in  FIG. 1 , the first converting section  104 A includes the conversion circuits  150  of the same number as the number of columns in the pixel array  154  of the imaging section  102 , and the converting circuit  150  which constitutes the first converting section  104 A is electrically connected to the pixel circuit P on a corresponding column in the pixel array  154  via a signal line. Moreover, for example, in the imaging device  100  shown in  FIG. 1 , the second converting section  104 B includes the conversion circuits  150  of the same number as the number of columns in the pixel array  154  of the imaging section  102 , and the converting circuit  150  which constitutes the second converting section  104 B is electrically connected to the pixel circuit P on a corresponding column in the pixel array  154  via a signal line. 
     Since the first converting section  104 A and the second converting section  104 B include the constitution as shown in  FIG. 1 , the imaging device  100  includes “a constitution in which the first converting section  104 A and the second converting section  104 B convert analog signals output from the same pixel circuit P that constitutes the imaging section  102 , into digital signals”. 
     (b) Second Feature 
     The same reference signal (voltage signal) is supplied to the first converting section  104 A and the second converting section  104 B. 
     For example, in the imaging device  100  shown in  FIG. 1 , each of the converting circuits  150  that constitute the first converting section  104 A is electrically connected to a reference signal generator  152  that constitutes the generating section  106 , via signal lines. Moreover, for example, in the imaging device  100  shown in  FIG. 1 , each of the converting circuits  150  that constitute the second converting section  104 B is electrically connected to the reference signal generator  152  that constitutes the generating section  106 , via signal lines. 
     Since the first converting section  104 A and the second converting section  104 B have the constitution as shown in  FIG. 1 , the same reference signal used for analog-to-digital conversion is supplied from the reference signal generator  152  to each of the converting circuits  150  that constitute the first converting section  104 A and the second converting section  104 B. 
     Here, for example, the layout of the first converting section  104 A, the second converting section  104 B, and the reference signal generator  152 , has symmetry. In concrete terms, for example, “a position at which the reference signal generator  152  is disposed relative to the first converting section  104 A and a wiring that connects the reference signal generator  152  and the first converting section  104 A” and “the position at which the reference signal generator  152  is disposed relative to the second converting section  104 B and the wiring that connects the reference signal generator  152  and the second converting section  154 B” have symmetry. In this connection, as mentioned later, the reference signal generator  152  may be an external device of the imaging device  100 . 
     As described in the above, in the case where the first converting section  104 A, the second converting section  104 B, and the reference signal generator  152  have a layout with symmetry, “a deviation between a reference signal supplied to the converting circuit  150  included in the first converting section  104 A and a reference signal supplied to the converting circuit  150  that is connected to the same pixel circuit P as that connected to the above converting circuit  150  and is included in the second converting section  104 B” can be made smaller. Therefore, as described in the above, in the case where the first converting section  104 A, the second converting section  104 B, and the reference signal generator  152  have a layout with symmetry, it is possible to further attempt to make the image quality of a captured image obtained by the imaging higher. 
     Moreover, the wiring that connects the reference signal generator  152  and the first converting section  104 A and the wiring that connects the reference signal generator  152  and the second converting section  104 B are not limited to have symmetry. In the imaging device  100 , for example, wiring to be connected to both of the first converting section  104 A and the second converting section  154 B, such as grounding wire and power source lines, also may have symmetry. 
     In this connection, it goes without saying that, in the imaging device  100 , it is possible for the first converting section  104 A, the second converting section  104 B, and the reference signal generator  152  to take a constitution not having a layout with strict symmetry. 
     (c) Third Feature 
     One or both of the first converting section  104 A and the second converting section  104 B has or have a constitution capable of adjusting a gain of analog signals to be converted into digital signals. 
     Here, as shown in the above (b), the same reference signal is supplied to the first converting section  104 A and the second converting section  104 B. That is, the imaging device  100  according to the first embodiment has not a constitution that converts analog signals into digital signals by respective reference signals different from each other, for example, as in the technology described in Patent Literature 1. 
     As described in the above, the converting circuit  150  included in the first converting section  104 A capable of adjusting a gain and the converting circuit  150  included in the second converting section  104 B capable of adjusting a gain, include a comparator, and a gain is adjusted by switching a capacitance ratio of capacitances connected to terminals of the comparator. 
       FIG. 3  is an explanatory diagram for describing the converting circuit  150  capable of adjusting a gain according to the present embodiment, and shows a constitution related to adjustment of a gain among the constitution of the converting circuit  150 , i.e., a part of the constitution of the converting circuit  150 . 
     The converting circuit  150  capable of adjusting a gain includes a comparator Comp. A non-inverting input terminal (+) of the comparator Comp is electrically connected to the reference signal generator  152 , and is applied with reference signals. Moreover, an inverting input terminal (−) of the comparator Comp is electrically connected to the pixel circuit P, and is applied with analog signals. 
     Moreover, the converting circuit  150  capable of adjusting a gain includes, for example, a counter circuit (not shown) at a latter stage of the comparator Comp. The counter circuit (not shown) equipped in the converting circuit  150  capable of adjusting a gain, for example, is provided with counter clocks and a count direction by control signals transmitted from a later-mentioned control section  108 , and performs a count operation. Moreover, in the counter circuit (not shown) equipped in the converting circuit  150  capable of adjusting a gain, a count is reset by control signals transmitted from the later-mentioned control section  108 . The counter circuit (not shown) outputs digital signals corresponding to the signal levels of analog signals input into the comparator Comp. 
     Therefore, the converting circuit  150  capable of adjusting a gain can convert analog signals into digital signals. 
     In this connection, the constitution of the converting circuit  150  capable of adjusting a gain is not limited to the example shown in the above. For example, the converting circuit  150  capable of adjusting a gain may have a constitution that includes a buffer at a latter stage of the counter circuit (not shown). 
     Hereinafter, while referring to  FIG. 3 , one example of a constitution related to adjustment of a gain among the constitutions of the converting circuit  150  is described. 
     To the non-inverting input terminal (+) of the comparator Comp, connected are a plurality of capacitive elements C 1 , C 2 , C 3 , and C 4  and switching circuits SW 1 , SW 2 , SW 3 , and SW 4  for changing a capacitance to be connected the non-inverting input terminal (+) of the comparator Comp. In this connection, the number of the capacitive elements and switching circuits to be connected to the non-inverting input terminal (+) of the comparator Comp is not limited to the example shown in  FIG. 3 . 
