Light detection and distance measurement device, operation method thereof and information generation method

Abstract

A light detection and distance measurement apparatus according to an embodiment of the present invention comprises: a light emitting unit that generates an output light signal and irradiates the output light signal to a target area; the light receiving unit receives an input light signal which is input after being reflected from the target area; an information generation unit that generates information on the target area by using the input light signal input to the light receiving unit; and a control unit that controls the light emitting unit having a preset field of view (FOV) in a first direction, the light receiving unit, and the information generating unit, in which the control unit controls the FOV of the light emitting unit in a second direction perpendicular to the first direction.

Description

Technical Field

[0001] The invention relates to a light detection and distance measuring device, an operation method thereof and an information generating method. Background Art

[0002] Light detection and ranging (LDR) devices use laser pulses emitted from the LDR and then reflected from the target object to measure the distance to or shape the target object. LDR devices are used in various technical fields that require three-dimensional images. For example, LDR devices can be used in various technical fields such as meteorology, aviation, aerospace, transportation, etc. Recently, the importance of LDR devices in the field of autonomous driving has increased rapidly.

[0003] Generally speaking, the light emitting unit of the optical detection and ranging device generates an output light signal and transmits the output light signal to the object, the light receiving unit receives the input light signal reflected from the object, and the information generating unit uses the input light signal received by the light receiving unit to generate information about the object.

[0004] The light emitting unit of the optical detection and ranging device includes a scanner, which scans a preset field of view (FOV). In addition, the area of ​​the target area corresponding to the FOV increases in the direction away from the optical detection and ranging device, and the larger the area of ​​the target area, the longer the time required for the scanner to scan the target area and the more power consumed.

[0005] In addition, due to the ambient light, the reflection angle between the light signal sent from the scanner and the reflector, and the various reflection characteristics of the reflector, the detection rate is reduced, making it difficult to obtain accurate information about the surrounding environment. In addition, there is also the problem that the use of too strong a light source may endanger visual safety, and in the case of an object with high reflectivity, the saturation phenomenon caused by the full well phenomenon may exceed the dynamic range of the photodetector (i.e., the signal receiving range). These problems may affect the signal acquisition of surrounding pixels and the acquisition of accurate distance information. Summary of the invention

[0006] Technical issues

[0007] The present invention aims to provide a light detection and ranging device with fast response speed and high power efficiency and an information generation method thereof.

[0008] The present invention also aims to provide a light detection and ranging device and an information generation method thereof that can adaptively adjust the field of view (FOV) according to the environment.

[0009] The present invention also aims to provide a light detection and ranging device and an operating method for improving signal detection capability by improving the signal-to-noise ratio.

[0010] The present invention also aims to provide a light detection and ranging device and an operating method, which can maintain the signal-to-noise ratio by measuring the intensity of ambient light and adjusting the current value of the incident signal of the laser according to the measured intensity.

[0011] The purpose of the embodiment is not limited thereto, and may also include purposes or effects that can be determined from the configuration or the embodiment, which will be described below.

[0012] Technical Solution

[0013] According to an embodiment of the present invention, the light detection and ranging device includes: a light emitting unit, which is configured to generate an output light signal and transmit the output light signal to a target area; a light receiving unit, which is configured to receive an input light signal input after being reflected from the target area; an information generating unit, which is configured to generate information about the target area using the input light signal input to the light receiving unit; and a control unit, which is configured to control the light emitting unit, the light receiving unit and the information generating unit, wherein the light emitting unit has a preset field of view (FOV) in a first direction, and the control unit controls the FOV in a second direction perpendicular to the first direction of the light emitting unit.

[0014] The light emitting unit may have a preset full FOV in the second direction, and the control unit may control the light emitting unit to scan only a partial FOV in the full FOV in the second direction based on information about the target area.

[0015] The control unit may extract the effective area from the target area based on the information about the target area, and reduce the FOV in the second direction of the light emitting unit so that the light emitting unit scans the effective area.

[0016] The light detection and ranging device may further include a sensing unit, the sensing unit including at least one of a gyro sensor and an acceleration sensor, wherein the control unit may control the FOV of the light emitting unit in the second direction according to a sensing result of the sensing unit.

[0017] The control unit may expand the FOV in the second direction that is reduced based on the information about the target area, according to the sensing result of the sensing unit.

[0018] The light emitting unit may sequentially scan a plurality of lines extending along the first direction in the second direction.

[0019] The first direction may be a horizontal direction, and the second direction may be a vertical direction.

[0020] The first direction may be a vertical direction, and the second direction may be a horizontal direction.

[0021] According to an embodiment of the present invention, an information generation method of a light detection and ranging device includes: a light emitting unit generates an output light signal, and the light emitting unit transmits the output light signal to a target area; a light receiving unit receives an input light signal input after being reflected from the target area; the information generating unit uses the input light signal input to the light receiving unit to generate information about the target area; and a control unit controls the field of view (FOV) of the light emitting unit in a second direction perpendicular to the first direction, the light emitting unit having a preset FOV in the first direction.

[0022] Controlling the FOV in the second direction may include reducing the FOV in the second direction based on the information about the target area.

[0023] Controlling the FOV in the second direction may further include expanding the FOV in the second direction that is reduced based on the information about the target area, according to the sensing result of the sensing unit.

[0024] According to another embodiment of the present invention, a light detection and ranging device includes: a light emitting unit, which is configured to generate an output light signal and transmit the output light signal to a target area; a light receiving unit, which is configured to receive an input light signal input after being reflected from the target area; an information generating unit, which is configured to generate information about the target area using the input light signal input to the light receiving unit; and a control unit, which is configured to control the light emitting unit, the light receiving unit and the information generating unit, wherein the light emitting unit includes a plurality of emitters arranged in an array form, and the control unit extracts a valid area from the target area based on the information about the target area, and only drives part of the plurality of emitters so that the light emitting unit only scans the valid area.

[0025] The light detection and ranging device may further include a sensing unit, the sensing unit including at least one of a gyro sensor and an acceleration sensor, wherein the control unit may control the driving of the plurality of transmitters according to a sensing result of the sensing unit.

[0026] According to an embodiment of the present invention, the light detection and ranging device includes: an output unit, which is used to output a light signal; a detection unit, which is used to detect a first signal generated by a light signal reflected from an observation target and a second signal as ambient light; a depth map generation unit, which is used to generate a depth map about the observation target based on the light signal and the first signal; and a control unit, which is used to compare the intensity of the first signal with the intensity of the second signal and adjust the intensity of the light signal.

[0027] The detection unit may detect the third signal, ie, the third signal is noise.

[0028] The control unit may increase the intensity of the light signal when a ratio of the intensity of the first signal to the sum of the intensity of the second signal and the intensity of the third signal decreases.

[0029] When the ratio decreases, the control unit may decrease the period of the optical signal.

[0030] When the intensity of the first signal increases, the control unit may reduce or maintain the time width of the first signal.

[0031] When the intensity of the first signal has a maximum value, the control unit may reduce the time width of the first signal.

[0032] The control unit may control the strength of the first signal and the time width of the first signal so that a product of the strength of the first signal and the time width of the first signal is a predetermined value.

[0033] The control unit can compare the first difference with the second difference and adjust the period of the light signal, wherein the first difference can be the difference between the maximum value of the intensity of the first signal in the first frame and the average value of the intensity of the first signal, the intensity of the second signal and the intensity of the third signal, and the second difference can be the difference between the maximum value of the intensity of the first signal in the second frame and the average value of the intensity of the first signal, the intensity of the second signal and the intensity of the third signal, and the second frame can be a frame measured after the first frame.

[0034] When the second difference is smaller than the first difference, the control unit may reduce the period of the optical signal in proportion to the difference between the first difference and the second difference.

[0035] The control unit may adjust the intensity of the optical signal in response to a change in the second signal.

[0036] An operating method of a light detection and ranging device according to an embodiment of the present invention includes: a detection unit detects a first signal generated by a light signal reflected from an observation target and a second signal as ambient light; a depth map generation unit generates a depth map about the observation target based on the light signal and the first signal; and a control unit compares the intensity of the first signal with the intensity of the second signal and adjusts the intensity of the light signal.

[0037] Detecting the first signal and the second signal may include detecting a third signal by a detection unit, the third signal being noise.

[0038] Adjusting the intensity of the optical signal may include increasing, by the control unit, the intensity of the optical signal when a ratio of the intensity of the first signal to the sum of the intensity of the second signal and the intensity of the third signal decreases.

[0039] Adjusting the intensity of the optical signal may include reducing, by the control unit, a period of the optical signal when the ratio decreases.

[0040] Adjusting the intensity of the optical signal may include: when the intensity of the first signal increases, reducing or maintaining, by the control unit, a time width of the first signal.

[0041] Adjusting the intensity of the optical signal may include reducing, by the control unit, a time width of the first signal when the intensity of the first signal has a maximum value.

[0042] Adjusting the intensity of the optical signal may include: controlling, by a control unit, the intensity of the first signal and the time width of the first signal so that a product of the intensity of the first signal and the time width of the first signal is a predetermined value.

