LiDAR module and LiDAR device

Abstract

A LiDAR module is provided, including: a light emitting unit for emitting light; and a light receiving unit for receiving light reflected by an object, wherein the light emitting unit includes a first short axis parallel to a first direction and a second long axis parallel to a second direction, the light receiving unit includes a second short axis parallel to the first direction and a second long axis parallel to the second direction, the light emitting unit includes a plurality of light sources arranged along the first direction, the light receiving unit includes a plurality of channels arranged along the first direction, and the first direction and the second direction are perpendicular to each other.

Description

Technical Field

[0001] This invention relates to LiDAR modules and LiDAR devices. Background Technology

[0002] LiDAR devices can utilize the light emitted by their light source in various ways.

[0003] For example, LiDAR devices can perform detection and ranging or laser imaging, detection and ranging, and can be used in various ways such as scanning by emitting millions of laser pulses per second, measuring return time, or receiving light to identify the shape of reflective objects.

[0004] To improve the efficiency of light transmission in LiDAR devices, there may be situations where the size ratio of the light source in the light emitting unit to that in the receiving unit is different. In such cases, including a diffuser or a separate lens in the receiving unit may cause changes in the volume of the optical system.

[0005] Furthermore, when the field of view of a LiDAR device becomes 160 degrees or larger, the relative illumination (RI) performance is significantly degraded, leading to performance degradation issues for the LiDAR device. Summary of the Invention

[0006] Technical issues

[0007] The present invention has been designed to solve the problems of the prior art described above, and it aims to keep the ratio between the receiving unit and the light emitting unit constant in a field of view of 160 degrees or greater.

[0008] The problems to be solved by the present invention are not limited to those mentioned above, and other problems not mentioned will be clearly understood by those skilled in the art from the following description.

[0009] Technical solution

[0010] To address the aforementioned problems, according to an embodiment of the present invention, a LiDAR module includes: a light emitting unit configured to emit light; and a light receiving unit configured to receive light reflected from an object. The light emitting unit includes a first minor axis parallel to a first direction and a second major axis parallel to a second direction. The light receiving unit includes a second minor axis parallel to the first direction and a second major axis parallel to the second direction. The light emitting unit includes a plurality of light sources arranged in the first direction, and the light receiving unit includes a plurality of channels arranged in the first direction. The first direction and the second direction are perpendicular to each other.

[0011] The optical emitting unit and the optical receiving unit can be spaced apart from each other in the first direction.

[0012] The optical emitting unit and the optical receiving unit can be aligned in the first direction.

[0013] The light emitting unit can sequentially drive multiple light sources in the first direction, and the light receiving unit can sequentially drive multiple channels in the first direction.

[0014] The length of the light emitting unit in the second direction can be 3 to 5 times the length of the light emitting unit in the first direction.

[0015] The length of the optical receiving unit in the second direction can be 3 to 5 times the length of the optical receiving unit in the first direction.

[0016] The optical emitting unit and the optical receiving unit can be spaced apart from each other in the second direction.

[0017] The light emitting unit may include a first optical system formed by multiple lenses, and the light receiving unit may include a second optical system formed by multiple lenses, and the arrangement of the multiple lenses in the first optical system and the second optical system may be at least partially the same.

[0018] The first optical system may not include a diffuser configured to diffuse light.

[0019] The field of view of the light emitting unit can be 160 degrees or greater.

[0020] The field of view of the light emitting unit can be 180 degrees or greater, and the relative illumination of the light receiving unit can be 0.5 or greater.

[0021] According to an embodiment of the present invention, a LiDAR device includes a first LiDAR module, a second LiDAR module, a third LiDAR module, and a fourth LiDAR module. Each of the first, second, third, and fourth LiDAR modules includes a light emitting unit and a light receiving unit. The light emitting unit includes a first minor axis parallel to a first direction and a second major axis parallel to a second direction. The light receiving unit includes a second minor axis parallel to the first direction and a second major axis parallel to the second direction. The light emitting unit includes a plurality of light sources arranged in the first direction, and the light receiving unit includes a plurality of channels arranged in the first direction. The first direction and the second direction are perpendicular to each other.

[0022] The light emitting units of the first LiDAR module and the second LiDAR module can overlap in the second direction, and the light emitting units of the third LiDAR module and the fourth LiDAR module can overlap in a third direction perpendicular to the first and second directions.