     As the capacitive elements C 1 , C 2 , C 3 , and C 4 , for example, a capacitor is cited. Moreover, the capacitance of each of the capacitive elements C 1 , C 2 , C 3 , and C 4  may be the same, or at least some of them may be different. 
     Each of the switching circuits SW 1 , SW 2 , SW 3 , and SW 4 , for example, becomes an ON state (conduction state) or an OFF state (non-conduction state) by a corresponding one signal of control signals GAINRAMP&lt; 0 &gt;, GAINRAMP&lt; 1 &gt;, GAINRAMP&lt; 2 &gt; and GAINRAMP&lt; 3 &gt; transmitted from the later-mentioned control section  108 . In the case where one or two or more of the switching circuits SW 1 , SW 2 , SW 3 , and SW 4  becomes or become in an ON state, the capacitive element(s) connected to the switching circuit(s) having become the ON state among the capacitive elements C 1 , C 2 , C 3 , and C 4 , is or are made a state of having been connected electrically to the non-inverting input terminal (+) of the comparator Comp. 
     As the switching circuits SW 1 , SW 2 , SW 3 , and SW 4 , for example, a switching transistor is cited. As the switching transistor, for example, a bipolar transistor and a FET, such as, a TFT, and a MOSFET, are cited. 
     In this connection, the switching circuits SW 1 , SW 2 , SW 3 , and SW 4  may be an arbitrary element or a circuit including a plurality of elements, in which an ON state and an OFF state can be switched over.  FIG. 4  is an explanatory diagram showing one example of a switching circuit according to the present embodiment, and shows one example of a switching circuit including a plurality of elements. 
     Again, with reference to  FIG. 3 , a constitution related to adjustment of a gain among the constitutions of the converting circuit  150  is described. To the inverting input terminal (−) of the comparator Comp, connected are a plurality of capacitive elements C 5 , C 6 , C 7 , and C 8  and switching circuits SW 5 , SW 6 , SW 7 , and SW 8  for changing a capacitance to be connected to the inverting input terminal (−) of the comparator Comp. In this connection, the number of the capacitive elements and switching circuits to be connected to the inverting input terminal (−) of the comparator Comp is not limited to the example shown in  FIG. 3 . 
     As the capacitive elements C 5 , C 6 , C 7 , and C 8 , for example, a capacitor is cited. Moreover, the capacitance of each of the capacitive elements C 5 , C 6 , C 7 , and C 8  may be the same, or at least some of them may be different. Moreover, the capacitive elements C 1 , C 2 , C 3 , and C 4  and the capacitive elements C 5 , C 6 , C 7 , and C 8  may be the same, or at least some of them may be different. 
     Each of the switching circuits SW 5 , SW 6 , SW 7 , and SW 8 , for example, becomes an ON state or an OFF state by a corresponding one signal of control signals GAINVSL&lt; 0 &gt;, GAINVSL&lt; 1 &gt;, GAINVSL&lt; 2 &gt; and GAINVSL&lt; 3 &gt; transmitted from the later-mentioned control section  108 . In the case where one or two or more of the switching circuits SW 5 , SW 6 , SW 7 , and SW 8  becomes or become in an ON state, the capacitive element(s) connected to the switching circuit(s) having become the ON state among the capacitive elements C 5 , C 6 , C 7 , and C 8 , is or are made a state of having been connected electrically to the inverting input terminal (−) of the comparator Comp. 
     As the switching circuits SW 5 , SW 6 , SW 7 , and SW 8 , for example, a switching transistor is cited. Moreover, the switching circuit SW 5 , SW 6 , SW 7 , and SW 8  may be an arbitrary element or a circuit including a plurality of elements as shown in  FIG. 4 , in which an ON state and an OFF state can be switched over. 
     Since the converting circuit  150  capable of adjusting a gain has a constitution, for example, as shown in  FIG. 3 , it is possible to switch a capacitance ratio of a capacitance to be connected to a terminal (non-inverting input terminal (+)) to be applied with a reference signal and a capacitance to be connected to a terminal (inverting input terminal (−)) to be electrically connected to the pixel circuit P in the comparator Comp. 
       FIG. 5  and  FIG. 6  are explanatory diagrams for describing the converting circuit  150  capable of adjusting a gain according to the present embodiment, and show one example of adjustment of a gain in the converting circuit  150  capable of adjusting a gain.  FIG. 5  and  FIG. 6  show an example in which capacitive elements C 1 , C 2 , C 3 , and C 4  and capacitive elements C 5 , C 6 , C 7 , and C 8  that constitute the converting circuit  150  capable of adjusting a gain, are 96.74 [fF]. 
     In the converting circuit  150  capable of adjusting a gain, a gain is adjusted by switching a capacitance ratio of capacitances to be connected to the terminals (the non-inverting input terminal (+) and the inverting input terminal (−)) of the comparator Comp. 
     The first converting section  104 A and the second converting section  104 B, for example, have the features of the above-described (a) to (c). Since the first converting section  104 A and the second converting section  104 B have the features of the above-described (a) to (c), the imaging device  100  attains the effect that it is possible to attempt to make image quality higher as shown in the below.
         It is possible to read out analog signals acquired from the same pixel circuit P simultaneously with the same gain or different gains.   In the case of reading out with the same gain, since noise can be reduced, it is possible to attempt to make image quality higher.   In the case of reading out with different gains, by performing a pseudo bit expanding process (pseudo multi-bit making process) and HDR in the later-mentioned processing section  110  or an external processing circuit, it is possible to attempt to make image quality higher. As one example in which analog signals acquired from the same pixel circuit P are read out with different gains, for example, cited is “an example in which, among the converting circuit  150  equipped in the first converting section  104 A and the converting circuits  150  equipped in the second converting section  104 B that are connected to the same pixel circuit P, one of the converting circuits  150  reads out with a low gain (for example, 0 [dB] etc.) so as to make an amount of saturation signals larger, and the other of the converting circuits  150  reads out with a high gain (for example, 6 [dB], 12 [dB], 24 [dB], etc.) so as to make noise smaller”.       