[0043] Adjusting the intensity of the optical signal may include: comparing a first difference and a second difference by a control unit, and adjusting the period of the optical signal, wherein the first difference may be a difference between a maximum value of the intensity of the first signal in a first frame and an average value of the intensity of the first signal, the intensity of the second signal, and the intensity of the third signal, and the second difference may be a difference between a maximum value of the intensity of the first signal in a second frame and an average value of the intensity of the first signal, the intensity of the second signal, and the intensity of the third signal, and the second frame may be a frame measured after the first frame.

[0044] Adjusting the intensity of the optical signal may include: when the second difference is smaller than the first difference, reducing, by the control unit, a period of the optical signal in proportion to a difference between the first difference and the second difference.

[0045] Adjusting the intensity of the optical signal may include: adjusting, by the control unit, the intensity of the optical signal in response to a change in the second signal.

[0046] According to an embodiment of the present invention, the optical detection and ranging device includes: a light output device (vertical cavity surface emitting laser (VCSEL)), the light output device is used to output a light signal; a plurality of lens groups, the plurality of lens groups are used to collect the light signal and output the collected light signal to the outside; a light detection device (single photon avalanche diode (SPAD)), the light detection device is used to detect a first signal generated by a light signal reflected from an observation target and a second signal as ambient light; a depth map generation unit, the depth map generation unit is used to generate a depth map about the observation target based on the light signal and the first signal; a control unit, the control unit is used to compare the intensity of the first signal and the intensity of the second signal, and adjust the intensity of the light signal; and a memory, the memory is used to store data on the intensity of the first signal, the intensity of the first signal is adjusted according to the change in the intensity of the second signal.

[0047] Beneficial Effects

[0048] According to the embodiments of the present invention, a light detection and ranging device with fast response speed and high power efficiency and an information generation method thereof can be obtained.

[0049] According to the embodiments of the present invention, a light detection and ranging device and information generation method thereof that can adaptively adjust FOV according to the environment can be obtained.

[0050] According to an embodiment of the present invention, a time-of-flight (dToF) light detection and ranging method can be provided which can maintain a signal detection rate even when ambient light is detected.

[0051] According to an embodiment of the present invention, by measuring the intensity of ambient light and adjusting the intensity of laser light according to the measured intensity, the signal-to-noise ratio can be improved, thereby maintaining the signal detection rate.

[0052] The various advantages and effects of the present invention are not limited to the above contents, and these advantages and effects will be more easily understood in the process of describing the specific embodiments of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Figure 1 is a block diagram of a light detection and ranging device according to an embodiment of the present invention.

[0054] Figure 2 is a flow chart of an information generating method according to an embodiment of the present invention.

[0055] Figure 3 is a flow chart of a method for controlling a field of view (FOV) of a light emitting unit according to an embodiment of the present invention.

[0056] Figure 4 and Figure 5 An example of a target area where a light emitting unit emits output light according to an embodiment of the present invention is shown.

[0057] Figure 6 and Figure 7 Another example of a target area where a light emitting unit emits output light according to an embodiment of the present invention is shown.

[0058] Figure 8 is another example of a target area where a light emitting unit according to an embodiment of the present invention emits output light.

[0059] Fig. 9 is a block diagram of a light detection and ranging device according to another embodiment of the present invention.

[0060] Fig.10 is a flowchart of an information generating method according to another embodiment of the present invention.

[0061] Fig.11 is a flow chart of a method for controlling the FOV of a light emitting unit according to another embodiment of the present invention.

[0062] FIG. 12 is an example of a target area where a light emitting unit emits output light according to an embodiment of the present invention.

[0063] FIG. 13 is another example of a target area where a light emitting unit emits output light according to an embodiment of the present invention.

[0064] Fig.14 is a conceptual diagram of a light emitting unit included in a light detection and ranging device according to another embodiment of the present invention.

[0065] Fig.15 is an exploded view of a light detection and ranging device according to an embodiment of the present invention.

[0066] Fig.16 is a configuration diagram of the light detection and ranging device according to this embodiment.

[0067] Fig.17 is a schematic conceptual diagram of the operation method of the light detection and ranging device according to this embodiment.

[0068] Fig.18 is a diagram illustrating the intensity of a first signal and the intensity of a second signal according to an embodiment.

[0069] Fig.19 A histogram showing a case where the intensity of the second signal according to the embodiment increases is displayed.

[0070] Fig. 20 is an image showing a change in a signal when the intensity of an optical signal is adjusted according to an embodiment.

[0071] Fig.21 is an image showing signal changes when the period of the optical signal is adjusted according to the embodiment.

[0072] Fig. 22 is an image showing a signal change when the width of the first signal is adjusted according to an embodiment.

[0073] Fig.23 is an image showing a first difference value and a second difference value in a first frame and a second frame according to an embodiment.

[0074] Fig.24 is a flow chart of an operating method of a light detection and ranging device according to an embodiment. DETAILED DESCRIPTION

[0075] Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

[0076] However, the technical spirit of the present invention is not limited to some of the described embodiments, but can be implemented in various different forms, and one or more components in each embodiment can be used by selective combination or replacement without departing from the scope of the technical spirit of the present invention.

[0077] In addition, unless explicitly and specifically defined and described otherwise, the terms (including technical terms and scientific terms) used in the embodiments of the present invention may be interpreted as meanings that are generally understood by technicians in the technical field to which the present invention belongs, and the meanings of commonly used terms (for example, terms defined in a dictionary) may be interpreted in consideration of the contextual meaning of the relevant technology.

[0078] Furthermore, the terms used in the embodiments of the present invention are used to describe the embodiments of the present invention and are not intended to limit the present invention.

[0079] In the specification, unless otherwise stated in the wording, a singular form may include a plural form, and when described as "at least one (or more than one) of A, B, and C", it may include more than one of all possible combinations of A, B, and C.

[0080] In addition, terms such as first, second, A, B, (a), and (b) may be used to describe components of embodiments of the present invention.

[0081] These terms are used only to distinguish one component from another component, and the nature, order, sequence, etc. of the corresponding components are not limited by these terms.

[0082] Furthermore, when a component is described as being “connected,” “coupled” or “engaged” to another component, this may include a case where the component is directly “connected,” “coupled” or “engaged” to the other component, and may also include a case where the component is “connected,” “coupled” or “engaged” to the other component through another component present between the component and the other component.

[0083] Furthermore, when a certain component is described as being formed or disposed “on” or “under” another component, the term “on…” or “under…” may include not only a case where the two components are in direct contact but also a case where one or more other components are formed or disposed between the two components. Furthermore, when described as “on…” or “under…”, it may include not only a meaning based on an upward direction of one component but also a meaning based on a downward direction of one component.

[0084] The light detection and ranging device according to an embodiment of the present invention may be a light detection and ranging device installed on a vehicle to measure the distance between the vehicle and an object, but is not limited thereto. The light detection and ranging device according to an embodiment of the present invention may extract a depth map using the time of flight (ToF) principle or the frequency modulated continuous wave (FMCW) principle. In this specification, the light detection and ranging device may be referred to as an information generating device, a depth map generating device, or a camera device.

[0085] Figure 1 is a block diagram of a light detection and ranging device according to an embodiment of the present invention.

[0086] Reference Figure 1 , the light detection and ranging device 1000 according to the embodiment of the present invention includes a light emitting unit 100 , a light receiving unit 200 , an information generating unit 300 and a control unit 400 .

[0087] The light-emitting unit 100 may generate an output light signal in the form of a pulse wave or a continuous wave and output the output light signal. The continuous wave may be in the form of a sine wave or a square wave. By generating an output light signal in the form of a pulse wave or a continuous wave, the light detection and ranging device 1000 may detect a time difference or a phase difference between an output light signal output from the light-emitting unit 100 and an input light signal input to the light receiving unit 200 after being reflected from the target area. In the present specification, the output light may be light output from the light-emitting unit 100 and incident on an object, and the input light may be light output from the light-emitting unit 100 and reaching the target area, and then reflected from the target area and input to the light receiving unit 200. In the present specification, the pattern of the output light is referred to as an emission pattern, and the pattern of the input light is referred to as a reception pattern. From the perspective of the target area, the output light may be incident light, and the input light may be reflected light.

[0088] The light emitting unit 100 includes a light source and a lens group.

[0089] The light source generates a laser pulse and outputs the laser pulse. The light source may use a light emitting diode (LED) and have a plurality of light emitting diodes arranged in a predetermined pattern. Alternatively, the light source may include an organic light emitting diode (OLED) or a laser diode (LD). Alternatively, the light source may include a vertical cavity surface emitting laser (VCSEL). VCSEL is one of the LDs for converting electrical signals into optical signals, and may output light having a wavelength of about 800nm ​​to about 1000nm, for example, light having a wavelength of about 850nm or about 940nm. The light source is repeatedly turned on / off at predetermined time intervals to generate an output optical signal in the form of a pulse wave or a continuous wave. The predetermined time interval may be the frequency of the output optical signal.