[0023] The optical receiving units of the first LiDAR module and the second LiDAR module can overlap in the second direction, and the optical receiving units of the third LiDAR module and the fourth LiDAR module can overlap in a third direction perpendicular to the first and second directions.

[0024] Beneficial effects

[0025] The LiDAR module and LiDAR device according to embodiments of the present invention, which are used to solve the above problems, can produce an effect that keeps the ratio between the receiving unit and the light emitting unit constant in a field of view of 160 degrees or greater.

[0026] The effects of the present invention are not limited to those mentioned above. Other effects not mentioned will be clearly understood by those skilled in the art from the description of the claims.

[0027] Furthermore, the effects of the present invention can be described in more detail in the detailed description of the present invention, and are not necessarily limited to the above content. Attached Figure Description

[0028] The following detailed description of exemplary embodiments of this application, as well as the foregoing summary, will be better understood when read in conjunction with the accompanying drawings.

[0029] Exemplary embodiments are shown in the accompanying drawings to illustrate the purpose of this invention.

[0030] However, it should be understood that this application is not limited to the precise arrangement and tools shown.

[0031] Figure 1 This is a view providing an overall description of a LiDAR module according to an embodiment of the present invention; Figure 2 This is a view of a LiDAR device according to an embodiment of the present invention, used for comparing the prior art with the present invention; Figure 3 This is a view used to describe the arrangement of a LiDAR device in a second direction according to an embodiment of the present invention; Figure 4 This is a view used to describe the arrangement of a LiDAR device in a third direction according to an embodiment of the present invention; Figure 5 This is a view used to describe the relative illumination of a LiDAR module according to an embodiment of the present invention; and Figure 6 This is a view illustrating the first optical system of a LiDAR module according to an embodiment of the present invention. Detailed Implementation

[0032] Since the present invention can be modified in various ways and has several embodiments, specific embodiments will be illustrated and described in detail in the accompanying drawings. However, this is not intended to limit the invention to the specific embodiments, and the invention should be understood to include all modifications, equivalents, and substitutions within the spirit and scope of the invention. In describing the invention, detailed descriptions of the prior art will be omitted when it is determined that such detailed descriptions may obscure the gist of the invention.

[0033] Although this document may use terms such as "first," "second," etc., to describe various elements, such elements should not be limited by these terms. These terms are only used to distinguish one element from another.

[0034] The terminology used in this application is for illustrative purposes only and is not intended to limit the invention. The singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. In this application, it will be understood that the terms "comprising," "having," etc., are intended to specify the presence of features, integers, steps, operations, elements, components, and / or combinations thereof stated in the specification, but do not preclude the possibility of the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof.

[0035] Furthermore, throughout the specification, when the term "connected" is used, it does not necessarily mean that two or more components are directly connected, but rather that two or more components are indirectly connected through another component, that the components are not only physically connected but also electrically connected, or that the components are integrated even though they are referred to by different names according to their location or function.

[0036] Furthermore, when a component is described as being formed or positioned "above" or "below" another component, the term "above" or "below" includes not only when the two components are in direct contact with each other, but also when one or more other components are formed or positioned between the two components. Additionally, when a component is described as "above" or "below," the description may include meanings based on the upward and downward directions of the component.

[0037] The following will refer to Figures 1 to 6 The present invention describes exemplary embodiments of the invention that can specifically achieve the objectives of the invention.

[0038] Specifically, Figure 1 This is a view of the general description of a LiDAR module according to an embodiment of the present invention. Figure 2 This is a view of a LiDAR device according to an embodiment of the present invention, used for comparing the prior art with the present invention. Figure 3This is a view used to describe the arrangement of a LiDAR device in a second direction according to an embodiment of the present invention. Figure 4 This is a view used to describe the arrangement of a LiDAR device in a third direction according to an embodiment of the present invention. Figure 5 This is a view used to describe the relative illumination of a LiDAR module according to an embodiment of the present invention, and Figure 6 This is a view illustrating the first optical system of a LiDAR module according to an embodiment of the present invention.

[0039] The LiDAR device according to embodiments of the present invention may be a LiDAR device mounted on a vehicle to measure the distance between the vehicle and an object, but is not limited thereto. The LiDAR device according to embodiments of the present invention may use the time-of-flight (ToF) principle or the phase-shift principle to extract depth information. In this specification, the LiDAR device may also be referred to as an information generation device, a depth information generation device, or a camera device.