     With regard to digital signals (hereafter, may be denoted as “the first output signal”) output from the first converting section  104 A, the output is controlled by a driver (not shown) corresponding to the first converting section  104 A. Moreover, with regard to digital signals (hereafter, may be denoted as “the second output signal”) output from the second converting section  104 B, the output is controlled by a driver (not shown) corresponding to the second converting section  104 B. The driver (not shown) corresponding to the first converting section  104 A and the driver (not shown) corresponding to the second converting section  104 B, for example, are controlled by a timing controller (not shown) equipped in the control section  108  or the imaging device  100 . 
     In the case of citing one example, the driver (not shown) corresponding to the first converting section  104 A and the driver (not shown) corresponding to the second converting section  104 B, for example, control the output such that the first output signal and the second output signal are output alternately for each row in the pixel array  154  of the imaging section  102 . In the case where the first output signal and the second output signal are output alternately for each row in the pixel array  154  of the imaging section  102 , for example, data indicating a fact of being output alternately are stored in a header portion, whereby the contents of signals being output are discriminated. In this connection, it goes without saying that the example of the output of the first output signal and the second output signal is not limited to the example shown in the above. 
     Moreover, in the imaging device  100 , for example, in the first converting section  104 A and the second converting section  104 B, digital clamp is performed individually. 
     (3) Generating Section  106   
     The generating section  106  includes a reference signal generator  152 , and generates and outputs reference signals. As the reference signal generator  152 , arbitrary hardware that functions as a signal source of reference signals, is cited. 
     In this connection, in the case where the imaging device  100  uses reference signals generated in an external reference signal generator, the imaging device  100  may not include the generating section  106 . That is, the reference signal generator  152  shown in  FIG. 1  may be a signal source equipped in the imaging device  100 , or may be a signal source in the outside of the imaging device  100 . 
     (4) Control Section  108   
     The control section  108  includes, for example, one or two or more processors including arithmetic circuits, such as an MPU (Micro Processing Unit), various processing circuits, and so on, and achieves a role that controls the whole imaging device  100 . 
     Moreover, the control section  108  performs the control of a gain in the first converting section  104 A capable of adjusting a gain and the control of a gain in the second converting section  104 B capable of adjusting a gain. 
     As the control of a gain in the first converting section  104 A capable of adjusting a gain, cited is the transmitting of control signals to the converting circuit  150  that constitutes the first converting section  104 A and is able to adjust a gain. Moreover, as the control of a gain in the second converting section  104 B capable of adjusting a gain, cited is the transmitting of control signals to the converting circuit  150  that constitutes the second converting section  104 B and is able to adjust a gain. As the control signals to be transmitted to the converting circuit  150 , for example, cited are the control signals GAINRAMP&lt; 0 &gt;, GAINRAMP&lt; 1 &gt;, GAINRAMP &lt; 2 &gt;, and GAINRAMP&lt; 3 &gt; shown in  FIG. 3  and the control signals GAINVSL&lt; 0 &gt;, GAINVSL&lt; 1 &gt;, GAINVSL&lt; 2 &gt;, and GAINVSL&lt; 3 &gt; shown in  FIG. 3 . 
     [4-1] One Example of Processes in Control Section  108 : One Example of Processes Related to Control Method According to First Embodiment 
     The control section  108 , for example, controls a gain on the basis of operation signals corresponding to an operation of a user relative to an operation device. As the operation device according to the present embodiment, for example, cited is an operation device equipped in the imaging devices  100 , such as a button, or, an external operation device, such as a remote controller (or, an external device that functions as a remote controller). 
     The control section  108 , for example, performs the control of a gain corresponding to an operation signal by referring to a table (or data base) in which ID showing an operation and the contents of the control of a gain are associated with each other. The above-described table in which ID showing an operation and the contents of the control of a gain are associated with each other, for example is memorized in a recording medium equipped in the imaging device  100  or an external recording medium connected to the imaging device  100  (in this connection, this matter is similarly applied to the other tables mentioned later). 
     In this connection, the example of the control of a gain in the control section  108  is not limited to the example shown in the above. 
     For example, the control section  108  may perform the control of a gain on the basis of a state of the imaging device  100 . As the state of the imaging device  100 , for example, cited is a state of an application being executed in a processor etc. that constitute the control section  108  in the imaging device  100 , a state of processing in the later-mentioned processing section  110 , or a combination of these. By performing the control of a gain on the basis of the detection result of the state of the imaging device  100 , the dynamic control of a gain based on the state of the imaging device  100  is realized. 
     The control section  108 , for example, performs the above-described dynamic control of a gain by referring to a table (or data base) in which the state of the imaging device  100 , such as a state of an application, and the control contents of the gain are associated with each other. 
     (5) Processing Section  110   
     The processing section  110  includes various processing circuits etc., and processes the first output signal and the second output signal. In this connection, the processing circuit that constitutes the processing section  110  may be a processing circuit that constitutes the control section  108 . 
     As the process in the processing section  110 , a process of synthesizing the first output signal and the second output signal, is cited. 
     For example, in the case where analog signals acquired from the same pixel circuit P are read out simultaneously with the same gain by the first converting section  104 A and the second converting section  104 B, the processing section  110  synthesizes the first output signal and the second output signal for each corresponding pixel. Therefore, reduction of noise that may be included in a captured image is realized. 
     Moreover, for example, in the case where analog signals acquired from the same pixel circuit P are read out simultaneously with different gains by the first converting section  104 A and the second converting section  104 B, the processing section  110  performs processes as shown in the below.
         Pseudo bit expanding process (pseudo multi-bit making process): for example, a process of increasing the number of bits in a pseudo manner by performing bit shift for signals on a low gain side and by interpolating low-order bits with signals on a high gain side   HDR: for example, a process of synthesizing a low gain portion on a high illuminance side of a captured image and a high gain portion on a low illuminance side of the captured image   Pseudo bit expanding process (pseudo multi-bit making process) and HDR       

     In this connection, it goes without saying that the processes in the processing section  110  are not limited to the example shown in the above. 