[0090] The lens group can aggregate the light output from the light source and output the aggregated light to the outside. The lens group can be arranged to be spaced apart from the light source and located above the light source. Here, the "above" in "located above the light source" can refer to a side where light is output from the light source. The lens group can include at least one lens, and when the lens group includes a plurality of lenses, the lenses can be aligned based on a central axis to form an optical system. Here, the central axis can be the same as the optical axis of the optical system. The lens group can include a diffusion member that receives light output from the light source, then refracts or diffracts the received light, and outputs the refracted or diffracted light.

[0091] The light receiving unit 200 may receive a light signal reflected from the target area. In this case, the received light signal may be a light signal output by the light emitting unit 100 and reflected from the target area.

[0092] The light receiving unit 200 includes an image sensor, a filter disposed on the image sensor, and a lens group disposed on the filter.

[0093] The light signal reflected from the target area may pass through the lens group of the light receiving unit 200. The optical axis of the lens group of the light receiving unit 200 may be aligned with the optical axis of the image sensor. The filter may be disposed between the lens group of the light receiving unit 200 and the image sensor. The filter may be disposed on the optical path between the target area and the image sensor. The filter may filter light having a predetermined wavelength range. Light having a specific wavelength may pass through the filter. For example, light in the infrared band may pass through the filter, and the filter may block light other than light in the infrared band. The image sensor may receive the light signal and output the received light signal as an electrical signal. The image sensor may detect light having a wavelength corresponding to the wavelength of light output by the light emitting unit 100. For example, the image sensor may detect light in the infrared band.

[0094] The image sensor may be formed to have a structure in which a plurality of pixels are arranged in a grid form.

[0095] The light receiving unit 200 and the light emitting unit 100 may be disposed side by side. The light receiving unit 200 may be disposed beside the light emitting unit 100. The light receiving unit 200 may be disposed in the same direction as the light emitting unit 100.

[0096] The information generating unit 300 generates information about the target area using the input light signal input to the light receiving unit 200. The information about the target area may include three-dimensional information about the target area. For example, the information about the target area may include a depth map about the target area. For example, the information generating unit 300 may calculate the depth map of the object using the flight time required for the light signal output from the light emitting unit 100 to be reflected from the object and then input to the light receiving unit 200. For example, the information generating unit 300 may calculate the time difference between the output light signal and the input light signal using the electrical signal received by the image sensor, and calculate the distance between the target area and the light detection and ranging device 1000 using the calculated time difference. For example, the information generating unit 300 may calculate the phase difference between the output light signal and the input light signal using the electrical signal received from the image sensor, and calculate the distance between the target area and the light detection and ranging device 1000 using the calculated phase difference.

[0097] The control unit 400 controls the driving of the light emitting unit 100, the light receiving unit 200, and the information generating unit 300. The information generating unit 300 and the control unit 400 may be implemented in the form of a printed circuit board (PCB). In addition, the information generating unit 300 and the control unit 400 may be implemented in the form of different configurations. Alternatively, the control unit 400 may be included in a terminal or a vehicle in which the light detection and ranging device 1000 according to an embodiment of the present invention is provided. For example, the control unit 400 may be implemented in the form of an application processor (AP) of a smartphone provided with the light detection and ranging device 1000 according to an embodiment of the present invention, or in the form of an electronic control unit (ECU) of a vehicle provided with the light detection and ranging device 1000 according to an embodiment of the present invention.

[0098] The light detection and ranging device 1000 according to an embodiment of the present invention may be a solid-state light detection and ranging. Unlike a 360° rotating mechanical light detection and ranging, solid-state light detection and ranging does not include mechanical parts that rotate the light detection and ranging device 1000, and therefore has the advantages of being inexpensive and miniaturized. For example, solid-state light detection and ranging may be one of micro-electromechanical system (MEMS) light detection and ranging, flash light detection and ranging, and optical phase array (OPA) light detection and ranging. In MEMS light detection and ranging, the tilt angle of the reflector may be slightly changed by an electrical signal. In flash light detection and ranging, an optical flash lamp may be used, and a single large-area laser pulse may emit light to the environment ahead. In an OPA, an optical phase modulator may control the speed at which light passes through a lens, thereby controlling the shape of the light wavefront.

[0099] According to an embodiment of the present invention, the light emitting unit 100 may include a scanner to implement solid-state light detection and ranging. In solid-state light detection and ranging, the scanner may include a reflector or a diffusion member, or may be implemented in the form of a chip.

[0100] In addition, according to an embodiment of the present invention, the light emitting unit 100 of the light detection and ranging device 1000 emits an output light signal to a target area. Here, the target area may correspond to an area of ​​a preset field of view (FOV) of the light emitting unit 100. The farther away from the light detection and ranging device 1000, the larger the area of ​​the target area corresponding to the FOV, and the larger the area of ​​the target area, the longer the time required for the light emitting unit 100 to scan the target area, and the more power consumed.

[0101] According to an embodiment of the present invention, the area where the output light signal is emitted is adaptively adjusted. Hereinafter, an embodiment of adaptively adjusting the area where the output light signal is emitted by controlling the FOV of the light emitting unit will be described.

[0102] Figure 2 is a flowchart of an information generation method according to an embodiment of the present invention, Figure 3 is a flow chart of a method for controlling the FOV of a light emitting unit according to an embodiment of the present invention. Figure 4 and Figure 5 An example of a target area where a light emitting unit emits output light according to an embodiment of the present invention is shown, Figure 6 and Figure 7 Another example of a target area where a light emitting unit emits output light according to an embodiment of the present invention is shown, Figure 8 is another example of a target area where a light emitting unit according to an embodiment of the present invention emits output light.

[0103] Reference Figure 1 and Figure 2 , the light emitting unit 100 generates an output light signal, and transmits the output light signal to the target area (S200). In this case, the light emitting unit 100 may transmit the output light signal to the target area of ​​the preset FOV. The preset FOV may include a FOV in a first direction and a FOV in a second direction. In one embodiment, the FOV in the first direction may be a FOV in a horizontal direction, and the FOV in the second direction may be a FOV in a vertical direction. In another embodiment, the FOV in the first direction may be a FOV in a vertical direction, and the FOV in the second direction may be a FOV in a horizontal direction. Here, the FOV in the first direction and the FOV in the second direction are not limited to the FOV in the vertical direction and the FOV in the horizontal direction.

[0104] Next, the light receiving unit 200 receives an input light signal input after being reflected from the target area (S210), and the information generating unit 300 generates information about the target area using the input light signal input to the light receiving unit 200 (S220). Figure 1 Redundant descriptions that describe the same content.

[0105] According to an embodiment of the present invention, the control unit 400 controls the FOV of the light emitting unit 300 ( S230 ). The light emitting unit 300 may have a preset FOV, and the control unit 400 may reduce or enlarge the preset FOV of the light emitting unit 100 .

[0106] For a detailed description of operation S230, refer to Figure 3 , the light emitting unit 100 scans a preset FOV of the light emitting unit 100, that is, a full FOV (S300). Here, the full FOV may include at least one of a full FOV in a first direction and a full FOV in a second direction.

[0107] like Figure 4 As shown, the light emitting unit 100 may have a preset FOV in the horizontal direction shown in the first direction. That is, the FOV in the horizontal direction in the preset FOV of the light emitting unit 100 may be a fixed FOV. In addition, the light emitting unit 100 may sequentially scan a plurality of lines extending in the horizontal direction along the vertical direction shown in the second direction. In this embodiment, the light emitting unit 100 may be implemented as a MEMS light detection and ranging. That is, a reflector may be used to sequentially scan a plurality of lines extending in the horizontal direction in the vertical direction, and the angle of the reflector may be fine-tuned according to the voltage applied to the light emitting unit 100.

[0108] like Figure 6 As shown, the light emitting unit 100 may have a preset FOV in the vertical direction shown in the first direction. That is, the FOV in the vertical direction in the preset FOV of the light emitting unit 100 may be a fixed FOV. In addition, the light emitting unit 100 may sequentially scan a plurality of lines extending in the vertical direction in the horizontal direction shown in the second direction. In this embodiment, the light emitting unit 100 may be implemented as a MEMS light detection and ranging. That is, a reflector may be used to sequentially scan a plurality of lines extending in the vertical direction in the horizontal direction, and the angle of the reflector may be fine-tuned according to the voltage applied to the light emitting unit 100.

[0109] like Figure 8 As shown, the light emitting unit 100 can be implemented as flash light detection and ranging. That is, the light emitting unit 100 can emit an output light signal to the target area in a flash mode to include a preset full FOV in the vertical direction and the horizontal direction.

[0110] Return to reference Figure 3 Next, the information generation unit 300 detects an abnormality in the surrounding FOV (S310). When there is an object to be detected in the surrounding FOV, it can be determined that there is an abnormality in the surrounding FOV. For example, when the light detection and ranging device 1000 according to an embodiment of the present invention is installed on a vehicle, it can be determined that: when other vehicles, people, animals or other obstacles are detected in the surrounding FOV, there is an abnormality in the surrounding FOV. The abnormality in the surrounding FOV can be detected based on information about the target area of ​​the surrounding FOV. That is, it can be Figure 2 Operation S300 of scanning the entire FOV by the light emitting unit 100 and operation S310 of detecting abnormalities of the surrounding FOV by the information generating unit 300 are performed in operations S200 to S220.

