LiDAR device and LiDAR system including the same

Abstract

A light detection and ranging (LiDAR) device is provided, including a light emitter configured to emit light, a first light detector, and a second light detector, wherein the first light detector includes: a first optical antenna element having a first directivity relative to a first direction; and a first light detecting element configured to detect first reflected light received by the first optical antenna element, wherein the second light detector includes: a second optical antenna element having a second directivity relative to a second direction different from the first direction; and a second light detecting element configured to detect second reflected light received by the second optical antenna element.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims the benefit of Korean Patent Application No. 10-2019-0165996 filed on December 12, 2019, in the Korean Intellectual Property Office, and Korean Patent Application No. 10-2020-0059967 filed on May 19, 2020, in the Korean Intellectual Property Office, the entire contents of which are incorporated herein by reference. Technical Field

[0003] Example embodiments of the present disclosure relate to light detection and ranging (LiDAR) devices and LiDAR systems. Background Art

[0004] LiDAR has been applied in various fields, such as aerospace, geology, 3D mapping, automobiles, robots, drones, etc.

[0005] LiDAR systems use time-of-flight (TOF) measurement of light as their basic operating principle. That is, light is emitted toward an object and then received by a sensor, and the time of flight is measured using high-speed circuitry. The distance to the object can be calculated based on the time of flight. A depth image of the object can be generated based on the distance calculated for each position of the object.

[0006] In this approach, there is a limit to the image resolution that can be achieved within a given frame time due to limitations on the speed of light. Summary of the Invention

[0007] One or more example embodiments provide a LiDAR device with improved image resolution.

[0008] One or more example embodiments also provide a LiDAR system with improved image resolution.

[0009] However, the embodiments are not limited to the above disclosure.

[0010] Additional aspects will be set forth in part in the description which follows and, in part, will be apparent from the description, or may be learned by practice of example embodiments.

[0011] According to one aspect of an example embodiment, a light detection and ranging (LiDAR) device is provided, including a light emitter configured to emit light, a first light detector, and a second light detector, wherein the first light detector includes: a first optical antenna element having a first directivity relative to a first direction; and a first light detecting element configured to detect first reflected light received by the first optical antenna element, wherein the second light detector includes: a second optical antenna element having a second directivity relative to a second direction different from the first direction; and a second light detecting element configured to detect second reflected light received by the second optical antenna element.

[0012] The light emitter can be configured to emit first light and second light to a first object and a second object, respectively, wherein the second light is emitted from the light emitter before an effective measurement time elapses after the light emitter emits the first light, wherein the first reflected light is light incident on the first optical antenna element along a first direction among multiple beams of reflected light generated by the first object reflecting the first light, wherein the second reflected light is light incident on the second optical antenna element along a second direction among multiple beams of reflected light generated by the second object reflecting the second light, wherein the effective measurement time is time used to determine at least one of the horizontal resolution, vertical resolution and maximum measurement distance of the LiDAR device.

[0013] The first optical antenna element can be configured to: block the third reflected light from the multiple beams of reflected light generated by the second object reflecting the second light, which is incident on the first optical antenna element along a direction different from the first direction, from being transmitted to the first light detection element, and wherein the second optical antenna element is configured to: block the fourth reflected light from the multiple beams of reflected light generated by the first object reflecting the first light, which is incident on the second optical antenna element along a direction different from the second direction, from being transmitted to the second light detection element.

[0014] Each of the first and second optical antenna elements may include an optical phased array element.

[0015] The first directivity and the second directivity may be controlled based on an electrical signal or a thermal signal.

[0016] The light emitter may include a light source and a beam steering device, wherein the light source is configured to emit light toward the beam steering device, and wherein the beam steering device is configured to change a traveling direction of the light.

[0017] The beam steering device may include optical phased array elements.

[0018] The light emitter may include a light source and a driver configured to move the light source and control the direction in which the light source emits light.

[0019] According to another aspect of the example embodiments, a light detection and ranging (LiDAR) device is provided, comprising: a light emitter configured to emit light; a first light detector; a second light detector; and a processor configured to control the light emitter, the first light detector, and the second light detector, wherein the processor is further configured to: control the first light detector to selectively detect first reflected light incident on the first light detector along a first direction; and control the second light detector to selectively detect second reflected light incident on the second light detector along a second direction different from the first direction.

[0020] The processor can also be configured to: control the light emitter so that the light emitter emits the first light and the second light to the first object and the second object, respectively, and so that the second light is emitted from the light emitter before an effective measurement time passes after the light emitter emits the first light, and wherein the effective measurement time is a time for determining at least one of the horizontal resolution, vertical resolution, and maximum measurement distance of the LiDAR device.

[0021] The first light detector may include a first optical antenna element and a first light detecting element, wherein the first optical antenna element is configured to receive the first reflected light and transmit the first reflected light to the first light detecting element, wherein the first light detecting element is configured to detect the first reflected light, wherein the second light detector may include a second optical antenna element and a second light detecting element, wherein the second optical antenna element is configured to receive the second reflected light and transmit the second reflected light to the second light detecting element, and wherein the second light detecting element is configured to detect the second reflected light.

[0022] The first optical antenna element may include: a plurality of grating groups configured to disperse the first reflected light into multiple beams of light and receive the multiple beams of light formed by dispersing the first reflected light; a plurality of phase control elements configured to independently control the phases of the multiple beams of light formed by dispersing the first reflected light; and a plurality of optical couplers configured to combine the multiple beams of light after phase control into one beam of light, wherein the second optical antenna element may include: a plurality of grating groups configured to disperse the second reflected light into multiple beams of light and receive the multiple beams of light formed by dispersing the second reflected light; a plurality of phase control elements configured to independently control the phases of the multiple beams of light formed by dispersing the second reflected light; and a plurality of optical couplers configured to combine the multiple beams of light after phase control into one beam of light.

[0023] The processor can also be configured to: control multiple phase control elements of the first optical antenna element so that the multiple beams of light formed by dispersing the first reflected light have the same phase as each other, and control multiple phase control elements of the second optical antenna element so that the multiple beams of light formed by dispersing the second reflected light have the same phase as each other.

[0024] The processor can also be configured to: control the first optical antenna element so that the first optical antenna element blocks the third reflected light incident on the first optical antenna element from being transmitted to the first light detection element among the multiple beams of reflected light generated by the second object reflecting the second light, and control the second optical antenna element so that the second optical antenna element blocks the fourth reflected light incident on the second optical antenna element from being transmitted to the second light detection element among the multiple beams of reflected light generated by the first object reflecting the first light.

[0025] The multiple grating groups of the first optical antenna element can be configured to: disperse the third reflected light into multiple beams of light, and receive the multiple beams of light formed by dispersing the third reflected light, wherein the multiple grating groups of the second optical antenna element can be configured to: disperse the fourth reflected light into multiple beams of light, and receive the multiple beams of light formed by dispersing the fourth reflected light, and wherein the processor can also be configured to: control the multiple phase control elements of the first optical antenna element so that the multiple beams of light formed by dispersing the third reflected light have different phases, and control the multiple phase control elements of the second optical antenna element so that the multiple beams of light formed by dispersing the fourth reflected light have different phases.

[0026] The processor may be further configured to control the light emitter to emit third light onto a third object when an effective measurement time has passed after emitting the first light, and control the first light detector to selectively detect third reflected light reflected by the third object.

[0027] After emitting the first light, based on the first light detector not detecting the first reflected light before the predetermined emission time has passed, the processor may be further configured to: control the light emitter to emit the second light when the predetermined emission time has passed after the first light has been emitted.

[0028] After emitting the first light, based on the first light detector detecting the first reflected light before a predetermined emission time has passed, the processor may be further configured to: control the light emitter to emit the second light before a predetermined emission time has passed after emitting the first light.

[0029] After emitting the first light, based on the first light detector detecting the first reflected light before a predetermined emission time elapses, the processor may be further configured to: control the light emitter to emit the second light when the first reflected light is detected.

[0030] The processor can also be configured to: control the light emitter so that the light emitter emits a third light onto a third object between a first time point after an effective measurement time has passed after emitting the first light and a second time point when the second light is emitted, and the processor can also be configured to control the first light detector so that the first light detector selectively detects fifth reflected light reflected by the third object.