     In  FIG. 1 , digital signals synthesized by the processing section  110  are denoted as “output signal”. The output signals output from the processing section  110 , for example, are memorized in the recording medium equipped in the imaging device  100  or an external recording medium connected to the imaging device  100 . Moreover, the output signals output from the processing section  110 , for example, may be transmitted to an external device by a communication device of an arbitrary communication system equipped in the imaging device  100 , or an external communication device connected to the imaging device  100 . As the external device to which the output signals are transmitted, for example, cited are arbitrary devices, such as a display device capable of displaying a captured image on a display screen and computers, such as a PC (Personal Computer) and a server. 
     The imaging device  100  according to the first embodiment, for example, includes a constitution shown in  FIG. 1 . 
     The imaging device  100  includes the first converting section  104 A and the second converting section  104 B that have the features of the above-described (a) to (c). Therefore, the imaging device  100  can attempt to make the image quality of a captured image obtained by imaging, higher. 
     In this connection, the constitution of the imaging device according to the first embodiment is not limited to the example shown in  FIG. 1 . 
     For example, in the case where reference signals generated in an external reference signal generator are used, the imaging device according to the first embodiment may not include the generating section  106  shown  FIG. 1 . 
     Moreover, in the case where the control of a gain is performed by an external device (or, external processor etc.) that includes the function similar to that of the control section  108 , the imaging device according to the first embodiment may not include the control section  108  shown in  FIG. 1 . 
     Moreover, in the case where the process based on the first output signal and the second output signal is performed by an external devices (or, external processing circuit etc.) that includes the function similar to that of the processing section  110 , the imaging device according to the first embodiment may not include the processing section  110  shown in  FIG. 1 . 
     In this connection, the constitution of the imaging device according to the present embodiment is not limited to the imaging device (including also a modified example) according to the first embodiment shown in  FIG. 1 . Next, as the other constitution example of the imaging device according to the present embodiment, an imaging device according to the second embodiment is described. 
     Imaging Device According to Second Embodiment 
       FIG. 7  is a block diagram showing one example of a constitution of an imaging device  200  according to the second embodiment. In  FIG. 7 , similarly to  FIG. 1 , a part of hardware that constitutes the imaging device  200  is illustrated for convenience of illustration. 
     The imaging device  100 , for example, includes an imaging section  102 , a first converting section  104 A, a second converting section  104 B, a generating section  106 , a processing section  110 , a first switching section  202 A, a second switching section  202 B, and a control section  204 . The imaging device  200  is driven by electric power supplied from an internal electrical power source, such as a battery or electric power supplied from an external electrical power source. 
     [I] Imaging Section  102 , First Converting Section  104 A, Second Converting Section  104 B, Generating Section  106 , Processing Section  110   
     The constitution and function of each of the imaging section  102 , the first converting section  104 A, the second converting section  104 B, the generating section  106 , and the processing section  110  according to the second embodiment shown in  FIG. 7  are similar to those of each of the imaging section  102 , the first converting section  104 A, the second converting section  104 B, the generating section  106 , and the processing section  110  according to the first embodiment shown with reference to  FIG. 1 . Therefore, with regard to the imaging section  102 , the first converting section  104 A, the second converting section  104 B, the generating section  106 , and the processing section  110  according to the second embodiment shown in  FIG. 7 , description is omitted. 
     [II] First Switching Section  202 A, Second Switching Section  202 B 
     The first switching section  202 A is electrically connected between the imaging section  102  and the first converting section  104 A, and switches the pixel circuits P to be electrically connected to the first converting section  104 A. 
     The first switching section  202 A, for example, includes multiplexers  250  corresponding to the converting circuits  150  that constitute the first converting section  104 A. In the first switching section  202 A, by switching the outputs in the multiplexers  250 , the pixel circuit P to be electrically connected to the first converting section  104 A is switched. In this connection,  FIG. 7  shows an example in which the multiplexer  250  is a multiplexer of two input and one output. However, it goes without saying that the number of inputs of the multiplexer  250  may be three or more. 
     The switching of the output in the multiplexer  250 , for example, is performed by a control signal transmitted from the later-mentioned control section  204 . 
     The second switching section  202 B, for example, includes multiplexers  250  corresponding to the converting circuits  150  that constitute the second converting section  104 B. In the second switching section  202 B, by switching the outputs in the multiplexers  250 , the pixel circuit P to be electrically connected to the second converting section  104 B is switched. In this connection,  FIG. 7  shows an example in which the multiplexer  250  is a multiplexer of two input and one output. However, it goes without saying that the number of inputs of the multiplexer  250  may be three or more. 
     By including the first switching section  202 A and the second switching section  202 B, in the imaging device  200 , in the first converting section  104 A and the second converting section  104 B, “analog signals output from the same pixel circuit P that constitutes the imaging section  102 ”, or “analog signals output from the different pixel circuits P which constitute the imaging section  102 ” are converted into digital signals. That is, in the imaging device  200  according to the second embodiment, in addition to the feature shown in the above (a), the first converting section  104 A and the second converting section  104 B according to the second embodiment become to have the feature that “it is possible to convert analog signals output from the different pixel circuits P that constitute the imaging section  102 , into digital signals”. 
     [III] Control Section  204   
     The control section  204  includes, for example, one or two or more processors including arithmetic circuits, such as an MPU (Micro Processing Unit), various processing circuits, and so on, and achieves a role that controls the whole imaging device  200 . 
     Moreover, the control section  204  performs the control of a gain in the first converting section  104 A capable of adjusting a gain, the control of a gain in the second converting section  104 B capable of adjusting a gain, and the control of switching of connection in the first switching section  202 A and the second switching section  202 B. 
     As the control of a gain in the first converting section  104 A capable of adjusting a gain, similarly to the control of a gain according to the first embodiment, cited is the transmitting of control signals to the converting circuit  150  that constitutes the first converting section  104 A and is able to adjust a gain. Moreover, as the control of a gain in the second converting section  104 B capable of adjusting a gain, similarly to the control of a gain according to the first embodiment, cited is the transmitting of control signals to the converting circuit  150  that constitutes the second converting section  104 B and is able to adjust a gain. 
     As the control of switching of the connection in the first switching section  202 A, for example, cited is the transmitting of control signals to the multiplexer  250  that constitutes the first switching section  202 A. As the control of switching of the connection in the second switching section  202 B, for example, cited is the transmitting of control signals to the multiplexer  250  that constitutes the second switching section  202 B. The control signal to be transmitted to the multiplexer  250  corresponds to a signal that selects which signal to be output from a plurality of input signals. 