[0111] As described above, the light emitting unit 100 has a preset full FOV in the horizontal direction and a preset full FOV in the vertical direction.

[0112] When the light emitting unit 100 has a preset FOV in the horizontal direction indicated by the first direction (eg Figure 4 As shown), Figure 5 As shown, the full FOV in the vertical direction shown in the second direction may include an effective FOV and a surrounding FOV. The effective FOV may be an area where the possibility of the object to be detected is relatively high, that is, an area including the center of the target area, and the surrounding FOV may be an area where the possibility of the object to be detected is relatively low, that is, an area set around the effective FOV. The effective FOV may be set between the upper surrounding FOV and the lower surrounding FOV. The effective FOV and the surrounding FOV may be preset or adaptively set by the control unit 300. For example, the control unit 300 may extract the effective area from the full FOV. The heights of the effective FOV, the upper surrounding FOV, and the lower surrounding FOV in the second direction are shown to be similar to each other, but are not limited thereto. The height of the effective FOV in the second direction may be more than 30% and less than 90% of the full FOV, preferably more than 40% and less than 85%, and more preferably more than 50% and less than 80%. Therefore, the effective FOV can be fully ensured and the power consumption of the light detection and ranging device 1000 can be reduced.

[0113] When the light emitting unit 100 has a preset FOV in the vertical direction indicated by the first direction (eg Figure 6 As shown), Figure 7As shown, the full FOV in the horizontal direction shown in the second direction may include an effective FOV and a surrounding FOV. The effective FOV may be an area where the possibility of the object to be detected is relatively high, that is, an area including the center of the target area, and the surrounding FOV may be an area where the possibility of the object to be detected is relatively low, that is, an area set around the effective FOV. The effective FOV may be set between the right surrounding FOV and the left surrounding FOV. The effective FOV and the surrounding FOV may be preset or adaptively set by the control unit 300. For example, the control unit 300 may extract the effective area from the full FOV. The widths of the effective FOV, the right surrounding FOV, and the left surrounding FOV in the second direction are shown to be similar to each other, but are not limited thereto. The width of the effective FOV in the second direction may be more than 30% and less than 90% of the full FOV, preferably more than 40% and less than 85%, and more preferably more than 50% and less than 80%. Therefore, the effective FOV can be fully ensured and the power consumption of the light detection and ranging device 1000 can be reduced.

[0114] Next, in operation S310, when the information generating unit 300 detects an abnormality in the surrounding FOV, it is necessary to generate information on a target area of ​​the surrounding FOV, so the control unit 400 controls the light emitting unit 100 to scan the full FOV (S300).

[0115] In operation S310, when the information generation unit 300 does not detect an abnormality in the surrounding FOV, the control unit 400 controls the light emitting unit 100 to scan only the effective FOV (S320). That is, when the light emitting unit 100 has a preset FOV in the horizontal direction shown in the first direction (such as Figure 4 As shown), Figure 5 As shown in FIG. 1 , the control unit 400 may control the light emitting unit 100 to scan only the effective FOV in the full FOV in the vertical direction shown in the second direction. For example, the control unit 400 may extract the effective area from the full FOV in the vertical direction based on the information about the target area, and reduce the vertical FOV of the light emitting unit 100 so that the light emitting unit 100 scans only the effective area. Alternatively, when the light emitting unit 100 has a preset FOV in the vertical direction shown in the first direction (such as Figure 6 As shown), Figure 7 As shown, the control unit 400 can control the light emitting unit 100 to scan only the effective FOV of the full FOV in the horizontal direction shown in the second direction. For example, the control unit 400 can extract the effective area from the full FOV in the horizontal direction based on the information about the target area, and reduce the horizontal FOV of the light emitting unit 100 so that the light emitting unit 100 scans only the effective area.

[0116] According to the embodiment of the present invention, the time and power consumed by the light emitting unit 100 to scan the full FOV can be reduced. Therefore, the resolution of the information generating unit 300 can be improved.

[0117] Fig. 9 is a block diagram of a light detection and ranging device according to another embodiment of the present invention, Fig.10 is a flowchart of an information generating method according to another embodiment of the present invention, Fig.11 is a flow chart of a method for controlling the FOV of a light emitting unit according to another embodiment of the present invention. Figure 12 is an example of a target area for a light emitting unit to emit output light according to one embodiment of the present invention, and Figure 13 is another example of a target area for a light emitting unit to emit output light according to one embodiment of the present invention.

[0118] Reference Fig. 9 , a light detection and ranging device 1000 according to another embodiment of the present invention includes a light emitting unit 100, a light receiving unit 200, an information generating unit 300, and a control unit 400. Redundant descriptions of the same contents as those described above regarding the light emitting unit 100, the light receiving unit 200, the information generating unit 300, and the control unit 400 will be omitted.

[0119] The light detection and ranging device 1000 according to another embodiment of the present invention further includes a sensor unit 500. The sensor unit 500 may include at least one of a gyro sensor and an acceleration sensor. A gyro sensor is a sensor that uses three axes to measure angular velocity, and can measure the rotation generated thereby. The sensor unit 500 may be included in the light detection and ranging device 1000, but is not limited thereto. The sensor unit 500 may be disposed outside the light detection and ranging device 1000, for example, inside a vehicle in which the light detection and ranging device 1000 is disposed, and the sensing result detected by the sensor unit 500 may be sent to the light detection and ranging device 1000.

[0120] Reference Fig. 9 and Fig.10 , the light emitting unit 100 generates an output light signal and transmits the output light signal to the target area (S1000), the light receiving unit 200 receives the input light signal input after being reflected from the target area (S1010), and the information generating unit 300 generates information about the target area using the input light signal input to the light receiving unit 200 (S1020). Regarding operations S1000 to S1020, the above description will be omitted. Figure 1 and Figure 2 Redundant descriptions that describe the same content.

[0121] Next, the control unit 400 controls the FOV of the light emitting unit 100 using the information about the target area generated in operation S1020 (S1030). Regarding operation S1030, the same method can be applied. Figure 2 and Figures 3 to 8 Description of operation S230 in .

[0122] Next, according to an embodiment of the present invention, the control unit 400 further controls the FOV using the sensing result of the sensing unit 500 (S1040). Fig.11 , when the control unit 400 receives the sensing result of the sensing unit 500 in a state where the light emitting unit 100 scans only the effective FOV ( S1110 ), the control unit 400 controls the light emitting unit 100 to expand the FOV according to the sensing result ( S1120 ).

[0123] For example, referring to (a) of FIG. 12 , (b) of FIG. 12 , (a) of FIG. 13 , and (b) of FIG. 13 , it is assumed that the control unit 400 may control the light emitting unit 100 to scan only the effective FOV.

[0124] As shown in (a) of Fig. 12, when the sensor unit 500 detects that the vehicle provided with the light detection and ranging device 1000 is moving toward an uphill road, the control unit 400 can control the light emitting unit 100 to further scan the lower surrounding FOV. On the contrary, as shown in (b) of Fig. 12, when the sensor unit 500 detects that the vehicle provided with the light detection and ranging device 1000 is moving toward a downhill road, the control unit 400 can control the light emitting unit 100 to further scan the upper surrounding FOV.

[0125] As shown in (a) of FIG13 , when the sensor unit 500 detects that the vehicle provided with the light detection and ranging device 1000 is turning left, the control unit 400 can control the light emitting unit 100 to further scan the left surrounding FOV. On the contrary, as shown in (b) of FIG13 , when the sensor unit 500 detects that the vehicle provided with the light detection and ranging device 1000 is turning right, the control unit 400 can control the light emitting unit 100 to further scan the right surrounding FOV.

[0126] In this way, when the control unit 400 controls the light emitting unit 100 according to the sensing result of the sensor unit 500, the FOV can be adaptively expanded according to the moving environment of the vehicle. Therefore, since the light emitting unit 100 does not always need to scan the full FOV, the response speed of the light detection and ranging device 1000 can be improved, power consumption can be reduced, and the FOV can be expanded in real time according to the environment.

[0127] In addition, the embodiment of controlling the FOV of the light emitting unit to adaptively adjust the area where the output light signal is emitted is mainly described, but the embodiments of the present invention are not limited thereto. According to another embodiment of the present invention, the driving of the light emitting unit 100 can be controlled to adaptively adjust the area where the output light signal is emitted.

[0128] Fig.14 is a conceptual diagram of a light emitting unit included in a light detection and ranging device according to another embodiment of the present invention.

[0129] Reference Fig.14 The light source of the light emitting unit 100 includes a plurality of emitters arranged in an array, the plurality of emitters are arranged in an m*n matrix, and the driving of the plurality of emitters is controlled separately. That is, the control unit 400 can control some of the plurality of emitters to turn on and control the remaining emitters to turn off.