[0031] According to yet another aspect of the example embodiments, a light detection and ranging (LiDAR) system is provided, comprising: a LiDAR device; and at least one processor configured to control the LiDAR device, wherein the LiDAR device comprises a light emitter, a first light detector, a second light detector, and a first communication interface, wherein the first light detector comprises: a first optical antenna element having a first directivity relative to a first direction; and, the first light detecting element configured to detect first reflected light received by the first optical antenna element, wherein the second light detector comprises: a second optical antenna element having a second directivity relative to a second direction different from the first direction; and, the second light detecting element configured to detect second reflected light received by the second optical antenna element, and wherein the at least one processor is configured to control the light emitter, the first light detector, the second light detector, and the second communication interface connected to the first communication interface.

[0032] At least one processor may be configured to generate a control signal to control the optical emitter, the first optical detector, and the second optical detector, the second communication interface may be configured to send the control signal to the first communication interface, and the first communication interface may be configured to send the control signal to the optical emitter, the first optical detector, and the second optical detector.

[0033] The first light detection element can be configured to generate a first detection signal for the first reflected light, and the second light detection element can be configured to generate a second detection signal for the second reflected light, the first communication interface can be configured to send the first detection signal and the second detection signal to the second communication interface, and the second communication interface can be configured to send the first detection signal and the second detection signal to the processor.

[0034] The light emitter can be configured to emit the first light and the second light to the first object and the second object, respectively, and the second light can be emitted from the light emitter before the effective measurement time passes after the light emitter emits the first light. The first reflected light can be the light that is incident on the first optical antenna element along the first direction among the multiple beams of reflected light generated by the first object reflecting the first light, and the second reflected light can be the light that is incident on the second optical antenna element along the second direction among the multiple beams of reflected light generated by the second object reflecting the second light, and the effective measurement time can be the time used to determine at least one of the horizontal resolution, vertical resolution and maximum measurement distance of the LiDAR device.

[0035] The first optical antenna element can be configured to: block the third reflected light among the multiple beams of reflected light generated by the second object reflecting the second light and incident on the first optical antenna element along a direction different from the first direction from being transmitted to the first light detection element, and the second optical antenna element can be configured to: block the fourth reflected light among the multiple beams of reflected light generated by the first object reflecting the first light and incident on the second optical antenna element along a direction different from the second direction from being provided to the second light detection element.

[0036] Each of the first and second optical antenna elements may include an optical phased array element.

[0037] The first directionality and the second directionality may be controlled by an electrical signal or a thermal signal.

[0038] The light emitter may include a light source and a beam steering device, wherein the light source may be configured to emit light toward the beam steering device, and wherein the beam steering device may be configured to change a traveling direction of the light.

[0039] The beam steering device may include optical phased array elements.

[0040] The light emitter may include a light source and a driver configured to move the light source and control the direction in which the light source emits light.

[0041] According to yet another aspect of an example embodiment, a light detection and ranging (LiDAR) device is provided, comprising: a light emitter configured to emit light, a first light detector comprising a first optical antenna element and a second light detection element, and a second light detector comprising a second optical antenna element and a second light detection element, wherein the first light detector is configured to selectively detect first light incident on the first light detector along a first direction, and the second light detector is configured to selectively detect second light incident on the second light detector along a second direction different from the first direction, wherein the first optical antenna element and the second optical antenna element respectively comprise optical phased arrays.

[0042] The first optical antenna element can be configured to: transmit first light incident on the first light detector along a first direction to the first light detection element, and block light incident on the first light detector along a direction different from the first direction, and the second optical antenna element can be configured to: transmit second light incident on the second light detector along a second direction to the second light detection element, and block light incident on the second light detector along a direction different from the second direction. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The above and / or other aspects, features and advantages of certain example embodiments will become more apparent from the following description taken in conjunction with the accompanying drawings, in which:

[0044] Figure 1 is a block diagram of a LiDAR device according to an example embodiment;

[0045] Figure 2 yes Figure 1 A perspective view of a beam steering device;

[0046] Figure 3 It shows Figure 2 a diagram of a first magnified area;

[0047] Figure 4 It shows Figure 2 A cross-sectional view of the emission region;

[0048] Figure 5 It shows Figure 2 A plan view of the launch area;

[0049] Figure 6 yes Figure 1 a perspective view of a first optical antenna element;

[0050] Figure 7 It shows Figure 6 a cross-sectional view of a first receiving region;

[0051] Figure 8 It shows Figure 6 A plan view of a first receiving area;

[0052] Figure 9 yes Figure 1 a perspective view of a second optical antenna element;

[0053] Figure 10 It shows Figure 9 a cross-sectional view of a second receiving region;

[0054] Figure 11 It shows Figure 9 A plan view of a second receiving area;

[0055] Figure 12 is a flowchart illustrating a method of driving a LiDAR device according to an example embodiment;

[0056] Figure 13 It shows Figure 12 A block diagram of a method for driving a LiDAR device;

[0057] Figure 14 It shows Figure 12 A block diagram of a method for driving a LiDAR device;

[0058] Figure 15 It shows Figure 12A block diagram of a method for driving a LiDAR device;

[0059] Figure 16 It shows Figure 12 A block diagram of a method for driving a LiDAR device;

[0060] Figure 17 is a block diagram of a LiDAR device according to an example embodiment;

[0061] Figure 18 is a block diagram of a LiDAR system according to an example embodiment;

[0062] Figure 19 is a block diagram of a LiDAR system according to an example embodiment;

[0063] Figure 20 is a flowchart illustrating a method of driving a LiDAR device according to an example embodiment;

[0064] Figure 21 It shows Figure 20 A block diagram of a method for driving a LiDAR device; and

[0065] Figure 22 It shows Figure 20 A block diagram of a method for driving a LiDAR device. DETAILED DESCRIPTION

[0066] Reference is now made in detail to the example embodiments shown in the accompanying drawings, in which the same reference numerals throughout the drawings refer to the same elements. In this regard, exemplary embodiments may have different forms and should not be construed as being limited to the description set forth herein. Therefore, the following description of the example embodiments is provided solely by reference to the accompanying drawings to explain various aspects. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items. Statements such as "at least one of..." modify the entire list of elements when they follow a list of elements, rather than modifying the individual elements in the list. For example, the statement "at least one of a, b, and c" should be understood to include only a, only b, only c, both a and b, both a and c, both b and c, or all of a, b, and c.

[0067] Hereinafter, items described as “on” or “over” may include not only being in direct contact but also being in non-contact.

[0068] Unless otherwise specified, terms in the singular may include plural forms. Also, when a component “includes” a component, it means that, unless specifically stated otherwise, it may also include other components rather than exclude other components.

[0069] Terms such as “component” or “module” described in the specification mean a unit for processing at least one function or operation and can be implemented by hardware or software, or a combination of hardware and software.

[0070] Hereinafter, “image resolution” may be at least one of a spatial resolution for a horizontal direction and / or a vertical direction and a temporal resolution which is an image update rate per unit time.

[0071] Figure 1 is a block diagram of a LiDAR apparatus according to example embodiments. Figure 2 yes Figure 1 A perspective view of the beam guiding device. Figure 3 It shows Figure 2 Figure 1 shows a first magnified area of ​​the image. Figure 4 It shows Figure 2 Cross-sectional view of the emission region. Figure 5 It shows Figure 2 Plan view of the launch area. Figure 6 yes Figure 1 A perspective view of a first optical antenna element. Figure 7 It shows Figure 6 A cross-sectional view of the first receiving area. Figure 8 It shows Figure 6 A plan view of the first receiving area. Figure 9 yes Figure 1 A perspective view of a second optical antenna element. Figure 10 It shows Figure 9 A cross-sectional view of the second receiving area. Figure 11 It shows Figure 9 A plan view of the second receiving area.