     [III-I] One Example of Processes in Control Section  204 : One Example of Processes Related to Control Method According to Second Embodiment 
     The control section  204  performs, for example, the control of a gain and the control of switching of connection on the basis of an operation signal corresponding to an operation of a user to an operation device. 
     The control section  204 , for example, performs the control of a gain corresponding to an operation signal and the control of switching of connection corresponding to an operation signal by referring to a table (or data base) in which ID showing an operation, the contents of the control of a gain, and the contents of the switching of connection are associated with each other. 
     In this connection, the example of the control of a gain and the control of switching of connection in the control section  204  is not limited to the example shown in the above. 
     For example, the control section  204  may perform the control a gain and the control of switching of connection on the basis of a state of the imaging device  200 . As the states of the imaging device  200 , for example, cited is a state of electric power consumption detected on the basis of a value of electric power (for example, a value of maximum electric power consumption, an average value of electric power consumption in a set period, etc.) being consumed in the imaging device  200 , a state of an application being executed in a processor etc. that constitute the control section  204  in the imaging device  100 , a state of processing in the later-mentioned processing section  110 , or a combination of two or more of these. By performing the control of a gain and the control of switching of connection on the basis of the detection result of the state of the imaging device  200 , the dynamic control of a gain and the dynamic control of switching of connection based on the state of the imaging device  200  are realized. 
     The control section  108 , for example, performs the above-described dynamic control of a gain and the above-described dynamic control of switching of connection by referring to a table (or data base) in which the state of the imaging device  200 , such as the state of an application, the contents of the control of a gain, and the contents of the control of switching of connection are associated with each other. 
     By performing the control of a gain and the control of switching of connection in the control section  204 , for example, the switching of modes, as shown in following (A) to (C) is realized in the imaging device  200 . In this connection, it goes without saying that the example of switching of modes realized in the imaging device  200  according to the second embodiment is not limited to the example shown in the following (A) to (C). 
     (A) First Example of Switching of Modes: Switching of Imaging Speed 
     In the first example of switching of modes, a high image quality mode to acquire a high quality captured image and a mode to perform high-speed imaging (mode to perform high-speed reading-out) are switched. 
     In the high image quality mode, the first converting section  104 A and the second converting section  104 B convert analog signals output from the same pixel circuit P that constitutes the imaging section  102 , into digital signals. Accordingly, in the high image quality mode, the making the image quality of a captured image higher is attained by processes in the processing section  110  and by enlarging a dynamic range by HDR, expanding bits by a pseudo bit expanding process (pseudo multi-bit making process), adjusting a white gain, reducing noise, and the like. 
     Moreover, in the mode to perform high-speed imaging, the first converting section  104 A and the second converting section  104 B convert analog signals output from the different pixel circuits P that constitute the imaging section  102 , into digital signals. Accordingly, in the mode to perform high-speed imaging, since double-speed imaging becomes possible as compared with the high image quality mode, more high-speed imaging becomes possible. The mode to perform high-speed imaging, for example, may be applied to a slow motion imaging use. 
     (B) Second Example of Switching of Modes: Switching of Electric Power Consumption of Imaging Device  200   
     In the second example of switching of modes, a high image quality mode to acquire a high quality captured image and a low electric power consumption mode to reduce electric power consumption are switched. 
     In the high image quality mode, similarly to the first example shown in the above-described (A), the first converting section  104 A and the second converting section  104 B convert analog signals output from the same pixel circuit P that constitutes the imaging section  102 , into digital signals. Accordingly, in the high image quality mode, the making the image quality of a captured image higher is attained. 
     In the low electric power consumption mode, only the converting circuit  150  that constitutes one of the first converting section  104 A and the second converting section  104 B that are connected to the same pixel circuit P, operates, and converts analog signals output from the pixel circuit P into digital signals. At this time, the converting circuit  150  that constitutes the other of the first converting section  104 A and the second converting section  104 B that are connected to the same pixel circuit P, does not operate. Therefore, in the low electric power consumption mode, since the number of the converting circuits  150  that operate in the imaging device  200  is reduced, electric power consumption is reduced. Moreover, in the case where the imaging device  200  is driven by an internal electrical power source such as a battery etc., in the low electric power consumption mode, it becomes possible to prolong the time that makes it possible to perform imaging, than the high image quality mode. 
     (C) Third Example of Switching of Modes: Switching of Imaging Quality 
     In the third example of switching of modes, a first mode that converts analog signals into digital signals with set first resolving power and a second mode that acquires digital signals of resolving power higher than the first resolving power, are switched. 
     In the first mode, the first converting section  104 A and the second converting section  104 B convert analog signals output from the different pixel circuits P that constitute the imaging section  102 , into digital signals. 
     Moreover, in the second mode, the first converting section  104 A and the second converting section  104 B convert analog signals output from the same pixel circuit P that constitutes the imaging section  102 , into digital signals. Accordingly, in the second mode, by expanding bits by a pseudo bit expanding process (pseudo multi-bit making process) in the processing section  110 , digital signals with resolving power higher than the first resolving power in the first mode are acquired. The second mode may be applied, for example, to a use in which an object of an inspection target based on a captured image is captured. Moreover, in the first mode and the second mode, since the data formats of the first output signal and the second output signal are the same, it becomes possible to switch modes in the middle of imaging. 
     The imaging device  200  according to the second embodiment includes, for example, the constitution shown in  FIG. 7 . 
     Similarly to the imaging device  100  according to the first embodiment shown in  FIG. 1 , the imaging device  200  includes the first converting section  104 A and the second converting section  104 B that have the features of the above-described (a) to (c). Therefore, similarly to the imaging device  100  according to the first embodiment, the imaging device  200  can attain making the image quality of a captured image obtained by imaging higher. 
     Moreover, by including the first switching section  202 A and the second switching section  202 B, the imaging device  200  can switch the pixel circuit P to be electrically connected to the first converting section  104 A and the pixel circuit P to be electrically connected to the second switching section  202 B. Therefore, in the imaging device  200 , for example, since it is possible to realize the switching of the modes as shown in the above-described (A) to (C), the effects corresponding to the mode to be set is exerted. 
     In this connection, the constitution of the imaging device according to the second embodiment is not limited to the example shown in  FIG. 7 . 