[0130] According to an embodiment of the present invention, the control unit 400 extracts an effective area from the target area based on information about the target area, and drives only part of the multiple emitters so that the light-emitting unit 100 scans only the effective area. For example, the control unit 400 may drive only the emitters included in M1 or the emitters included in M2 among the multiple emitters based on the position of the effective area. For example, when the light-emitting unit 100 emits light having an effective FOV in the horizontal direction, the light-emitting unit 100 may drive only the emitters included in M1 among the multiple emitters, and when the light-emitting unit 100 emits light having an effective FOV in the vertical direction, the light-emitting unit 100 may drive only the emitters included in M2 among the multiple emitters. A detailed description of the generation of information about the target area and the extraction of the effective area can be referred to. Figure 1 to Figure 1 The content described in 3.

[0131] According to another embodiment of the present invention, the control unit 400 may further control the driving of the plurality of emitters according to the sensing result of the sensing unit 500. For example, in a state where the control unit 400 drives only the emitters included in M1 among the plurality of emitters, when it is necessary to expand the effective area according to the sensing result of the sensing unit 500, the control unit 400 may control at least a portion of the emitters not included in M1 to be further driven. The sensing result of the sensing unit 500 and the expansion of the effective area according to the sensing result may be described in detail in Figure 9 to Figure 1 The content described in 3.

[0132] Fig.15 is an exploded view of a light detection and ranging device according to an embodiment of the present invention.

[0133] The light detection and ranging device may include a light emitting unit and a light receiving unit. However, since components such as the substrate 10, the holder 30, the shielding cover 50, etc. are integrally formed and are commonly used for the light emitting unit and the light receiving unit, it may be difficult to distinguish between the light emitting unit and the light receiving unit. In this case, each of the above components can be understood as a component of each of the light emitting unit and the light receiving unit. However, as a modified example, the common components of the substrate 10, the holder 30, and the shielding cover 50 can be separately provided to each of the light emitting unit and the light receiving unit.

[0134] The light emitting unit may include a substrate 10, a light source 20, a holder 30, a diffusion member 41, a diffuser ring 42, and a shield 50. The light receiving unit may include a substrate 10, a sensor 60, a filter 80, a holder 30, a lens 70, a barrel 71, and a shield 50.

[0135] The substrate 10 may include a printed circuit board (PCB). The substrate 10 may be connected to the connector via a flexible PCB (FPCB) 91. The substrate 10 and the FPCB 91 may be formed as a rigid FPCB (RFPCB). The light source 20 and the sensor 60 may be disposed on the substrate 10. The substrate 10 may be disposed below the holder 30. The substrate 10 may include a terminal. The terminal of the substrate 10 may be coupled to a coupling portion of the shielding case 50. The terminal of the substrate 10 may include a plurality of terminals. The terminal of the substrate 10 may include two terminals.

[0136] The light source 20 may be disposed on the substrate 10. The light source 20 may be disposed in contact with the substrate 10. The light source 20 may be disposed above the substrate 10. The light source 20 may be disposed on the substrate 10. The light source 20 may correspond to the light source 110.

[0137] The holder 30 may be disposed on the substrate 10. The holder 30 may be disposed in contact with the substrate 10. The holder 30 may be disposed above the substrate 10. The holder 30 may be disposed on the substrate 10. The holder 30 may be fixed to the substrate 10 by an adhesive. The light source 20, the diffuser module 40, the sensor 60, and the filter 80 may be accommodated in the holder 30. The holder 30 may be an injection-molded plastic product. The holder 30 may be formed by injection molding.

[0138] The diffuser module 40 may include a diffuser member 41 and a diffuser ring 42. As in the modified example, the diffuser module 40 may be integrally formed, but in the present embodiment, the diffuser module 40 may be manufactured separately from the diffuser member 41 and the diffuser ring 42 to improve moldability during injection molding. The diffuser member 41 and the diffuser ring 42 may be separated.

[0139] The diffusion member 41 may be a diffuser lens. The diffusion member 41 may correspond to the diffusion member 120 and the diffusion member 400. The diffusion member 41 may be disposed in the holder 30. The diffusion member 41 may be coupled to the holder 30. The diffusion member 41 may be fixed to the holder 30. The diffusion member 41 may be disposed on the optical path of the light emitted from the light source 20. The diffusion member 41 may be disposed on the light source 20. The diffusion member 41 may be disposed above the light source 20. The diffusion member 41 may be an injection-molded plastic product. The diffusion member 41 may be formed by injection molding. The height of the upper end of the diffusion member 41 may correspond to the height of the upper end of the lens 70. The diffusion member 41 may be inserted upward in the vertical direction and coupled to the holder 30. In this case, "upward" may refer to a direction from the lower portion of the holder 30 to the upper portion of the holder 30. A portion of the diffusion member 41 may overlap the holder 30 upward.

[0140] The diffuser ring 42 may be disposed in the holder 30. The diffuser ring 42 may be fixed to the holder 30. The diffuser ring 42 may be coupled to the holder 30. The diffuser ring 42 may be disposed below the diffusion member 41. The diffuser ring 42 may support the diffusion member 41. The diffuser ring 42 may contact the diffusion member 41. The diffuser ring 42 may be an injection-molded plastic product. The diffuser ring 42 may be formed by injection molding.

[0141] The shielding cover 50 can cover the main body of the holder 30. The shielding cover 50 can include a lid. The shielding cover 50 can include a cover can. The shielding cover 50 can be a non-magnetic body. The shielding cover 50 can be formed of a metal material. The shielding cover 50 can be formed of a metal plate. The shielding cover 50 can be electrically connected to the substrate 10. The shielding cover 50 can be connected to the substrate 10 through solder balls. Therefore, the shielding cover 50 can be grounded. The shielding cover 50 can block electromagnetic interference (EMI). In this case, the shielding cover 500 can be referred to as an "EMI shielding cover". In the present embodiment, since a high voltage is used inside the optical device, EMI noise may increase, and the shielding cover 50 can block EMI noise.

[0142] The sensor 60 may be disposed on the substrate 10. The sensor 60 may be disposed on the substrate 10 on the other side of the partition of the holder 30. That is, the sensor 60 may be disposed on the side opposite to the light source 20 relative to the partition of the holder 30. The sensor 60 may detect infrared rays. The sensor 60 may detect light of a specific wavelength in the infrared rays. The sensor 60 may detect light passing through the filter 80. The sensor 60 may detect light in the wavelength band of the light source 20. Therefore, the sensor 60 may detect light emitted from the light source 20 and reflected in the subject to detect three-dimensional image information of the subject. The effective sensing area of ​​the sensor 60 may be set to correspond to the diffusion member 41, but the sensor 60 may be set to be completely biased toward the partition. A circuit pattern of the sensor 60, etc. may be provided on the portion of the sensor 60 that is biased toward the partition.

[0143] The lens 70 may be fixed in the lens barrel 71. The lens 70 may be an injection-molded plastic product. The lens 70 may be formed by injection molding. The lens 70 may include a plurality of lenses.

[0144] The optical filter 80 may be disposed between the lens 70 and the sensor 60. The optical filter 80 may be a bandpass filter for passing light of a specific wavelength. The optical filter 80 may allow infrared rays to pass therethrough. The optical filter 80 may allow light of a specific wavelength in the infrared rays to pass therethrough. The optical filter 80 may allow light in the wavelength band of light emitted by the light source 20 to pass therethrough. The optical filter 80 may block visible light. The optical filter 80 may be coupled to the holder 30. A groove having a size corresponding to that of the optical filter 80 may be formed in the holder 30, and the optical filter 80 may be inserted into the groove and fixed using an adhesive. An adhesive injection groove may also be formed in the groove of the holder 30, through which an adhesive is injected between the optical filter 80 and the holder 30. The optical filter 80 may be disposed at a position lower than that of the diffuser ring 42.

[0145] Fig.16 is a configuration diagram of the light detection and ranging device according to this embodiment.

[0146] Reference Fig.16 The light detection and ranging device 2000 may include an output unit 2100 , a receiving unit 2200 , a detection unit 2300 , a control unit 2400 , and a depth map generating unit 2500 . Figure 1 The light detection and ranging device 2000 shown in the figure only shows the components related to the present embodiment. Therefore, it is obvious to those skilled in the art that, except Fig.16 In addition to the components shown in the figure, the light detection and ranging device 2000 may also include other conventional components.

[0147] The light detection and ranging device 2000 according to the present embodiment can use a point scanning method, so the intensity of the light received by the detection unit 2300 can be less than the intensity of the light obtained by other methods (e.g., a flash method). In addition, the light detection and ranging device 2000 can use not only a point scanning method but also a line scanning method or a flash method. Therefore, an avalanche photodiode (APD) or a single photon avalanche diode (SPAD) with high sensitivity can be used as the detection unit 2300. The specific circuit configuration, such as an analog front end (AFE), a time digital converter (TDC), etc., can vary depending on which light receiving element of the APD or SPAD is included in the detection unit 2300.