[0072] refer to Figure 1 , a LiDAR device 11 including a light emitter 100, a first light detector 200, a second light detector 300 and a processor 1000 may be provided. The light emitter 100 may emit or radiate light to an object. The light emitter 100 may include a light source 110 and a beam guiding device 120. The light source 110 may generate light to provide the light to the beam guiding device 120. The wavelength of the light may be determined to be suitable for position and / or shape analysis of the object. For example, the light source 110 may include at least one of the following light sources: a laser diode (LD) configured to generate and emit light of an infrared wavelength, an edge-emitting laser, a vertical cavity surface emitting laser (VCSEL), a distributed feedback laser, a light emitting diode (LED) and a superluminescent diode (SLD). However, embodiments are not limited thereto. For example, the light source 110 may generate light in a plurality of different wavelength bands. The light source 110 may generate and emit pulsed light or continuous light.

[0073] refer to Figures 2 to 5 , the beam guiding device 120 can receive the first input light IL1 provided from the light source 110 and emit the first output light OL1. The beam guiding device 120 can adjust the direction of travel of the first output light OL1. For example, the beam guiding device 120 can adjust the direction of travel of the first output light OL1 so that the first output light OL1 is emitted to the object. The beam guiding device 120 can be of a non-mechanical type. For example, the beam guiding device 120 can include an optical phased array. However, the beam guiding device 120 is not limited to including an optical phased array. In other example embodiments, the beam guiding device 120 can include a phased array using an electrically controlled liquid crystal or a metasurface, or can include a waveguide array.

[0074] The light beam guiding device 120 may include a branch region 120A, a first phase control region 120B, a first amplification region 120C, and an emission region 120D provided on a substrate 121. The branch region 120A, the first phase control region 120B, the first amplification region 120C, and the emission region 120D may be arranged along a first direction DR1 parallel to the upper surface of the substrate 121. The branch region 120A may include a plurality of beam splitters 122 and an optical waveguide 123. The plurality of beam splitters 122 may disperse a beam of light into a plurality of beams of light. For example, Figure 2 1 and 2 show a plurality of beam splitters 122 for splitting one beam of light into two beams of light. The first input light IL1 may be split into a plurality of beams of light in the branching region 120A. Figure 2 An exemplary embodiment is shown in which the first input light IL1 is dispersed into eight beams of light in the branch region 120A.

[0075] The first phase control region 120B may include a phase control element 124 disposed on the substrate 121. For example, the phase control element 124 may be arranged along a second direction DR2 that is parallel to the upper surface of the substrate 121 but different from the first direction DR1. The multiple beams of light dispersed in the branch region 120A may be provided to the phase control element 124, respectively. The phase control element 124 may have a variable refractive index. For example, the refractive index of the phase control element 124 may be adjusted electrically or thermally. The phases of the multiple beams of light passing through the phase control element 124 may be determined based on the refractive index of the phase control element 124. The phase control element 124 may independently adjust the phases of the dispersed multiple beams of light. In an example embodiment, the phase control element 124 may adjust the phases of the dispersed multiple beams of light so that the dispersed multiple beams of light have different phases. In an example embodiment, the phase control element 124 may adjust the phases of the dispersed multiple beams of light so that the dispersed multiple beams of light have the same phase.

[0076] The first amplification region 120C may include a waveguide 123 and an amplifying element 125. The waveguide 123 may be disposed on the substrate 121. The waveguide 123 may extend from the phase control element 124 along the first direction DR1, respectively. The amplifying element 125 may be disposed on the waveguide 123, respectively. The amplifying element 125 may increase the amplitude of the optical signal. For example, each amplifying element 125 may include a semiconductor optical amplifier or an ion-doped amplifier. The semiconductor optical amplifier may not require a separate excitation laser. For example, the semiconductor optical amplifier may include a Fabry-Perot amplifier (FPA) type optical amplifier and / or a traveling wave amplifier (TWA) type optical amplifier. With an FPA type optical amplifier, an injected current causes density inversion in the high-energy conduction band, thereby generating induced emission by transitioning to the low-energy valence band, which can be amplified by a resonator. The TWA type optical amplifier has an anti-reflection coating on both end faces of the semiconductor laser to suppress reflection at the exit surface and suppress resonance, thereby having a structure that expands the gain bandwidth compared to the FPA type optical amplifier.

[0077] refer to Figure 3 Each amplifying element 125 may include a lower cladding layer 125a, an active layer 125b, and an upper cladding layer 125c. The lower cladding layer 125a, the active layer 125b, and the upper cladding layer 125c may include a III-V compound semiconductor material or a II-VI compound semiconductor material. The active layer 125b may include, for example, indium gallium arsenide (InGaAs), indium gallium arsenide nitride (InGaNAs), indium gallium arsenide phosphide (InGaAsP), or indium aluminum gallium arsenide (InAlGaAs). The lower cladding layer 125a and the upper cladding layer 125c may include a semiconductor material having a band gap greater than the band gap of the active layer 125b. The lower cladding layer 125a and the upper cladding layer 125c may include, for example, gallium arsenide (GaAs), gallium phosphide (GaP), aluminum gallium arsenide (AlGaAs), indium gallium phosphide (InGaP), or indium phosphide (InP). The materials of the lower cladding layer 125a, the active layer 125b, and the upper cladding layer 125c can be selected according to the wavelength (bandgap) of the light to be amplified. For example, when amplifying light with a wavelength of 1.55 μm, InP / InGaAs materials can be used for the lower cladding layer 125a, the active layer 125b, and the upper cladding layer 125c.

[0078] The lower conductive layer 125d and the upper conductive layer 125e may be disposed on the lower cladding layer 125a and the upper cladding layer 125c, respectively. The lower conductive layer 125d and the upper conductive layer 125e may include a conductive material. For example, the lower conductive layer 125d and the upper conductive layer 125e may include at least one selected from titanium (Ti), gold (Au), silver (Ag), platinum (Pt), copper (Cu), aluminum (Al), nickel (Ni), and / or chromium (Cr). For example, the lower conductive layer 125d and the upper conductive layer 125e may include at least one of indium tin oxide (ITO), indium zinc oxide (IZO), Ga-In-Zn oxide (GIZO), Al-Zn oxide (AZO), Ga-Zn oxide (GZO), and zinc oxide (ZnO). In example embodiments, the lower conductive layer 125d and the upper conductive layer 125e may be electrodes. In example embodiments, separate electrodes may be coupled to the lower conductive layer 125d and the upper conductive layer 125e.

[0079] The emission region 120D may include a grating pattern group 126. The grating pattern group 126 may be arranged along the second direction DR2. The grating pattern groups 126 may be connected to the amplifying elements 125, respectively. For example, each grating pattern group 126 may extend from the amplifying element 125, respectively, along the first direction DR1. The grating pattern groups 126 may respectively emit multiple beams of light amplified in the first amplifying region 120C. Each grating pattern group 126 may include periodically arranged grating patterns 126a. The grating patterns 126a may be arranged along the first direction DR1. The traveling direction of the first output light OL1 emitted by the grating pattern group 126 may be determined by the phase difference between the dispersed multiple beams of light determined in the first phase control region 120B, the intervals between the grating patterns 126a, the height of the grating patterns 126a, and the width of the grating patterns 126a. Reference Figure 4 From the perspective along the second direction DR2, the first output light OL1 may form a first vertical angle θ with a line along the third direction DR3 orthogonal to the upper surface of the substrate 121. V1 In example embodiments, the first vertical angle θ may be determined according to the wavelength of light divided in the first phase control region 120B. V1 . refer to Figure 5 From the perspective along the third direction DR3, the first output light OL1 may form a first horizontal angle θ with the line along the first direction DR1. H1 In an example embodiment, the phase difference between the dispersed multiple light beams in the first phase control region 120B may be controlled to adjust the first horizontal angle θ H1 .

[0080] In example embodiments, the emission region 120D may have an internal structure in which a refractive index difference periodically changes. For example, the traveling direction of the first output light OL1 may be determined by changing the period of the refractive index difference or changing the refractive index.

[0081] In an example embodiment, the emission region 120D may have a grating structure for polarization that periodically turns on / off polarization using liquid crystal. For example, the traveling direction of the first output light OL1 may be determined by adjusting at least one of the interval and transmittance of the grating.