[0040] refer to Figure 1 According to an embodiment of the present invention, the LiDAR module 1000 includes a light emitting unit 100 and a light receiving unit 200. Furthermore, the LiDAR module 1000 may further include an information generation unit and a control unit.

[0041] The light emitting unit 100 can generate and output an output optical signal in the form of a pulsed wave or a continuous wave. The continuous wave can be in the form of a sine wave or a square wave. By generating the output optical signal in the form of a pulsed wave or a continuous wave, the LiDAR module 1000 can detect the time difference or phase difference between the output optical signal output from the light emitting unit 100 and the input optical signal reflected from the target area and then input to the light receiving unit 200.

[0042] In this specification, "output light" can refer to light emitted from the light emitting unit 100 and incident on an object, and "input light" can refer to light emitted from the light emitting unit 100 and reflected from the target area after reaching the target area, and input to the light receiving unit 200. From the perspective of the target area, the output light can be the incident light, and the input light can be the reflected light. In this specification, the target area can be used interchangeably with the object or the target.

[0043] The light emitting unit 100 includes a first minor axis parallel to a first direction and a first major axis parallel to a second direction. Furthermore, the light emitting unit 100 includes a plurality of light sources 110 for emitting light, and each of the plurality of light sources 110 has a third minor axis parallel to the first direction and a third major axis parallel to the second direction, and can be arranged side-by-side in the first direction. That is, the plurality of light sources 110 are arranged in the first direction such that the third minor axis can form the first minor axis. However, this is only one embodiment, and the third minor axis and third major axis of the plurality of light sources 110 may differ from the directions described above, and are not necessarily limited to the above.

[0044] Furthermore, the plurality of light sources 110 are arranged to have a first short axis in the first direction, and the plurality of light sources 110 can be driven sequentially in the first direction to emit light.

[0045] In this configuration, the light emitting unit 100 may have a length of a first width W1 in the second direction and a length of a first height H1 in the first direction. Here, the length of the first width W1 may be 3 to 5 times the length of the first height H1. Preferably, the length of the first width W1 may be 3 to 4 times the length of the first height H1. More preferably, the length of the first width W1 may be 3.4 to 3.5 times the length of the first height H1.

[0046] Furthermore, the light emitting unit 100 may include a first optical system formed by a plurality of lenses. Here, the first optical system may not include a diffuser for diffusing light.

[0047] Furthermore, the field of view (FOV) of the light emitting unit 100 can be 160 degrees or greater. Preferably, the FOV of the light emitting unit 100 can be 180 degrees or greater, and more preferably, the FOV can be close to 190 degrees. Here, since the light emitting unit 100 has an FOV of 180 degrees or greater, and preferably close to 190 degrees, light can be emitted over a wide range even in a fixed form rather than in a rotating manner.

[0048] In this way, when using a fixed arrangement instead of a rotating one, the problem of minimizing blind spots by arranging multiple LiDAR modules 1000 according to the FOV in the light emitting unit 100 can be solved. This will be described in more detail with reference to the accompanying drawings described below.

[0049] Additionally, here, FOV can be the FOV of the LiDAR module 1000 based on an embodiment of the present invention in the horizontal direction perpendicular to the first direction.

[0050] The light receiving unit 200 can receive optical signals reflected from the target area. In this case, the received optical signal may be an optical signal emitted by the light emitting unit 100 reflected from the target area.

[0051] The light receiving unit 200 may include a light receiving unit 200, a second optical system formed by multiple lenses disposed on the light receiving unit 200, and a filter. In this case, the optical signal reflected from the target area can pass through the lens group of the light receiving unit 200.

[0052] The optical axes of the multiple lenses of the light receiving unit 200 can be aligned with the optical axis of the light receiving unit 200. A filter can be placed in the optical path between the target area and the light receiving unit 200. The filter can filter light with a predetermined wavelength range. The filter can transmit light of a specific wavelength.

[0053] For example, filters can transmit infrared or near-infrared light and block light other than infrared or near-infrared light.

[0054] The optical receiving unit 200 can receive optical signals and output the received optical signals as electrical signals. The optical receiving unit 200 can detect light with a wavelength corresponding to the wavelength of the light output from the optical emitting unit 100. For example, the optical receiving unit 200 can detect light in the infrared or near-infrared band.