[0148] Fig.17 is a schematic conceptual diagram of the operation method of the light detection and ranging device according to this embodiment.

[0149] Reference Fig.16 and Fig.17 According to the present embodiment, the optical detection and ranging device may include: an output unit for outputting an optical signal; a detection unit for detecting a first signal generated by the optical signal reflected by the observation target and a second signal as ambient light; a depth map generation unit for generating a depth map about the observation target based on the optical signal and the first signal; and a control unit for comparing the intensity of the first signal with the intensity of the second signal and adjusting the intensity of the optical signal.

[0150] The output unit 2100 may output an optical signal and transmit the optical signal to the receiving unit 2200 .

[0151] The output unit 2100 may include a light source, such as an edge-emitting laser, a vertical cavity surface emitting laser (VCSEL), a distributed feedback laser, an LED, a super luminescent diode (SLD), etc. The output unit 2100 may generate and emit light of multiple different wavelength bands. The output unit 2100 may generate pulsed light or continuous light. The continuous light may be in the form of a sine wave or a square wave. By generating an output light signal in the form of pulsed light or continuous light, the optical detection and ranging device 2000 may detect a time difference or a phase difference between an output light signal output from the output unit 2100 and an input light signal input to the receiving unit 2200 after being reflected from an object. In this specification, the output light signal may be referred to as a light signal, and the object may be referred to as an observation target. From the perspective of the observation target, the output light signal may be incident light.

[0152] The output unit 2100 may include a light source, a lens group disposed on the light source, and a diffusion member disposed on the lens group. The light source generates light and outputs light. The light generated by the light source may be infrared light with a wavelength of 770nm to 3000nm. Alternatively, the light generated by the light source may be visible light with a wavelength of 380nm to 770nm. The light source may use an LED and have a plurality of light emitting diodes arranged in a regular pattern. In addition, the light source may include an OLED or an LD. Alternatively, the light source may be a VCSEL. VCSEL is one of the LDs that convert electrical signals into optical signals, and may output light with a wavelength of about 800nm ​​to about 1000nm, for example, light with a wavelength of about 850nm or about 940nm. The light source repeatedly flashes (on / off) at predetermined time intervals, thereby generating an output optical signal in the form of a pulse wave or a continuous wave. The predetermined time interval may be the frequency of the output optical signal.

[0153] The lens group may collect light output from the light source and output the collected light to the outside. The lens group may be arranged to be spaced apart from the light source and located above the light source. Here, the "above" in "above the light source" may refer to a side where light is output from the light source. The lens group may include at least one lens. When the lens group includes a plurality of lenses, the lenses may be aligned based on a central axis to form an optical system. Here, the central axis may be the same as the optical axis of the optical system.

[0154] The diffusion member may receive light output from the light source and the lens group, then refract or diffract the received light, and output the refracted or diffracted light.

[0155] The optical signal output by the output unit 2100 may be adjusted by the control unit 2400. The output unit 2100 may output an optical signal having different intensities, periods, and the like.

[0156] The receiving unit 2200 may receive reflected light reflected from an object. In this case, the received reflected light may be an optical signal output by the output unit 100 and reflected from the object.

[0157] The receiving unit 2200 may include an image sensor, an optical filter disposed on the image sensor, and a lens group disposed on the optical filter. The optical signal reflected from the object may pass through the lens group. The optical axis of the lens group may be aligned with the optical axis of the image sensor. The optical filter may be disposed between the lens group and the image sensor. The optical filter may be disposed on the optical path between the object and the image sensor. The optical filter may filter light having a predetermined wavelength range. Light of a specific wavelength band may pass through the optical filter. Light having a specific wavelength may pass through the optical filter. For example, light in an infrared band may pass through the optical filter, and the optical filter may block light other than light in the infrared band. The image sensor may detect light. The image sensor may receive an optical signal. The image sensor may detect an optical signal and output the detected optical signal as an electrical signal. The image sensor may detect light having a wavelength corresponding to the wavelength of light output by the light source. For example, the image sensor may detect light in an infrared band.

[0158] The image sensor may be formed into a structure having a plurality of pixels arranged in a grid form. The image sensor may be a complementary metal oxide semiconductor (CMOS) image sensor or a charge coupled device (CCD) image sensor. In addition, the image sensor may include a ToF sensor for receiving IR light reflected from an object and measuring the distance using a time difference or a phase difference.

[0159] The receiving unit 2200 may receive the optical signal from the output unit 2100 and emit the incident light toward the observation target. In addition, the receiving unit 2200 may receive the reflected light generated by the incident light reflected from the observation target. In addition, the first signal as the received reflected light may be transmitted to the detection unit 2300.

[0160] The detection unit 2300 may receive a first signal from the receiving unit, the first signal being reflected light reflected from the observation target, and the detection unit 2300 may detect the first signal. The detection unit 2300 may include a plurality of photodiodes, which may be light receiving elements that generate electrical signals by light energy. The type of the light receiving element is not particularly limited.

[0161] The detection unit 2300 may receive and detect a first signal as reflected light, a second signal as ambient light, and a third signal as noise. In addition to sunlight, ambient light may also include various types of light incident on the detection unit 2300. Noise may include dark noise, thermal noise, etc., which are characteristics of the detection unit 2300. The intensity of the second signal may change in real time because it is affected by sunlight or similar ambient light. The greater the intensity of the second signal and the intensity of the third signal, the more difficult it may be to detect the first signal.

[0162] The detection unit 2300 can detect the first signal, the second signal and the third signal and measure the strength of the signal over time. The data of the measured signal can be stored in a memory inside the light detection and ranging device 2000 and transmitted to the control unit 2400.

[0163] The control unit 2400 controls the driving of the output unit 2100, the receiving unit 2200, and the depth map generation unit 2500. The depth map generation unit 2500 and the control unit 2400 may be implemented in the form of a PCB. In addition, the depth map generation unit 2500 and the control unit 2400 may be implemented in different configuration forms. Alternatively, the control unit 2400 may be included in a terminal or a vehicle in which the light detection and ranging device 2000 according to an embodiment of the present invention is provided. For example, the control unit 2400 may be implemented in the form of an AP of a smartphone provided with the light detection and ranging device 2000 according to an embodiment of the present invention, or in the form of an ECU of a vehicle provided with the light detection and ranging device 2000 according to an embodiment of the present invention.

[0164] The control unit 2400 can control the output unit 2100 to adjust the intensity, cycle, etc. of the optical signal. The control unit 2400 can receive the detection result data of the first signal, the second signal, and the third signal from the detection unit 2300, and transmit a command to the output unit 2100 to adjust the intensity or cycle of the optical signal according to the data result. For example, when the intensity of the second signal increases, the control unit 2400 can increase the intensity of the optical signal or shorten the output cycle of the optical signal. In addition, the control unit 2400 can perform power control, on / off control, pulse wave or continuous wave generation control, etc. of the output unit 2100.

[0165] The depth map generation unit 2500 may generate a depth map of the observation target using the input light signal input to the receiving unit 2200. For example, the depth map generation unit 2500 may calculate the depth map of the observation target using the flight time required for the output light signal output from the output unit 2100 to be reflected from the object and then input to the receiving unit 2200. For example, the depth map generation unit 2500 may calculate the time difference between the output light signal and the reflected light signal using the electrical signal received by the image sensor, and calculate the distance between the observation target and the light detection and ranging device 2000 using the calculated time difference. For example, the depth map generation unit 2500 may calculate the phase difference between the output light signal and the reflected light signal using the electrical signal received from the image sensor, and calculate the distance between the observation target and the light detection and ranging device 2000 using the calculated phase difference.

[0166] Fig.18 is a diagram illustrating the intensity of a first signal and the intensity of a second signal according to an embodiment.

[0167] Reference Fig.18 , the strength of the first signal and the strength of the second signal may vary.

[0168] The first signal may correspond to a signal according to reflected light (which is light reflected from an observation target). Therefore, the intensity of the first signal may vary according to the intensity of incident light of the optical signal output by the output unit. The intensity of the first signal may increase as the current value of the incident light increases.

[0169] The second signal may correspond to a signal according to ambient light. Therefore, the intensity of the second signal may increase as the intensity of ambient light (e.g., sunlight) increases. As the intensity of the second signal increases, it may be difficult for the detection unit to detect the first signal to be ultimately detected. Therefore, when the intensity of ambient light increases and the intensity of the second signal increases, a method for increasing the intensity of the first signal by increasing the current value of the incident light may be proposed.

[0170] Fig.19 A histogram showing a case where the intensity of the second signal according to the embodiment increases is displayed.

[0171] Fig.19 The histogram is a bar graph showing the intensity of the signal detected by the detection unit over time.

[0172] Reference Fig.19 , when the strength of the second signal increases, the detection capability of the first signal may decrease.

[0173] Reference Fig.19 According to the present embodiment, the detection unit of the light detection and ranging device can detect the third signal as noise.