     For example, in the case where reference signals generated in an external reference signal generator are used, the imaging device according to the second embodiment may not include the generating section  106  shown  FIG. 7 . 
     Moreover, in the case where the control of a gain is performed by an external device (or, external processor etc.) that includes the function similar to that of the control section  204 , the imaging device according to the second embodiment may not include the control section  204  shown in  FIG. 7 . 
     Moreover, in the case where the process based on the first output signal and the second output signal is performed by an external devices (or, external processing circuit etc.) that includes the function similar to that of the processing section  110 , the imaging device according to the second embodiment may not include the processing section  110  shown in  FIG. 7 . 
     Application Example of Imaging Device According to Present Embodiment 
     As the present embodiment, although the description has been given by citing the imaging device, the present embodiment is not limited to such a mode. The present embodiment can be applied to, for example, cameras (digital still camera, digital video camera) used for various applications, such as industrial cameras used in a factory, a physical distribution system, etc., cameras used in an ITS (Intelligent Transport Systems), security cameras, cameras disposed in movable objects such as a car, and cameras oriented for consumers. Moreover, the present embodiment can be applied to various devices capable of including an imaging device, such as, computers, such as PC, communication devices, such as a smart phone, tablet type device, and a game machine. 
     Furthermore, it is possible for the imaging device according to the present embodiment to be applied to, for example, arbitrary movable objects, such as a car, an electric vehicle, a hybrid electric vehicle, a motorcycle, a bicycle, a personal mobility, an airplane, a drone, a marine vessel, and a robot. 
     Hereinafter, one example of a case where the technology according to the present embodiment is applied to a movable object is described. 
       FIG. 9  is a block diagram illustrating a schematic configuration example of a vehicle control system which is an example of a mobile object control system to which a technology according to an embodiment of the present technology is applicable. 
     A vehicle control system  12000  includes a plurality of electronic control units connected via a communication network  12001 . In the example illustrated in  FIG. 8 , the vehicle control system  12000  includes a drive line control unit  12010 , a body system control unit  12020 , a vehicle outside information detection unit  12030 , a vehicle inside information detection unit  12040 , and an integrated control unit  12050 . In addition, as functional configurations of the integrated control unit  12050 , a microcomputer  12051 , an audio and image output unit  12052 , an in-vehicle network interface (I/F)  12053 . 
     The drive line control unit  12010  controls the operation of devices related to the drive line of the vehicle in accordance with a variety of programs. For example, the drive line control unit  12010  functions as a control device for a driving force generating device such as an internal combustion engine or a driving motor that generates the driving force of the vehicle, a driving force transferring mechanism that transfers the driving force to wheels, a steering mechanism that adjusts the steering angle of the vehicle, a braking device that generates the braking force of the vehicle, and the like. 
     The body system control unit  12020  controls the operations of a variety of devices attached to the vehicle body in accordance with a variety of programs. For example, the body system control unit  12020  functions as a control device for a keyless entry system, a smart key system, a power window device, or a variety of lights such as a headlight, a backup light, a brake light, a blinker, or a fog lamp. In this case, the body system control unit  12020  can receive radio waves transmitted from a portable device that serves instead of the key or signals of a variety of switches. The body system control unit  12020  receives these radio waves or signals, and controls the vehicle door lock device, the power window device, the lights, or the like. 
     The vehicle outside information detection unit  12030  detects information regarding the outside of a vehicle on which the vehicle control system  12000  is mounted. For example, an imaging unit  12031  is connected to the vehicle outside information detection unit  12030 . The vehicle outside information detection unit  12030  causes the imaging unit  12031  to capture an image outside of the vehicle and receives the captured image. The vehicle outside information detection unit  12030  may perform an object detection process or a distance detection process for a person, a vehicle, an obstacle, a sign, letters on a road, or the like on the basis of the received image. 
     The imaging unit  12031  is a light sensor that receives light and outputs an electric signal in accordance with the amount of received light. The imaging unit  12031  can output the electric signal as an image or distance measurement information. In addition, the light received by the imaging unit  12031  may be the visible light or may be non-visible light such as infrared light. 
     The vehicle inside information detecting unit  12040  detects information regarding the inside of the vehicle. The vehicle inside information detecting unit  12040  is connected, for example, to a driver state detecting unit  12041  that detects the state of the driver. The driver state detecting unit  12041  may include, for example, a camera that images the driver. The vehicle inside information detecting unit  12040  may compute the degree of the driver&#39;s tiredness or the degree of the driver&#39;s concentration or determine whether the driver have a doze, on the basis of detection information input from the driver state detecting unit  12041 . 
     For example, the microcomputer  12051  can calculate a control target value of the driving force generating device, the steering mechanism, or the braking device on the basis of information acquired by the vehicle outside information detecting unit  12030  or the vehicle inside information detecting unit  12040  on the inside and outside of the vehicle, and output a control instruction to the drive line control unit  12010 . For example, the microcomputer  12051  may perform cooperative control for the purpose of executing the functions of an advanced driver assistance system (ADAS) including vehicle collision avoidance or impact reduction, follow-up driving based on the inter-vehicle distance, constant vehicle speed driving, vehicle collision warning, vehicle lane departure warning, or the like. 
     Further, the microcomputer  12051  can control the driving force generating device, the steering mechanism, the braking device, or the like on the basis of information acquired by the vehicle outside information detecting unit  12030  or the vehicle inside information detecting unit  12040  on the areas around the vehicle, thereby performing cooperative control for the purpose of automatic driving or the like that allows the vehicle to autonomously travel irrespective of any operation of a driver. 
     In addition, the microcomputer  12051  can output a control instruction to the body system control unit  12020  on the basis of the information regarding the outside of the vehicle acquired by the vehicle outside information detection unit  12030 . For example, the microcomputer  12051  can control a head lamp in accordance with the position of a preceding vehicle or an oncoming vehicle detected by the vehicle outside information detection unit  12030  and can perform cooperative control for the purpose of anti-glaring such as switching a high beam to a low beam. 
     The audio and image output unit  12052  transmits an output signal of at least one of a sound and an image to an output device capable of visually or aurally notifying a passenger of the vehicle or the outside of the vehicle of information. In the example of  FIG. 8 , an audio speaker  12061 , a display unit  12062 , and an instrument panel  12063  are exemplified as the output device. For example, the display unit  12062  may include at least one of an onboard display and a head-up display. 