[0055] The light receiving unit 200 can be configured as a structure in which multiple pixels are arranged in a grid.

[0056] Furthermore, the light receiving unit 200 includes a second minor axis parallel to the first direction and a second major axis parallel to the second direction. Additionally, the light receiving unit 200 includes multiple channels for receiving light, and each of the multiple channels has a fourth minor axis parallel to the first direction and a fourth major axis parallel to the second direction, and can be arranged side-by-side in the first direction. That is, the multiple channels are arranged in the first direction such that the fourth minor axis can form the second minor axis. However, this is only one embodiment, and the third minor axis and third major axis of the multiple light sources 110 may differ from the directions described above, and are not necessarily limited to the above.

[0057] Furthermore, multiple channels are arranged to have a fourth short axis parallel to the first direction, and the multiple channels can be sequentially driven in the first direction to emit light.

[0058] In this configuration, the light receiving unit 200 may have a length of a second width W2 in the second direction and a length of a second height H2 in the first direction. Here, the length of the second width W2 may be 3 to 5 times the length of the second height H2. Preferably, the length of the second width W2 may be 3 to 4 times the length of the second height H2. More preferably, the length of the second width W2 may be 3.4 to 3.5 times the length of the second height H2.

[0059] Simultaneously, the light emitting unit 100 and the light receiving unit 200 can be arranged side-by-side on a single board 300 in the first direction. For example, the board 300 according to an embodiment of the present invention can be a printed circuit board (PCB). Alternatively, the light emitting unit 100 and the light receiving unit 200 can be arranged aligned with each other in the first direction within the LiDAR module 1000, and the light emitting unit 100 and the light receiving unit 200 can be disposed on different boards 300. The relationship in which the light emitting unit 100 and the light receiving unit 200 are disposed on the boards 300 is not necessarily limited to the above description.

[0060] However, according to an embodiment of the present invention, the light emitting unit 100 and the light receiving unit 200 are aligned in the first direction, and alternatively, the light emitting unit 100 and the light receiving unit 200 may be configured to at least partially overlap in the first direction, and may also be configured to at least partially align or overlap in the second direction, depending on the design.

[0061] Furthermore, the multiple light sources 110 of the light emitting unit 100 can be driven sequentially in the first direction, the multiple channels of the light receiving unit 200 can be driven sequentially in the first direction, and the multiple light sources 110 and the multiple channels can be matched one-to-one with each other.

[0062] For example, one of the plurality of light sources 110 operating at a first time point can be defined as a first light source 110, and another of the plurality of light sources 110 operating at a second time point can be defined as a second light source 110. The first time point can be earlier than the second time point, and the first light source 110 and the second light source 110 can be arranged side by side. Accordingly, when one of the plurality of channels is defined as a first channel and another of the plurality of channels is defined as a second channel, the output light of the first light source 110 at the first time point can be incident on the first channel, and the output light of the second light source 110 can be incident on the second channel.

[0063] That is, as multiple light sources 110 are arranged in the first direction, multiple channels are correspondingly arranged in the first direction to be matched and operated sequentially over time.

[0064] Meanwhile, although not illustrated, the information generation unit uses the input optical signal to the light receiving unit 200 to generate information about the target area. This information may include three-dimensional information about the target area.

[0065] For example, information about the target area may include depth information or shape information about the target area. For example, the information generation unit may use the time taken for the output optical signal from the light emitting unit 100 to be reflected from the object and then input to the light receiving unit 200 to calculate the depth information about the object.

[0066] Alternatively, the information generation unit can use the electrical signal received by the light receiving unit 200 to calculate the time difference between the output optical signal and the input optical signal, and the information generation unit can use the calculated time difference to calculate the distance between the target area and the LiDAR module 1000. Alternatively, the information generation unit can use the electrical signal received from the light receiving unit 200 to calculate the phase difference between the output optical signal and the input optical signal, and the information generation unit can use the calculated phase difference to calculate the distance between the target area and the LiDAR module 1000.

[0067] Furthermore, the control unit can control the operation of the light emitting unit 100, the light receiving unit 200, and the information generating unit. The information generating unit and the control unit can be implemented in the form of a PCB. Alternatively, the information generating unit and the control unit can be implemented in other forms. Alternatively, the control unit can be included in a terminal or vehicle C according to an embodiment of the present invention.