[0174] The detection capability of the detection unit increases as the signal-to-noise ratio (SNR) increases. The signal-to-noise ratio corresponds to the strength (amplitude) of the first signal / (strength of the second signal + strength of the third signal). Ultimately, as the intensity of the ambient light or noise signal increases, the SNR decreases, thereby reducing the detection capability of the first signal.

[0175] When the intensity of the second signal and the third signal is small, the difference from the intensity of the first signal is large, so the SNR is relatively high, making it easy for the detection unit to detect the first signal. However, when the intensity of the second signal or the third signal increases, the difference from the intensity of the first signal is small, so the SNR is relatively low, making it difficult for the detection unit to detect the first signal.

[0176] The third signal may be noise. The third signal may include thermal noise generated by the heat generated by the internal resistance of the detection unit and dark noise caused by the characteristics of the detection unit. Therefore, unlike the second signal, the third signal may not change according to the ambient light and may be affected by the characteristics of the light detection and ranging device.

[0177] During the process of the light detection and ranging device module, the sum of the intensity of the second signal and the intensity of the third signal can be measured according to the difference in ambient light, and the measured data can be stored in a memory. The memory can be arranged inside the receiving unit or the control unit of the light detection and ranging device. The light detection and ranging device module can measure the sum of the intensity of the second signal and the intensity of the third signal, and store the measured data in the memory. When all light detection and ranging device modules are unable to collect data, the average value of the measured data of an appropriate number (N) of modules can be used, and the average value can represent the characteristics of all modules. The detection rate of the first signal can be adjusted by adjusting the intensity of the light signal according to the corresponding measured data.

[0178] Fig. 20 is an image showing a signal change when the intensity of an optical signal is adjusted according to an embodiment.

[0179] Reference Fig. 20 According to the present embodiment, the control unit of the optical detection and ranging device can increase the intensity of the optical signal when the ratio of the first signal to the sum of the second signal and the third signal decreases.

[0180] Fig. 20 The left figure is an image of the signal before the intensity of the second signal increases, and the right figure is an image of the signal after the intensity of the second signal increases and the intensity of the light signal is adjusted to be larger.

[0181] When the intensity of the first signal is P1, the intensity of the second signal is P2, and the intensity of the third signal is P3 before the intensity of the second signal increases, the SNR is P1 / (P2+P3). In this case, when the intensity of the ambient light increases and P2 increases, the SNR decreases and it is difficult to detect the first signal.

[0182] When the intensity of the first signal adjusted after the intensity of the second signal increases is P1′, the intensity of the second signal is P2′, and the intensity of the third signal is P3′, the SNR is P1′ / (P2′+P3′). When the intensity of the second signal detected by the detection unit increases, the control unit can transmit a command to the output unit to increase the intensity of the optical signal. When the intensity of the optical signal increases, the intensity of the incident light increases, and the intensity of the first signal also increases. Therefore, even when P2′ increases, the P1′ value can also increase, thereby maintaining the SNR within a predetermined range.

[0183] Fig.21 is an image showing signal changes when the period of the optical signal is adjusted according to the embodiment.

[0184] Reference Fig.21 When the ratio of the first signal to the sum of the second signal and the third signal decreases, the control unit of the light detection and ranging device according to this embodiment may increase the period of the light signal.

[0185] Fig.21 The left figure is an image of the signal before the intensity of the second signal increases, and the right figure is an image of the signal after the intensity of the second signal increases and the period of the optical signal is adjusted to be smaller.

[0186] When the intensity of the first signal is P1, the intensity of the second signal is P2, and the intensity of the third signal is P3 before the intensity of the second signal increases, the SNR is P1 / (P2+P3). In this case, when the intensity of the ambient light increases and P2 increases, the SNR decreases, and it is difficult to detect the first signal. In addition, before the intensity of the second signal increases, the period of the first signal is T. According to the period of the light signal output by the output unit, the output period of the incident light changes, and finally, the period of the first signal detected by the detection unit changes.

[0187] When the intensity of the first signal is P1′, the intensity of the second signal is P2′, and the intensity of the third signal is P3′ after the intensity of the second signal increases, the SNR is P1′ / (P2′+P3′). In addition, the period of the first signal adjusted after the intensity of the second signal increases is T′. In this case, since P2′ increases more than P2, the SNR will decrease. Therefore, in order to facilitate the detection of the first signal, the detection unit can reduce the output period of the optical signal to detect and protect the data of many signals. Therefore, since the detection period of the first signal is reduced (T′ is less than T), more detection data of the first signal can be ensured, thereby improving the detection rate.

[0188] Fig. 22 is an image showing a signal change when the width of the first signal is adjusted according to an embodiment.

[0189] Reference Fig. 22 When the intensity of the first signal increases, the control unit of the light detection and ranging device according to this embodiment can reduce or maintain the time width of the first signal.

[0190] Reference Fig. 22 When the intensity of the first signal has a maximum value, the control unit of the light detection and ranging device according to another embodiment may reduce the time width of the first signal.

[0191] Reference Fig. 22According to another embodiment, the control unit of the light detection and ranging device can control the intensity of the first signal and the time width of the first signal so that the product of the intensity of the first signal and the time width of the first signal is a predetermined value.

[0192] Fig. 22 The left figure is an image of the signal before the intensity of the second signal increases, and the right figure is an image of the signal after the intensity of the second signal increases and the output time width of the optical signal is adjusted to be shorter.

[0193] The control unit can transmit a command to the output unit to adjust the output time of the light signal. When the output time of the light signal is adjusted, the output intensity and period of the light signal are constant, and the time for the light signal to be exposed to the observation target is adjusted. When the output time of the light signal is adjusted, the time widths t and t' of the first signal detected by the detection unit change. When the output time of the light signal is extended, the time width of the first signal becomes wider, and when the output time of the light signal is shortened, the time width of the first signal becomes narrower.

[0194] When the time width of the first signal is narrowed while maintaining the intensity and period of the first signal, the detection effect is similar, but the advantage is that the power consumption of the light detection and ranging device can be reduced.

[0195] When the first signal strength is P1 before the second signal strength increases, and the increased strength of the first signal is P1′ after the second signal strength increases, the power consumption of the light detection and ranging device increases. In this case, the width of the first signal can be reduced from t to t′ (t>t′), thereby reducing the power consumption of the light detection and ranging device.

[0196] When the intensity of the second signal increases too much and the output intensity of the optical signal of the output unit increases to a maximum value, the output time of the optical signal can be reduced to reduce power consumption, thereby further increasing the output intensity of the optical signal. In this case, the control unit can control the size and width of the first signal so that the product of the intensity of the first signal and the time width of the first signal is within a predetermined range. The product of the intensity of the first signal and the time width is proportional to the power consumption of light detection and ranging. For example, when the intensity of the first signal is 10A and the time width is 5ns before the intensity of the second signal increases, and the output intensity of the optical signal has a maximum value, when the intensity of the second signal increases, the intensity of the first signal can be increased to 25A by reducing the time width of the first signal to within the range of 1ns to 2ns.

[0197] Fig.23 is an image showing a first difference value and a second difference value in a first frame and a second frame according to an embodiment.

[0198] Reference Fig.23According to the control unit of the optical detection and ranging device of this embodiment, the first difference value may be compared with the second difference value, and the period of the optical signal may be adjusted. The first difference value may be the difference between the maximum value of the first signal in the first frame and the average value of the first signal, the second signal and the third signal, the second difference value may be the difference between the maximum value of the first signal in the second frame and the average value of the first signal, the second signal and the third signal, and the second frame may be a frame measured after the first frame.

[0199] The control unit may transmit a command to adjust the output cycle of the optical signal of the output unit. In this case, the frames may be divided according to the detection cycle of the detected first signal. With one frame as a reference, when the detection rate of the next frame is lower than the detection rate of the previous frame, a command may be transmitted to adjust the output cycle.

[0200] The output period including any detected first signal is set as the first frame. In addition, the output period including any first signal after the first frame is set as the second frame. For example, the second frame may correspond to the output period immediately following the first frame, but is not limited thereto.

[0201] In this case, when the maximum value of the intensity of the first signal in the first frame is P1, and the average value of the intensity of the signal including the first signal, the second signal and the third signal is A1, the difference D1 (P1-A1) is calculated, and the difference D1 is called the first difference. Similarly, when the maximum value of the intensity of the first signal in the second frame is P2, and the average value of the intensity of the signal including the first signal, the second signal and the third signal is A2, the difference D2 (P2-A2) is calculated, and the difference D2 is called the second difference. In this case, the control unit can compare the first difference with the second difference and adjust the output period of the optical signal. For example, when the first difference is greater than the second difference, the SNR is higher, and the first signal is easily detected, so the output period can be extended. In addition, when the first difference is less than the second difference, the SNR is lower, and it is difficult to detect the first signal, so the output period can be shortened.

[0202] When the second difference is smaller than the first difference, the control unit of the optical detection and ranging device according to this embodiment may reduce the period of the optical signal in proportion to the difference between the first difference and the second difference.

[0203] Fig.24 is a flow chart of an operating method of a light detection and ranging device according to an embodiment.