[0082] In example embodiments, the emission region 120D may have a birefringent prism form. For example, the traveling direction of the first output light OL1 may be determined by changing the angle of the prism.

[0083] In example embodiments, the emission region 120D may have a structure having an interface between air and liquid (eg, oil). For example, the traveling direction of the first output light OL1 may be determined by applying an external signal to change the interface or the refractive index of the liquid.

[0084] In example embodiments, the emission region 120D may include a hologram structure. For example, the traveling direction of the first output light OL1 may be determined by changing a refractive index or a density distribution pattern inside a medium of the hologram structure.

[0085] In example embodiments, the emission region 120D may have a structure in which transmittance periodically changes according to the intensity of the liquid crystal. For example, the traveling direction of the first output light OL1 may be determined by changing the period or the transmittance.

[0086] In example embodiments, the emission region 120D may have a micro-electromechanical system (MEMS) mirror array. For example, the traveling direction of the first output light OL1 may be determined by controlling the operating state of each pixel.

[0087] In example embodiments, in the emission area 120D, the traveling direction of the first output light OL1 may be determined by injecting ultrasonic waves into a medium and changing the frequency of the ultrasonic waves.

[0088] In example embodiments, the emission region 120D may have a medium that forms an electric field in the upper, lower, left, and right directions. For example, the direction of travel of the first output light OL1 may be determined by changing the intensity or frequency of the electric field.

[0089] In example embodiments, the emission region 120D may have two or more aligned lens groups. For example, the traveling direction of the first output light OL1 may be determined by moving each lens in the lens group up, down, left, or right.

[0090] In example embodiments, the emission region 120D may have two or more aligned microlens array (MLA) groups. For example, the direction of travel of the first output light OL1 may be determined by moving individual MLAs up, down, left, or right and / or by changing the period or shape of individual MLAs.

[0091] refer to Figure 1 , the first light detector 200 may include a first optical antenna element 210 and a first light detecting element 220. The first light detector 200 may detect light reflected from an object.

[0092] refer to Figure 6 、 Figure 7 and Figure 8 , the first optical antenna element 210 may include an optical phased array. The first optical antenna element 210 may receive the second input light IL2 incident on the first optical antenna element 210. The first optical antenna element 210 may be connected to the reference Figure 2 and Figure 3 The beam guiding device described is substantially the same. The first optical antenna element 210 may include a first receiving region 210D, a second amplifying region 210C, a second phase control region 210B, and a first coupling region 210A provided on a substrate 211. The structures of the first receiving region 210D, the second amplifying region 210C, the second phase control region 210B, and the first coupling region 210A may be respectively the same as those of reference 1. Figures 2 to 4 The structures of the transmitting region 120D, the first amplifying region 120C, the first phase control region 120B, and the branch region 120A are substantially the same. For the sake of brevity, the description of the structures of the first receiving region 210D, the second amplifying region 210C, the second phase control region 210B, and the first coupling region 210A may be omitted.

[0093] The first receiving region 210D may include a grating pattern group 216. The grating pattern group 216 may be arranged along a fifth direction DR5 parallel to the upper surface of the substrate 211. The grating pattern group 216 may include a grating pattern 216a. The grating pattern 216a may be arranged along a fourth direction DR4 parallel to the upper surface of the substrate 211 and intersecting the fifth direction DR5. The grating pattern group 216 and the grating pattern 216a may be aligned with the reference Figures 2 to 4 The grating pattern group 126 and the grating pattern 126a described are substantially the same. The grating pattern group 216 can receive multiple beams of light by dispersing the second input light IL2 incident on the first receiving area 210D into multiple beams of light. The phase of each beam of light can be determined according to the incident direction of the second input light IL2. In an example embodiment, the multiple beams of light can have different phases. In an example embodiment, the multiple beams of light can have the same phase as each other. Figure 7From a perspective along the fifth direction DR5, the second input light IL2 may form a second vertical angle θ with a line along a sixth direction DR6 orthogonal to the upper surface of the substrate 211. V2 In example embodiments, the second vertical angle θ may be determined according to the wavelength of the second input light IL2. V2 .

[0094] The second amplifying region 210C may include amplifying elements 215 respectively connected to the grating pattern groups 216. The amplifying elements 215 may respectively increase the amplitude of the optical signals provided from the grating pattern groups 216. For example, the amplifying elements 215 may include a semiconductor optical amplifier or an ion doping amplifier.

[0095] The second phase control region 210B can modulate the phases of the multiple light beams provided from the second amplifying region 210C. The second phase control region 210B may include a phase control element 214. The phase control element 214 may have a variable refractive index. The phases of the multiple light beams passing through the phase control element 214 may be determined based on the refractive index of the phase control element 214. The phase control element 214 can independently adjust the phases of the multiple light beams. In an example embodiment, the phase control element 214 can adjust the phases of the multiple light beams so that the multiple light beams have the same phase. In an example embodiment, the phase control element 214 can adjust the phases of the multiple light beams so that the multiple light beams have different phases.

[0096] The first coupling region 210A may include a plurality of optical couplers 212 and an optical waveguide 213. The plurality of optical couplers 212 may combine a plurality of light beams into one light beam. When the plurality of light beams have the same phase as each other, the plurality of light beams may be combined into one light beam in the first coupling region 210A to generate a second output light OL2. When the phases of the plurality of light beams are different from each other, the first coupling region 210A may not generate output light. Since the phases of the plurality of light beams are determined according to the incident direction of the second input light IL2, the first optical antenna element 210 may have a first directivity. The first directivity may be variable. The first optical antenna element 210 may receive light incident on the first optical antenna element 210 along a pre-set first receiving direction. The first optical antenna element 210 may block light incident on the first optical antenna element 210 along a direction different from the first receiving direction. The first optical antenna element 210 may receive light and provide the light to the first light detection element 220. Reference Figure 8 From the perspective along the sixth direction DR6, the second input light IL2 may form a second horizontal angle θ with the line along the fourth direction DR4. H2 In an exemplary embodiment, the phase difference between the multiple beams in the second phase control region 210B is controlled so that the second horizontal angle θ can be adjusted. H2 .

[0097] The first light detecting element 220 may convert the light provided from the first optical antenna element 210 into an electrical signal. For example, the first light detecting element 220 may include at least one of an avalanche photodiode (APD), a single photon avalanche photodiode (SPAPD), a single avalanche photodiode (SAPD), a photodiode (PD), a quantum well photodiode (QWP), and a photomultiplier tube (PMT).

[0098] refer to Figure 1 , the second light detector 300 may include a second optical antenna element 310 and a second light detecting element 320. The second light detector 300 may detect light reflected from an object.

[0099] refer to Figures 9 to 11 , the second optical antenna element 310 may include an optical phased array. The second optical antenna element 310 may receive a third input light IL3 incident on the second optical antenna element 310. The third input light IL3 may be light traveling in a direction different from the traveling direction of the second input light IL2. The second optical antenna element 310 may be connected to the reference Figure 2 and Figure 3 The beam guiding device described above is substantially the same. The second optical antenna element 310 may include a second receiving region 310D, a third amplifying region 310C, a third phase control region 310B, and a second coupling region 310A disposed on a substrate 311. The structures of the second receiving region 310D, the third amplifying region 310C, the third phase control region 310B, and the second coupling region 310A may be respectively the same as those of the reference numerals. Figures 2 to 5 The structures of the transmitting region 120D, the first amplifying region 120C, the first phase control region 120B, and the branch region 120A are substantially the same. For the sake of brevity, the description of the structures of the second receiving region 310D, the third amplifying region 310C, the third phase control region 310B, and the second coupling region 310A may be omitted.

