Distance measurement apparatus, and distance measurement method

A distance measurement method, includes measuring a distance to an object by means of a distance measurement circuit of a distance measurement apparatus and by scanning a light beam; designating a first mode which controls a projection angle of the light beam so that sampling positions in a given number of successive scans do not overlap, when the distance to the object is greater than or equal to a threshold value, by using the processor; and designating a second mode which controls the projection angle of the light beam so that the sampling positions overlap in each scan, when the distance to the object is less than the threshold value, by using the processor.