[0204] Reference Fig.24According to the operating method S2000 of the light detection and ranging device of the present embodiment, the output unit may include an operation S2100 of outputting a light signal, a detection unit detecting a first signal generated by a light signal reflected from an observation target and a second signal as ambient light, an operation S2200 of generating a depth map about the observation target based on the light signal and the first signal by a depth map generating unit, and an operation S2300 of comparing the intensity of the first signal with the intensity of the second signal and adjusting the intensity of the light signal by a control unit.

[0205] The operation of detecting the first signal and the second signal in the operating method of the light detection and ranging device according to the present embodiment may include an operation of detecting a third signal (ie, noise) by the detection unit.

[0206] The operation of adjusting the intensity of the optical signal in the operating method of the optical detection and ranging device according to this embodiment may include: when the ratio of the first signal to the sum of the second signal and the third signal decreases, the control unit increases the intensity of the optical signal.

[0207] The operation of adjusting the intensity of the optical signal in the operation method of the optical detection and ranging device according to this embodiment may include: when the ratio of the first signal to the sum of the second signal and the third signal decreases within a predetermined range, the control unit reduces the period of the optical signal.

[0208] The operation of adjusting the intensity of the optical signal in the operating method of the optical detection and ranging device according to this embodiment may include: when the intensity of the first signal increases, the control unit reduces or maintains the time width of the first signal.

[0209] The operation of adjusting the intensity of the optical signal in the operating method of the optical detection and ranging device according to this embodiment may include: when the intensity of the first signal has a maximum value, the control unit reduces the time width of the first signal.

[0210] According to the operation method of the optical detection and ranging device of this embodiment, the operation of adjusting the intensity of the optical signal may include: the control unit controls the intensity of the first signal and the time width of the first signal so that the product of the intensity of the first signal and the time width of the first signal is a predetermined value.

[0211] According to the operation method of the light detection and ranging device of this embodiment, the operation of adjusting the intensity of the light signal may include: the control unit compares the first difference and the second difference and adjusts the period of the light signal, wherein the first difference is the difference between the maximum value of the intensity of the first signal in the first frame and the average value of the intensity of the first signal, the intensity of the second signal and the intensity of the third signal, and the second difference is the difference between the maximum value of the intensity of the first signal in the second frame and the average value of the intensity of the first signal, the intensity of the second signal and the intensity of the third signal, and the second frame may be a frame measured after the first frame.

[0212] The operation of adjusting the intensity of the optical signal in the operating method of the optical detection and ranging device according to this embodiment may include: when the second difference is smaller than the first difference, the control unit proportionally reduces the period of the optical signal according to the difference between the first difference and the second difference.

[0213] The operation of adjusting the intensity of the light signal in the operating method of the light detection and ranging device according to this embodiment may include: the control unit adjusting the intensity of the light signal in response to a change in the second signal.

[0214] According to the embodiment, the light detection and ranging device may include: a light output device (VCSEL) for outputting a light signal; a plurality of lens groups for collecting the light signal and outputting the collected light signal to the outside; a light detection device (SPAD) for detecting a first signal generated by a light signal reflected from an observation target and a second signal as ambient light; a depth map generating unit for generating a depth map about the observation target based on the light signal and the first signal; a control unit for comparing the intensity of the first signal with the intensity of the second signal and adjusting the intensity of the light signal; and a memory for storing data on the intensity of the first signal, the intensity of the first signal being adjusted according to changes in the intensity of the second signal.

[0215] Although the above mainly describes a light detection and ranging device that uses a ToF method to extract a depth map, the embodiments of the present invention are not limited thereto. The light detection and ranging device according to an embodiment of the present invention may be a light detection and ranging device that uses a structured light method to extract a depth map. That is, the light detection and ranging device according to an embodiment of the present invention may use a structured light having a predetermined pattern as an output light signal, and generate a depth map using the disparity of the structured light.

[0216] According to one embodiment, the operating methods according to the various embodiments disclosed herein may be provided by being included in a computer program product. The computer program product may be traded as a product. The computer program product may be distributed in the form of a device-readable storage medium (e.g., a compact disc read-only memory (CD-ROM)), or may be distributed via an application store (e.g., Play Store TM) online distribution (e.g., downloading or uploading) or directly between two user devices (e.g., smartphones). In the case of online distribution, at least part of the computer program product (e.g., downloadable application) may be at least temporarily stored or temporarily generated in a device-readable storage medium, such as a manufacturer's server, an application store's server, or a memory of a relay server.

[0217] Specifically, the computer program product may be implemented by including a recording medium in which a program for executing the operating method according to the disclosed embodiments is stored.

[0218] Although the embodiments have been described in detail above, the scope of the present disclosure is not limited thereto, and various modifications and improvements made by those skilled in the art using the basic concept of the present disclosure defined in the appended claims are also included in the scope of the present disclosure.

[0219] The term "unit" used in the present embodiment refers to a software or hardware component, such as a field programmable gate array (FPGA) or an application specific integrated circuit (ASIC), and the "unit" plays a certain role. However, the "unit" is not limited to software or hardware. The "unit" can be arranged in an addressable storage medium and is configured to reproduce one or more processors. Therefore, as an example, the "unit" includes the following components: for example, software components, object-oriented software components, class components and task components, processes, functions, attributes, processes, subroutines, program code segments, drivers, firmware, microcodes, circuits, data, databases, data structures, tables, arrays and variables. The functions provided in the components and "units" can be merged into a smaller number of components and "units", or can be separated into additional components and "units". In addition, these components and "units" can be implemented as reproducing more than one CPU in a device or a secure multimedia card.

[0220] Although the above mainly describes the embodiments, these embodiments are only illustrative and do not limit the present invention. It can be known to those skilled in the art that various modifications and applications not exemplified above can be made without departing from the basic characteristics of the embodiments. For example, each component specifically shown in the embodiments can be implemented by modification. In addition, the differences related to these modifications and applications should be understood to be included in the scope of the present invention as defined by the appended claims.

Claims

1. A light detection and ranging device, comprising: a light emitting unit configured to generate an output light signal and emit the output light signal to a target area; a light receiving unit, the light receiving unit being configured to receive an input light signal input after being reflected from the target area; an information generating unit configured to generate information about the target area using the input light signal input to the light receiving unit; as well as a control unit configured to control the light emitting unit, the light receiving unit, and the information generating unit, Wherein, the light emitting unit has a preset field of view in a first direction, and The control unit controls a field of view in a second direction perpendicular to the first direction of the light emitting unit.

2. The light detection and ranging device according to claim 1, wherein: The light emitting unit has a preset full field of view in the second direction, and The control unit controls the light emitting unit to scan only a partial field of view in the entire field of view in the second direction based on the information about the target area.

3. The light detection and ranging device according to claim 2, wherein: The control unit extracts an effective area from the target area based on information about the target area, and reduces a field of view of the light emitting unit in the second direction so that the light emitting unit scans the effective area.

4. The light detection and ranging device according to claim 3, further comprising a sensing unit, wherein the sensing unit comprises at least one of a gyro sensor and an acceleration sensor. in, The control unit controls the field of view of the light emitting unit in the second direction according to the sensing result of the sensing unit.

5. The light detection and ranging device according to claim 4, wherein: The control unit expands the field of view in the second direction, which is reduced based on the information about the target area, according to the sensing result of the sensing unit.

6. The light detection and ranging device according to claim 1, wherein: The light emitting unit sequentially scans a plurality of lines extending along the first direction in the second direction, and The first direction is a horizontal direction, and the second direction is a vertical direction.

7. The light detection and ranging device according to claim 1, wherein: The first direction is a vertical direction, and the second direction is a horizontal direction.

8. A method for generating information of a light detection and ranging device, comprising: generating an output light signal by the light emitting unit, and emitting the output light signal to a target area; receiving, by a light receiving unit, an input light signal reflected from the target area; generating, by an information generating unit, information about the target area using the input light signal input to the light receiving unit; as well as The control unit controls the field of view in a second direction perpendicular to the first direction of the light emitting unit, and the light emitting unit has a preset field of view in the first direction.

9. The information generating method according to claim 8, wherein: The step of controlling the field of view in the second direction further comprises: reducing the field of view in the second direction based on the information about the target area; and According to the sensing result of the sensing unit, the field of view in the second direction, which is reduced based on the information about the target area, is expanded.

10. A light detection and ranging device, comprising: a light emitting unit configured to generate an output light signal and emit the output light signal to a target area; a light receiving unit, the light receiving unit being configured to receive an input light signal input after being reflected from the target area; an information generating unit configured to generate information about the target area using the input light signal input to the light receiving unit; a control unit configured to control the light emitting unit, the light receiving unit, and the information generating unit; as well as a sensing unit, the sensing unit comprising at least one of a gyro sensor and an acceleration sensor, Wherein, the light emitting unit comprises a plurality of emitters arranged in an array, and The control unit extracts an effective area from the target area based on information about the target area, drives only part of the multiple emitters so that the light-emitting unit only scans the effective area, and controls the driving of the multiple emitters according to the sensing result of the sensing unit.

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