[0100] The second receiving region 310D may include a grating pattern group 316. The grating pattern group 316 may be arranged along an eighth direction DR8 parallel to the upper surface of the substrate 311. The grating pattern group 316 may include a grating pattern 316a. The grating pattern 316a may be arranged along a seventh direction DR7 parallel to the upper surface of the substrate 311 and intersecting the eighth direction DR8. The grating pattern group 316 and the grating pattern 316a may be aligned with the reference Figures 2 to 4The grating pattern group and the grating pattern described are substantially the same. The grating pattern group 316 can receive multiple beams of light by dispersing the third input light IL3 incident on the second receiving area 310D into multiple beams of light. The phases of the multiple beams of light can be determined according to the incident direction of the third input light IL3. In an example embodiment, the multiple beams of light can have different phases. In an example embodiment, the multiple beams of light can have the same phase as each other. Figure 10 From a perspective along the eighth direction DR8, the third input light IL3 may form a third vertical angle θ with a line along a ninth direction DR9 orthogonal to the upper surface of the substrate 311. V3 The third vertical angle θ V3 Can be independent of the second vertical angle θ V2 For example, the third vertical angle θ V3 Can be at a second vertical angle θ V2 In example embodiments, the third vertical angle θ may be determined according to the wavelength of the third input light IL3. V3 .

[0101] The third amplifying region 310C may include amplifying elements 315 respectively connected to the grating pattern groups 316. The amplifying elements 315 may respectively increase the amplitude of the optical signals provided from the grating pattern groups 316. For example, the amplifying elements 315 may include a semiconductor optical amplifier or an ion doping amplifier.

[0102] The third phase control region 310B can modulate the phases of the multiple light beams provided from the third amplifying region 310C. The third phase control region 310B may include a phase control element 314. The phase control element 314 may have a variable refractive index. The phases of the multiple light beams passing through the phase control element 314 may be determined based on the refractive index of the phase control element 314. The phase control element 314 can independently adjust the phases of the multiple light beams. In an example embodiment, the phase control element 314 can adjust the phases of the multiple light beams so that the multiple light beams have the same phase. In an example embodiment, the phase control element 314 can adjust the phases of the multiple light beams so that the multiple light beams have different phases.

[0103] The second coupling region 310A may include a plurality of optical couplers 312 and an optical waveguide 313. The plurality of optical couplers 312 may combine a plurality of light beams into one light beam. When the plurality of light beams have the same phase as each other, the plurality of light beams may be combined into one light beam in the second coupling region 310A to generate a third output light OL3. When the phases of the plurality of light beams are different from each other, the second coupling region 310A may not generate output light. Since the phases of the plurality of light beams are determined according to the incident direction of the third input light IL3, the second optical antenna element 310 may have a second directivity that is different from the first directivity. The second directivity may be variable. The second optical antenna element 310 may receive light incident on the second optical antenna element 310 along a pre-set second receiving direction. The second receiving direction may be different from the first receiving direction. The second optical antenna element 310 may block light incident on the second optical antenna element along a direction different from the second receiving direction. The second optical antenna element 310 may receive the third input light IL3 and provide the third input light IL3 to the second light detection element 320. Reference Figure 11 From the perspective along the ninth direction DR9, the third input light IL3 may form a third horizontal angle θ with the line along the seventh direction DR7. H3 The third horizontal angle θ H3 and the second horizontal angle θ H2 Can be independent of each other. For example, the third horizontal angle θ H3 Can be with the second horizontal angle θ H2 In an exemplary embodiment, the phase difference between the multiple beams of light is controlled in the third phase control region 310B, so that the third horizontal angle θ can be adjusted. H3 .

[0104] The second light detecting element 320 may convert the light provided from the second optical antenna element 310 into an electric signal. For example, the second light detecting element 320 may include at least one of an APD, a SPAPD, a SAPD, a PD, a QWP, and a PMT.

[0105] The processor 1000 may control the light emitter 100. The light source 110 may be controlled by the processor 1000 to generate light and provide the light to the light beam guiding device 120. The light beam guiding device 120 may be controlled by the processor 1000 to change the traveling direction of the light.

[0106] The processor 1000 may adjust the first directivity of the first optical antenna element 210 and the second directivity of the second optical antenna element 310. For example, the processor 1000 may adjust the first directivity and the second directivity by providing an electrical signal or a thermal signal to the first and second optical antenna elements 210 and 310.

[0107] The processor 1000 may perform signal processing to obtain information about an object using the light detected by the light detector 200. The processor 1000 may determine the distance to the location of the object based on, for example, the angle at which light is emitted to the object and the flight time of light reflected from the object, and perform data processing to analyze the location and shape of the object.

[0108] In the case of a LiDAR device including a single light detector, the light emitter may emit light and then emit the next beam of light after an effective measurement time has elapsed. The effective measurement time may be a reference time for determining at least one of the horizontal resolution, vertical resolution, and maximum measurement distance of the LiDAR device. Typically, the effective measurement time may be longer than the drivable time of the light source in the light emitter, which is the time required for the light source to emit the next beam of light. Therefore, the resolution of the image may be limited by the effective measurement time.

[0109] According to an example embodiment, the light emitter 100 may emit a second light before the effective measurement time elapses after emitting the first light. When the first light is reflected and returns to the LiDAR device 11, the first light detector 200 may detect the reflected light. Thereafter, when the second light is reflected and returns to the LiDAR device 11, the second light detector 300 may detect the reflected light. The light emitter 100 may emit light at intervals shorter than the effective measurement time. The first light detector 200 and the second light detector 300 may alternately detect the first light and the second light. Thus, the image resolution of the LiDAR device 11 can be improved. The image resolution may be at least one of spatial resolution in the horizontal and / or vertical directions and temporal resolution, which is the image update rate per unit time.

[0110] According to example embodiments, the LiDAR apparatus 11 including the first photodetector 200 and the second photodetector 300 has been described. However, embodiments are not limited thereto. For example, the LiDAR apparatus 11 may include three or more photodetectors.

[0111] Figure 12 is a flowchart illustrating a method of driving a LiDAR device according to example embodiments. Figure 13 It shows Figure 12 A block diagram of a method for driving a LiDAR device. Figure 14 It shows Figure 12 A block diagram of a method for driving a LiDAR device. Figure 15 It shows Figure 12 A block diagram of a method for driving a LiDAR device. Figure 16 It shows Figure 12 A block diagram of a method for driving a LiDAR device.

[0112] refer to Figure 12 and Figure 13 , a first light L1 may be emitted toward a first object OBJ1 (S110). Emitting the first light L1 may include generating the first light L1 by the light source 110 and providing the first light L1 to the light beam guiding device 120, and adjusting the traveling direction of the first light L1 by the light beam guiding device 120 so that the first light L1 is emitted toward the first object OBJ1. The light source 110 may be controlled by the processor 1000 to emit the first light L1. For example, the first light L1 may be an infrared laser. The light beam guiding device 120 may be controlled by the processor 1000 to change the traveling direction of the first light L1. For example, the processor 1000 may change the traveling direction of the first light L1 by providing an electrical signal to the light beam guiding device 120.

[0113] refer to Figure 12 and Figure 14 , a second light L2 may be emitted toward the second object OBJ2 (S120). Emitting the second light L2 may include generating the second light L2 by the light source 110 and providing the second light L2 to the light beam guiding device 120, and adjusting the traveling direction of the second light L2 by the light beam guiding device 120 so that the second light L2 is emitted toward the second object OBJ2. The second light L2 may be emitted before the first light detector 200 detects the light reflected from the first object OBJ1. The second light L2 may be emitted before an effective measurement time elapses after the first light L1 is emitted. The effective measurement time may be a reference time for determining at least one of a horizontal resolution, a vertical resolution, and a maximum measurement distance of the LiDAR device. The effective measurement time may be set in advance.

[0114] In example embodiments, when a predetermined emission time elapses after the first light L1 is emitted, the second light L2 may be emitted from the light emitter 100 .

[0115] In an exemplary embodiment, when the first light detector 200 detects the first reflected light before a predetermined emission time has elapsed after the emission of the first light L1, the light emitter 100 may emit the second light L2 before the predetermined emission time has elapsed after the emission of the first light L1. The first reflected light will be described later. For example, when the first reflected light is detected, the second light L2 may be emitted.