       FIG. 9  is a diagram illustrating an example of an installation position of the imaging unit  12031 . 
     In  FIG. 9 , the vehicle  12100  includes imaging units  12101 ,  12102 ,  12103 ,  12104 , and  12105  as the imaging unit  12031 . 
     Imaging units  12101 ,  12102 ,  12103 ,  12104 , and  12105  are positioned, for example, at the front nose, a side mirror, the rear bumper, the back door, and the upper part of the windshield in the vehicle compartment of a vehicle  12100 . The imaging unit  12101  attached to the front nose and the imaging unit  12105  attached to the upper part of the windshield in the vehicle compartment chiefly acquire images of the area ahead of the vehicle  12100 . The imaging units  12102  and  12103  attached to the side mirrors chiefly acquire images of the areas on the sides of the vehicle  12100 . The imaging unit  12104  attached to the rear bumper or the back door chiefly acquires images of the area behind the vehicle  12100 . A front image acquired by the imaging units  12101  and  12105  is used chiefly to detect a preceding vehicle, a pedestrian, an obstacle, a traffic light, a traffic sign, a lane, or the like. 
     Additionally,  FIG. 9  illustrates an example of the imaging ranges of the imaging units  12101  to  12104 . An imaging range  12111  represents the imaging range of the imaging unit  12101  attached to the front nose. Imaging ranges  12112  and  12113  respectively represent the imaging ranges of the imaging units  12102  and  12103  attached to the side mirrors. An imaging range  12114  represents the imaging range of the imaging unit  12104  attached to the rear bumper or the back door. For example, overlaying image data captured by the imaging units  12101  to  12104  offers an overhead image that looks down on the vehicle  12100 . 
     At least one of the imaging units  12101  to  12104  may have a function of acquiring distance information. For example, at least one of the imaging units  12101  to  12104  may be a stereo camera including a plurality of image sensors or may be an image sensor that includes pixels for phase difference detection. 
     For example, the microcomputer  12051  can extract a 3-dimensional object traveling at a predetermined speed (for example, 0 or more km/h) in substantially the same direction as the vehicle  12100  as a preceding vehicle by particularly using a closest 3-dimensional object on a travel road of the vehicle  12100  by obtaining a distance to each 3-dimensonal object within the imaging ranges  12111  to  12114  and a temporal change in the distance (a relative speed to the vehicle  12100 ) on the basis of distance information obtained from the imaging units  12101  to  12104 . Further, the microcomputer  12051  can set an inter-vehicle distance to be ensured in advance before a preceding vehicle and perform automatic brake control (also including follow-up stop control) or automatic acceleration control (also including follow-up oscillation control). In this way, it is possible to perform cooperative control for the purpose of automatic driving or the like that allows the vehicle to autonomously travel irrespective of any operation of a driver. 
     For example, the microcomputer  12051  can classify and extract 3-dimensional object data regarding 3-dimensional objects as other 3-dimensional objects such as motorcycles, normal vehicles, large vehicles, pedestrians, and electric poles on the basis of the distance information obtained from the imaging units  12101  to  12104  and can use the other 3-dimensional objects to automatically avoid obstacles. For example, the microcomputer  12051  identifies obstacles around the vehicle  12100  as obstacles which can be viewed by a driver of the vehicle  12100  and obstacles which are difficult to view. Then, the microcomputer  12051  can determine a collision risk indicating a danger of collision with each obstacle and output a warning to the driver via the audio speaker  12061  or the display unit  12062  in a situation in which there is a collision possibility since the collision risk is set to be equal to or greater than a set value or can perform driving assistance for collision avoidance by performing forced deceleration or avoidance steering iv via the drive line control unit  12010 . 
     At least one of the imaging units  12101  to  12104  may be an infrared camera that detects infrared light. For example, the microcomputer  12051  can recognize a pedestrian by determining whether or not there is the pedestrian in captured images of the imaging units  12101  to  12104 . The pedestrian can be recognized, for example, in a procedure in which feature points are extracted in the captured images of the imaging units  12101  to  12104  serving as infrared cameras and a procedure in which a series of feature points indicating a contour of an object are subjected to a pattern matching process to determine whether or not there is the pedestrian. The microcomputer  12051  determines that there is the pedestrian in the captured images of the imaging units  12101  to  12104 . When the pedestrian is recognized, the audio and image output unit  12052  controls the display unit  12062  such that a rectangular contour line for emphasis is superimposed to be displayed on the recognized pedestrian. In addition, the audio and image output unit  12052  controls the display unit  12062  such that an icon or the like indicating the pedestrian is displayed at a desired position. 
     In the above, the one example of the vehicle control system in the case where the technology according to the present embodiment is applied to movable objects has been described. The technology according to the present embodiment may be applied to, for example, the imaging unit  12031  in the above-described vehicle control system. 
     Program According to Present Embodiment 
     A program (for example, program that makes a computer execute processes related to the control method according to the first embodiment) for making a computer function as the control section  108  equipped in the imaging device  100  according to the first embodiment, is executed by the processor etc. in a computer, whereby the control of a gain in the imaging device  100  according to the first embodiment is realized. Therefore, by executing the program for making a computer function as the control section  108  equipped in the imaging device  100  according to the first embodiment by the processor etc. in a computer, it is possible to attain making the image quality of a captured image obtained by imaging, higher. Moreover, by executing the program for making a computer function as the control section  108  equipped in the imaging device  100  according to the first embodiment by the processor etc. in a computer, it is possible to attain the effects attained by the processes related to the control method according to the above-described first embodiment. 
     In addition, a program (for example, program that makes a computer execute processes related to the control method according to the second embodiment) for making a computer function as the control section  204  equipped in the imaging device  200  according to the second embodiment, is executed by the processor etc. in a computer, whereby control of a gain and control of switching of connection in the imaging device  200  according to the second embodiment is realized. Therefore, by executing the program for making a computer function as the control section  204  equipped in the imaging device  200  according to the second embodiment by the processor etc. in a computer, it is possible to attain making the image quality of a captured image obtained by imaging, higher. Moreover, by executing the program for making a computer function as the control section  204  equipped in the imaging device  200  according to the second embodiment by the processor etc. in a computer, it is possible to attain the effects attained by the processes related to the control method according to the above-described second embodiment. 