[0116] refer to Figure 12 and Figure 15, the first light L1 may be diffusely reflected by the first object OBJ1. The first reflected light RL1 among the multiple beams of light diffusely reflected by the first object OBJ1 may be incident on the first light detector 200, and the second reflected light RL2 among the multiple beams of light diffusely reflected may be incident on the second light detector 300. The first optical antenna element 210 in the first light detector 200 may have a first directivity to receive the first reflected light RL1. For example, the first optical antenna element 210 may receive light incident on the first optical antenna element 210 in the same direction of travel as the first reflected light RL1, and block light incident on the first optical antenna element 210 in a different direction of travel. The processor 1000 may control the first optical antenna element 210 so that the first optical antenna element 210 has a first directivity relative to the incident direction of the first reflected light RL1. The first optical antenna element 210 may provide the received first reflected light RL1 to the first light detecting element 220. For example, the first light detector 200 may selectively detect the first reflected light RL1 (S130).

[0117] The second optical antenna element 310 in the second light detector 300 may not have directivity with respect to the incident direction of the second reflected light RL2. For example, the second optical antenna element 310 may not transmit the second reflected light RL2. The second optical antenna element 310 may not transmit the second reflected light RL2 to the second light detecting element 320. The processor 1000 may control the second optical antenna element 310 so that the second optical antenna element 310 does not have directivity with respect to the incident direction of the second reflected light RL2.

[0118] refer to Figure 12 and Figure 16 , the second light L2 may be diffusely reflected by the second object OBJ2. The third reflected light RL3 among the multiple beams of light diffusely reflected by the second object OBJ2 may be incident on the first light detector 200, and the fourth reflected light RL4 among the multiple beams of light diffusely reflected may be incident on the second light detector 300. The second optical antenna element 310 in the second light detector 300 may have a second directivity to receive the fourth reflected light RL4. The processor 1000 may control the second optical antenna element 310 so that the second optical antenna element 310 has a second directivity relative to the incident direction of the fourth reflected light RL4. The second optical antenna element 310 may provide the received fourth reflected light RL4 to the second light detecting element 320. For example, the second light detector 300 may selectively detect the fourth reflected light RL4 (S140).

[0119] The first optical antenna element 210 in the first light detector 200 may not have directivity with respect to the incident direction of the third reflected light RL3. For example, the first optical antenna element 210 may not transmit the third reflected light RL3. The first optical antenna element 210 may not transmit the third reflected light RL3 to the first light detecting element 220. The processor 1000 may control the first optical antenna element 210 so that the first optical antenna element 210 does not have directivity with respect to the incident direction of the third reflected light RL3.

[0120] The first reflected light RL1 and the fourth reflected light RL4 detected by the first light detector 200 and the second light detector 300, respectively, may be analyzed by the processor 1000 (S150). The processor 1000 may measure the direction and distance of the first object OBJ1 and the second object OBJ2 based on the first reflected light RL1 and the fourth reflected light RL4. For example, the direction of the first object OBJ1 and the second object OBJ2 may be measured using the first directivity of the first optical antenna element 210 and the second directivity of the second optical antenna element 310. For example, the distance between the first light detector 200 and the first object OBJ1 may be measured using the time from the emission of the first light L1 to the reception of the first reflected light RL1. For example, the distance between the second light detector 300 and the second object OBJ2 may be measured using the time from the emission of the second light L2 to the reception of the fourth reflected light RL4.

[0121] Compared to a method of driving a LiDAR device having one photodetector, the method of driving the LiDAR device of the exemplary embodiment can have a greater number of measurements that can be performed within a predetermined time. Therefore, a method of driving a LiDAR device that provides higher image resolution can be provided.

[0122] Figure 17 is a block diagram of a LiDAR device according to an example embodiment. Figures 1 to 11 The description given is essentially the same description.

[0123] refer to Figure 17 , a LiDAR device 12 including a light emitter 100, a first light detector 200, a second light detector 300 and a processor 1000 can be provided. The first light detector 200, the second light detector 300 and the processor 1000 can be used with reference Figures 1 to 8 Those described are essentially the same.

[0124] The light emitter 100 may include a light source 110 and a driver 130. The light source 110 may be connected to a reference Figure 1 The light sources described are essentially the same.

[0125] The driver 130 may move the light source 110. For example, the driver 130 may rotate the light source 110. The direction of light emitted from the light source 110 may be controlled by the driver 130. Figure 13 and Figure 14 As shown, in the case where the first light L1 and the second light L2 are sequentially emitted onto the first object and the second object, after the light source 110 emits the first light L1, the driver 130 can move the light source 110 so that the second light L2 is emitted onto the second object. The time for the driver 130 to move the light source 110 can be shorter than the effective measurement time.

[0126] The light emitter 100 of the example embodiment may emit the second light L2 even before the effective measurement time elapses after the first light L1 is emitted. When the first light L1 is reflected and returns to the LiDAR device 12, the first light detector 200 may detect the first reflected light RL1 ( Figure 15 When the second light L2 is reflected and returns to the LiDAR device 12, the second light detector 300 may detect the fourth reflected light RL4 of the second light L2 ( Figure 16 ( ). The light emitter 100 may emit light at intervals shorter than the effective measurement time. The first light detector 200 and the second light detector 300 may alternately detect the first light and the second light. Thus, the image resolution of the LiDAR device 12 may be improved.

[0127] Figure 18 is a block diagram of a LiDAR system according to an example embodiment. Figures 1 to 11 The description given is essentially the same description.

[0128] refer to Figure 18 , a LiDAR system 1 including a LiDAR device 13 and a control device 20 can be provided.

[0129] The LiDAR device 13 may include a light emitter 100, a first light detector 200, a second light detector 300, and a first communication interface 400. The light emitter 100, the first light detector 200, and the second light detector 300 may be connected to a reference Figures 1 to 11 The control device 20 may include a processor 1100 and a second communication interface 30. For example, when the control device 20 is a vehicle, the processor 1100 and the second communication interface 30 may be embedded in the vehicle.

[0130] The first communication unit 400 of the LiDAR device 13 can wirelessly transmit and receive signals with the second communication unit 30 of the control device 20. The first communication interface 400 can receive a control signal from the control device 20 and provide the control signal to the light emitter 100, the first light detector 200, and the second light detector 300. The control signal can be a signal for controlling the operation of the light emitter 100, the first light detector 200, and the second light detector 300. The first communication interface 400 can receive a measurement signal from the first light detector 200 and the second light detector 300 and transmit the measurement signal to the control device 20. The measurement signal can be a signal for the reflected light detected by the first light detector 200 and the second light detector 300.

[0131] The processor 1100 may generate a control signal for controlling the light emitter 100, the first light detector 200, and the second light detector 300. The processor 1100 may provide the control signal to the second communication interface 30. The processor 1100 may receive a measurement signal from the second communication interface 30 and process the measurement signal. The processor 1100 may obtain position information about the object using the measurement signal.

[0132] The second communication interface 30 may transmit a control signal to the first communication interface 400 of the LiDAR device 13. The second communication interface 30 may receive a measurement signal from the first communication interface 400. The second communication interface 30 may provide the measurement signal to the processor 1100.

[0133] Example embodiments may provide a LiDAR system 1 with improved image resolution.

[0134] Figure 19 is a block diagram of a LiDAR system according to an example embodiment. Figures 1 to 11 and Figure 18 The description given is essentially the same description.

[0135] refer to Figure 19 , a LiDAR system 2 including a LiDAR device 14 and a control device 21 can be provided.

[0136] The LiDAR device 14 may include a light emitter 100, a first light detector 200, and a second light detector 300. The light emitter 100, the first light detector 200, and the second light detector 300 may be aligned with a reference Figures 1 to 11 Those described are essentially the same.

[0137] Different from reference Figure 18The LiDAR device and control device described above, the LiDAR device 14 and the control device 21, can be connected to each other via wires. The LiDAR device 14 and the control device 21 do not need to send or receive signals through a communication interface. For example, the light emitter 100, the first light detector 200, and the second light detector 300 of the LiDAR device 14 can be directly connected to the processor 1100 in the control device 21 via a cable. The first light detector 200 and the second light detector 300 can directly provide measurement signals to the processor 1100.

[0138] When the control device 21 is a vehicle, the processor 1100 may be embedded in the vehicle. The processor 1100 may generate control signals for controlling the light emitter 100, the first light detector 200, and the second light detector 300. The processor 1100 may directly provide the control signals to the light emitter 100, the first light detector 200, and the second light detector 300. The processor 1100 may receive and process the measurement signals. The processor 1100 may use the measurement signals to obtain position information about the object.

[0139] Example embodiments may provide a LiDAR system 2 with improved image resolution.

[0140] Figure 20 is a flowchart illustrating a method of driving a LiDAR device according to example embodiments. Figure 21 It shows Figure 20 A block diagram of a method for driving a LiDAR device. Figure 22 It shows Figure 20 For the sake of brevity, the above references may be omitted. Figures 12 to 16 The description given is essentially the same description.

[0141] refer to Figure 20 and Figure 21 , sequentially emitting the first light and the second light to the first object OBJ1 and the second object OBJ2 (S210 and S220), respectively. The emission of the first light and the second light may be in accordance with the reference Figures 12 to 16 The emission of the first light (S110) and the emission of the second light (S120) are substantially the same as described above. Figure 12 As described above, the first light detector 200 may selectively detect the first reflected light (S230). The first light detector 200 may have directivity with respect to the first reflected light. The first light detector 200 may not detect light traveling in a direction different from the traveling direction of the first reflected light.

[0142] The third light L3 may be emitted to the third object OBJ3 (S240). Emitting the third light L3 may include: generating the third light L3 by the light source 110 and providing the third light L3 to the light beam guiding device 120; and adjusting the traveling direction of the third light L3 by the light beam guiding device 120 so that the third light L3 is emitted to the third object OBJ3. After the second light detector 300 detects the light reflected from the first object OBJ1, the third light L3 may be emitted from the light emitter 100. For example, the third light L3 may be emitted after an effective measurement time has passed after the first light is emitted. After the second light detector 300 detects the fourth reflected light RL4 (e.g., Figure 16 ), the third light L3 may be emitted from the light emitter 100. For example, the third light L3 may be emitted before the effective measurement time elapses after the second light L2 is emitted.

[0143] As reference Figure 16 As described above, the second light detector 300 may selectively detect the fourth reflected light RL4 (S250). The second light detector 300 may have directivity with respect to the fourth reflected light RL4. The second light detector 300 may not detect light traveling in a direction different from the traveling direction of the fourth reflected light RL4.

[0144] refer to Figure 20 and Figure 22 , the first light detector 200 can selectively detect the fifth reflected light RL5 (S260). The third light L3 may be diffusely reflected by the third object OBJ3. The fifth reflected light RL5 among the multiple beams of light diffusely reflected by the third object OBJ3 may be incident on the first light detector 200, and the sixth reflected light RL6 among the multiple beams of light diffusely reflected may be incident on the second light detector 300.

[0145] The first optical antenna element 210 may have a variable first directivity. The processor 1000 may control the first directivity of the first optical antenna element 210 so that the first optical antenna element 210 can receive the fifth reflected light RL5. For example, the first optical antenna element 210 may receive light incident on the first optical antenna element 210 in the same direction as the fifth reflected light RL5, and block light incident on the first optical antenna element 210 in a different direction. The first optical antenna element 210 may provide the received fifth reflected light RL5 to the first light detecting element 220.

[0146] The sixth reflected light RL6 reflected by the third object OBJ3 may not be received by the second optical antenna element 310. The second light detector 300 may not have directivity with respect to the incident direction of the sixth reflected light RL6. For example, the second optical antenna element 310 may not transmit the sixth reflected light RL6. The second optical antenna element 310 may not transmit the sixth reflected light RL6 to the second light detecting element 320. The processor 1000 may control the second optical antenna element 310 so that the second optical antenna element 310 does not have directivity with respect to the incident direction of the sixth reflected light RL6.

[0147] The first, fourth, and fifth reflected lights RL1, RL4, and RL5 detected by the first, second, and third light detectors 200, 300, respectively, may be analyzed by the processor 1000 (S270). The processor 1000 may measure directions and distances of the first, second, and third objects OBJ1, OBJ2, and OBJ3 based on the first, fourth, and fifth reflected lights RL1, RL4, and RL5.

[0148] Compared to a method of driving a LiDAR device having one photodetector, the method of driving a LiDAR device according to an exemplary embodiment can have a greater number of measurements that can be performed within a predetermined time. Therefore, a method of driving a LiDAR device that provides higher image resolution can be provided.

[0149] Example embodiments may provide a LiDAR device and a LiDAR system with improved image resolution. The image resolution may be at least one of a spatial resolution for the horizontal and / or vertical directions and a temporal resolution as an image update rate per unit time.

[0150] However, the effects are not limited to the above disclosure.

[0151] It should be understood that the exemplary embodiments described herein should be considered in a descriptive sense only and not for purposes of limitation. Descriptions of features or aspects in each exemplary embodiment should typically be considered as applicable to other similar features or aspects in other embodiments.

[0152] Although example embodiments have been described with reference to the accompanying drawings, workers skilled in the art will recognize that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the claims.

Claims

1. A light detection and ranging LiDAR device, comprising: a light emitter configured to emit light; a first light detector; as well as a second light detector, Wherein, the first light detector comprises: a first optical antenna element having a first directivity relative to a first direction; and a first light detecting element configured to detect first reflected light received by the first optical antenna element, Wherein, the second light detector comprises: a second optical antenna element having a second directivity with respect to a second direction different from the first direction; and a second light detecting element configured to detect second reflected light received by the second optical antenna element, wherein the light emitter is configured to emit first light and second light to a first object and a second object, respectively, wherein the second light is emitted from the light emitter before an effective measurement time has passed after the first light is emitted from the light emitter, The first reflected light is light incident on the first optical antenna element along the first direction among a plurality of reflected lights generated by the first object reflecting the first light. The second reflected light is light incident on the second optical antenna element along the second direction among a plurality of reflected lights generated by the second object reflecting the second light. The effective measurement time is a time used to determine at least one of a horizontal resolution, a vertical resolution, and a maximum measurement distance of the LiDAR device.

2. The LiDAR device according to claim 1, wherein: The first optical antenna element is configured to: block third reflected light incident on the first optical antenna element in a direction different from the first direction from among a plurality of reflected lights generated by the second object reflecting the second light from being transmitted to the first light detecting element; The second optical antenna element is configured to block fourth reflected light incident on the second optical antenna element in a direction different from the second direction from transmitting to the second light detection element among multiple beams of reflected light generated by the first object reflecting the first light.

3. The LiDAR device according to claim 1, wherein: The first directivity and the second directivity are controlled based on an electrical signal or a thermal signal.

4. The LiDAR device according to claim 1, wherein: The optical transmitter comprises: light source; and Beam steering equipment, wherein the light source is configured to emit light toward the beam guiding device, and Wherein, the light beam guiding device is configured to change the traveling direction of light.

5. The LiDAR device according to claim 4, wherein: The beam steering device includes an optical phased array element.

6. The LiDAR device according to claim 1, wherein: The optical transmitter comprises: a light source configured to emit light; and A driver is configured to move the light source and control the direction in which the light source emits light.

7. A light detection and ranging (LiDAR) device comprising: a light emitter configured to emit light; a first light detector; a second light detector; as well as a processor configured to control the light emitter, the first light detector, and the second light detector, The processor is further configured to: control the first light detector to selectively detect first reflected light incident on the first light detector along a first direction; and control the second light detector to selectively detect second reflected light incident on the second light detector along a second direction different from the first direction. wherein the processor is further configured to: control the light emitter so that the light emitter emits first light and second light toward a first object and a second object, respectively, and emits the second light from the light emitter before a valid measurement time elapses after the first light is emitted from the light emitter; and The effective measurement time is a time used to determine at least one of a horizontal resolution, a vertical resolution, and a maximum measurement distance of the LiDAR device.

8. The LiDAR device according to claim 7, wherein: The first light detector includes a first optical antenna element and a first light detecting element, wherein the first optical antenna element is configured to receive the first reflected light and transmit the first reflected light to the first light detecting element, wherein the first light detecting element is configured to detect the first reflected light, wherein the second light detector comprises a second optical antenna element and a second light detecting element, wherein the second optical antenna element is configured to receive the second reflected light and transmit the second reflected light to the second light detecting element, and The second light detecting element is configured to detect the second reflected light.