     Note that, in this description and the drawings, structural elements that have substantially the same function and structure are sometimes distinguished from each other using different alphabets after the same reference sign. However, when there is no need in particular to distinguish structural elements that have substantially the same function and structure, the same reference sign alone is attached. 
     For example, although it has been shown in the above to provide the program (computer program) for making a computer function as the control section  108  equipped in the imaging device  100  according to the first embodiment, it is also possible in the present embodiment to further provide, together with it, a recording medium made to memorize the above-described program. Moreover, for example, although it has been shown in the above to provide the program (computer program) for making a computer function as the control section  204  equipped in the imaging device  200  according to the second embodiment, it is also possible in the present embodiment to further provide, together with it, a recording medium made to memorize the above-described program. 
     The above-mentioned constitution shows one example of the present embodiment, and, naturally belongs to the technical scope of the present disclosure. 
     Further, the effects described in this specification are merely illustrative or exemplified effects, and are not limitative. That is, with or in the place of the above effects, the technology according to the present disclosure may achieve other effects that are clear to those skilled in the art from the description of this specification. 
     Additionally, the present technology may also be configured as below. 
     (1) 
     An imaging device, including: 
     an imaging section that includes a plurality of pixel circuits that perform photoelectric conversion; 
     a first converting section that converts an analog signal output from the pixel circuit that constitutes the imaging section, into a digital signal; and 
     a second converting section that converts an analog signal output from the pixel circuit that constitutes the imaging section, into a digital signal, 
     in which a same reference signal used for analog-to-digital conversion is supplied to the first converting section and the second converting section, 
     the first converting section and the second converting section convert the analog signal output from the same pixel circuit that constitutes the imaging section, into a digital signal, and 
     one or both of the first converting section and the second converting section is/are able to adjust a gain of the analog signal to be converted into a digital signal. 
     (2) 
     The imaging device according to (1), in which the reference signal is generated by a reference signal generator, and 
     a position at which the reference signal generator is disposed relative to the first converting section and wiring that connects the reference signal generator and the first converting section are symmetrical to a position at which the reference signal generator is disposed relative to the second converting section and wiring that connects the reference signal generator and the second converting section. 
     (3) 
     The imaging device according to (1) or (2), further including: 
     a first switching section that is electrically connected between the imaging section and the first converting section and switches the pixel circuit to be electrically connected to the first converting section; and 
     a second switching section that is electrically connected between the imaging section and the second converting section and switches the pixel circuit to be electrically connected to the second converting section, 
     in which the first converting section and the second converting section convert the analog signal output from the same pixel circuit that constitutes the imaging section, or the analog signal output from the different pixel circuits that constitute the imaging section, into a digital signal. 
     (4) 
     The imaging device according to (3), further including: 
     a control section that performs control of the gain in the first converting section capable of adjusting the gain, control of the gain in the second converting section capable of adjusting the gain, and control of switching of connection in the first switching section and the second switching section. 
     (5) 
     The imaging device according to (4), in which the control section performs control of the gain and control of switching of the connection on a basis of an operation signal corresponding to an operation of a user of the imaging device or a state of the imaging device. 
     (6) 
     The imaging device according to any one of (1) to (5), in which the first converting section includes a converting circuit that converts the analog signal into a digital signal. (7) 
     The imaging device according to (6), in which the converting circuit included in the first converting section capable of adjusting the gain includes a comparator, and the gain is adjusted by switching a capacitance ratio of capacitance to be connected to a terminal to which the reference signal is applied and capacitance to be connected to a terminal to be electrically connected to the pixel circuit in the comparator. 
     (8) 
     The imaging device according to any one of (1) to (7), in which the second converting section includes a converting circuit that converts the analog signal into a digital signal. 
     (9) 
     The imaging device according to (8), in which the converting circuit included in the second converting section capable of adjusting the gain includes a comparator, and the gain is adjusted by switching a capacitance ratio of capacitance to be connected to a terminal to which the reference signal is applied and capacitance to be connected to a terminal to be electrically connected to the pixel circuit in the comparator. 
     (10) 
     The imaging device according to any one of (1), (2), and (6) to (9), further including: 
     a control section that performs control of the gain in the first converting section capable of adjusting the gain and control of the gain in the second converting section capable of adjusting the gain. 
     (11) 
     The imaging device according to (10), in which the control section performs control of the gain on a basis of an operation signal corresponding to an operation of a user of the imaging device or a state of the imaging device. 
     (12) 
     A control method to be executed in an imaging device that includes 
     an imaging section that includes a plurality of pixel circuits that perform photoelectric conversion, 
     a first converting section that converts an analog signal output from the pixel circuit that constitutes the imaging section, into a digital signal, 
     a second converting section that converts an analog signal output from the pixel circuit that constitutes the imaging section, into a digital signal, 
     a first switching section that is electrically connected between the imaging section and the first converting section and switches the pixel circuit to be electrically connected to the first converting section, and 
     a second switching section that is electrically connected between the imaging section and the second converting section and switches the pixel circuit to be electrically connected to the second converting section, 
     in which a same reference signal used for analog-to-digital conversion is supplied to the first converting section and the second converting section, 
     the first converting section and the second converting section convert the analog signal output from the same pixel circuit that constitutes the imaging section, or the analog signal output from the different pixel circuits that constitute the imaging section, into a digital signal, and 
     one or both of the first converting section and the second converting section is/are able to adjust a gain of the analog signal to be converted into a digital signal, 
     the control method including: 
     a step of performing one or two or more of control of the gain in the first converting section capable of adjusting the gain, control of the gain in the second converting section capable of adjusting the gain, and control of switching of connection in the first switching section and the second switching section, on a basis of an operation signal corresponding to an operation of a user of the imaging device or a state of the imaging device. 
     REFERENCE SIGNS LIST 
       100 ,  200  imaging device 
       102  imaging section 
       104 A first converting section 
       104 B second converting section 
       106  generating section 
       108 ,  204  control section 
       110  processing section 
       150  converting circuit 
       152  reference signal generating section 
       202 A first switching section 
       202 B second switching section 
       250  multiplexer 
     Comp comparator 
     P pixel circuit