9. The LiDAR device according to claim 8, wherein: The first optical antenna element comprises: a plurality of grating groups configured to disperse the first reflected light into a plurality of light beams and receive the plurality of light beams formed by dispersing the first reflected light; a plurality of phase control elements configured to independently control the phases of the plurality of beams of light formed by dispersing the first reflected light; and a plurality of optical couplers configured to combine the phase-controlled multiple beams of light into one beam of light, Wherein, the second optical antenna element comprises: a plurality of grating groups configured to disperse the second reflected light into a plurality of beams of light and receive the plurality of beams of light formed by dispersing the second reflected light; a plurality of phase control elements configured to independently control the phases of the plurality of beams of light formed by dispersing the second reflected light; and A plurality of optical couplers are configured to combine the phase-controlled multiple beams of light into one beam of light.

10. The LiDAR device according to claim 9, wherein: The processor is also configured to: control the multiple phase control elements of the first optical antenna element so that the multiple beams of light formed by dispersing the first reflected light have the same phase as each other, and control the multiple phase control elements of the second optical antenna element so that the multiple beams of light formed by dispersing the second reflected light have the same phase as each other.

11. The LiDAR device according to claim 9, wherein: The processor is also configured to: control the first optical antenna element so that the first optical antenna element blocks the third reflected light incident on the first optical antenna element from being transmitted to the first light detection element among the multiple beams of reflected light generated by the second object reflecting the second light, and control the second optical antenna element so that the second optical antenna element blocks the fourth reflected light incident on the second optical antenna element from being transmitted to the second light detection element among the multiple beams of reflected light generated by the first object reflecting the first light.

12. The LiDAR device according to claim 11, wherein: The plurality of grating groups of the first optical antenna element are configured to disperse the third reflected light into a plurality of beams of light and receive the plurality of beams of light formed by dispersing the third reflected light, and wherein the plurality of grating groups of the second optical antenna element are configured to disperse the fourth reflected light into a plurality of beams of light and receive the plurality of beams of light formed by dispersing the fourth reflected light; In which, the processor is also configured to: control multiple phase control elements of the first optical antenna element so that the multiple beams of light formed by dispersing the third reflected light have different phases, and control multiple phase control elements of the second optical antenna element so that the multiple beams of light formed by dispersing the fourth reflected light have different phases.

13. The LiDAR device according to claim 7, wherein: The processor is further configured to, when the effective measurement time has elapsed after the first light is emitted, control the light emitter to emit third light onto a third object, and control the first light detector so that the first light detector selectively detects third reflected light reflected by the third object.

14. The LiDAR device according to claim 7, wherein: After emitting the first light, based on the first light detector not detecting the first reflected light before a predetermined emission time has passed, the processor is further configured to: control the light emitter to emit the second light when the predetermined emission time has passed after emitting the first light.

15. The LiDAR device according to claim 14, wherein: After emitting the first light, based on the first light detector detecting the first reflected light before the predetermined emission time elapses, the processor is further configured to: control the light emitter to emit the second light before the predetermined emission time elapses after emitting the first light.

16. The LiDAR device according to claim 15, wherein: After emitting the first light, based on the first light detector detecting the first reflected light before the predetermined emission time elapses, the processor is further configured to: control the light emitter to emit the second light when the first reflected light is detected.

17. The LiDAR device according to claim 15, wherein: The processor is further configured to: control the light emitter so that the light emitter emits a third light onto a third object between a first time point after the effective measurement time has elapsed after the light emitter emits the first light and a second time point after the light emitter emits the second light; The processor is further configured to: control the first light detector so that the first light detector selectively detects fifth reflected light reflected by the third object.

18. A light detection and ranging LiDAR system comprising: LiDAR equipment; as well as at least one processor configured to control the LiDAR device; The LiDAR device includes a light emitter, a first light detector, a second light detector and a first communication interface. wherein the first light detector comprises: a first optical antenna element having a first directivity relative to a first direction; and a first light detecting element configured to detect a first reflected light received by the first optical antenna element, wherein the second light detector includes: a second optical antenna element having a second directivity with respect to a second direction different from the first direction; and a second light detecting element configured to detect second reflected light received by the second optical antenna element, wherein the at least one processor is configured to control the optical emitter, the first optical detector and the second optical detector, and a second communication interface connected to the first communication interface, wherein the light emitter is configured to emit the first light and the second light onto the first object and the second object, respectively, wherein the second light is emitted from the light emitter before an effective measurement time has passed after the first light is emitted from the light emitter, The first reflected light is light incident on the first optical antenna element along the first direction among a plurality of reflected lights generated by the first object reflecting the first light. The second reflected light is light incident on the second optical antenna element along the second direction among a plurality of reflected lights generated by the second object reflecting the second light, and The effective measurement time is a time used to determine at least one of a horizontal resolution, a vertical resolution, and a maximum measurement distance of the LiDAR device.

19. The LiDAR system according to claim 18, wherein: The at least one processor is configured to generate control signals to control the light emitter, the first light detector, and the second light detector, wherein the second communication interface is configured to send the control signal to the first communication interface, and The first communication interface is configured to send the control signal to the optical transmitter, the first optical detector, and the second optical detector.

20. The LiDAR system of claim 19, wherein: The first light detecting element is configured to generate a first detection signal for the first reflected light, and the second light detecting element is configured to generate a second detection signal for the second reflected light, The first communication interface is configured to send the first detection signal and the second detection signal to the second communication interface, The second communication interface is configured to send the first detection signal and the second detection signal to the processor.

21. The LiDAR system of claim 18, wherein: The first optical antenna element is configured to: block third reflected light incident on the first optical antenna element in a direction different from the first direction from among a plurality of reflected lights generated by the second object reflecting the second light from being transmitted to the first light detecting element; The second optical antenna element is configured to block fourth reflected light incident on the second optical antenna element in a direction different from the second direction among multiple reflected lights generated by the first object reflecting the first light from being provided to the second light detection element.

22. The LiDAR system of claim 18, wherein: Each of the first optical antenna element and the second optical antenna element comprises an optical phased array element.

23. The LiDAR system of claim 18, wherein: The first directivity and the second directivity are controlled by an electrical signal or a thermal signal.

24. The LiDAR system of claim 18, wherein: The optical transmitter comprises: light source; and Beam steering equipment, wherein the light source is configured to emit light toward the beam guiding device, and Wherein, the light beam guiding device is configured to change the traveling direction of light.

25. The LiDAR system of claim 24, wherein: The beam steering device includes an optical phased array element.

26. The LiDAR system of claim 18, wherein: The optical transmitter comprises: a light source configured to emit light; and A driver is configured to move the light source and control the direction in which the light source emits light.

27. A light detection and ranging (LiDAR) device comprising: a light emitter configured to emit light; a first light detector comprising a first optical antenna element and a first light detecting element, the first light detector being configured to selectively detect first reflected light incident on the first light detector along a first direction; as well as a second light detector comprising a second optical antenna element and a second light detecting element, the second light detector being configured to selectively detect second reflected light incident on the second light detector in a second direction different from the first direction, The first optical antenna element and the second optical antenna element each include an optical phased array, wherein the light emitter is configured to emit the first light and the second light onto the first object and the second object, respectively, wherein the second light is emitted from the light emitter before an effective measurement time has passed after the first light is emitted from the light emitter, The first reflected light is light incident on the first optical antenna element along the first direction among a plurality of reflected lights generated by the first object reflecting the first light. The second reflected light is light incident on the second optical antenna element along the second direction among a plurality of reflected lights generated by the second object reflecting the second light, and The effective measurement time is a time used to determine at least one of a horizontal resolution, a vertical resolution, and a maximum measurement distance of the LiDAR device.

28. The LiDAR device of claim 27, wherein: the first optical antenna element is configured to transmit the first reflected light incident on the first light detector in the first direction to the first light detecting element and block light incident on the first light detector in a direction different from the first direction, and The second optical antenna element is configured to transmit the second reflected light incident on the second light detector along the second direction to the second light detecting element, and block light incident on the second light detector along a direction different from the second direction.

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