[0068] For example, the control unit may be implemented as an application processor (AP) of a smartphone equipped with a LiDAR module 1000 according to an embodiment of the present invention, or it may be implemented as an electronic control unit (ECU) of a vehicle C equipped with a LiDAR device according to an embodiment of the present invention.

[0069] At the same time, refer to Figure 2 ,like Figure 2As shown in Figure A, the first angle A1 corresponding to the FOV of the LiDAR module 1000 according to the prior art has an FOV of approximately 120 degrees. Output light is emitted towards the front of the camera through this 120-degree FOV. Three LiDAR modules 1000 are positioned on the front side of vehicle C, three LiDAR modules 1000 are positioned on the rear side of vehicle C, and two LiDAR modules 1000 are positioned on the lateral side of vehicle C to receive light reflected from objects. At this time, the LiDAR modules 1000 positioned at the corners of vehicle C, i.e., those positioned between the lateral side and the front side or between the lateral side and the rear side, are configured such that their axes are tilted at a predetermined angle towards the lateral side, rather than being positioned with axes pointing towards the front and rear sides. Output light can be emitted to a portion of the lateral side and a portion of the front or rear side.

[0070] This setup has the advantage of being able to identify objects in all directions of vehicle C, but the large number of LiDAR modules 1000 leads to low economic efficiency, and since the LiDAR modules 1000 have a first angle A1 of nearly 120 degrees as FOV, there may also be the inconvenience of relatively difficult management of the LiDAR modules 1000.

[0071] However, the LiDAR device according to embodiments of the present invention includes, for example: Figure 2 The first LiDAR module 1000a, the second LiDAR module 1000b, the third LiDAR module 1000c, and the fourth LiDAR module 1000d shown in B, and the first LiDAR module 1000a and the second LiDAR module 1000b can be configured to be spaced apart in a second direction extending from the front side to the rear side of the vehicle C, and the third LiDAR module 1000c and the fourth LiDAR module 1000d can be configured to be spaced apart in a third direction extending from one lateral side to the other lateral side of the vehicle C.

[0072] In this configuration, the first LiDAR module 1000a, the second LiDAR module 1000b, the third LiDAR module 1000c, and the fourth LiDAR module 1000d each have a second angle A2 corresponding to a field of view (FOV) of 160 degrees or greater, preferably 180 degrees or greater, and more preferably 190 degrees or greater. Thus, the first LiDAR module 1000a, positioned on the front side of the vehicle C, can sense the area in front of the vehicle C, and the second LiDAR module 1000b can sense the area behind the vehicle C.

[0073] In addition, the third LiDAR module 1000c and the fourth LiDAR module 1000d can sense the lateral side of vehicle C.

[0074] Compared with existing technologies, when in Figure 2 When virtual areas are formed by connecting the FOVs of each LiDAR module 1000 with lines in A, the following disadvantages exist: areas not reached by the FOV of the LiDAR module 1000 are not formed as close to the vehicle C, and blind spot areas are formed as areas extending slightly away from the vehicle C.

[0075] However, when the first LiDAR module 1000a, the second LiDAR module 1000b, the third LiDAR module 1000c, and the fourth LiDAR module 1000d have the same FOV, i.e. Figure 2 When the FOV is 180 degrees or greater as shown in B, the virtual area formed by connecting the FOVs of the first LiDAR module 1000a to the fourth LiDAR module 1000d can be the area adjacent to the vehicle C. Therefore, as long as the virtual area is not located extremely close to the vehicle C, it has the advantage of significantly reducing the blind spot area compared with the prior art.

[0076] refer to Figure 3 To provide a more detailed description, such as Figure 3 As shown, the first LiDAR module 1000a may include a first light emitting unit 100a and a first light receiving unit 200a, and the second LiDAR module 1000b may include a second light emitting unit 100b and a second light receiving unit 200b.

[0077] Here, the first light emitting unit 100a and the second light emitting unit 100b overlap at least partially in the second direction, and the first light receiving unit 200a and the second light receiving unit 200b may also overlap at least partially in the second direction.

[0078] Furthermore, the first light emitting unit 100a and the first light receiving unit 200a overlap in the first direction, and the second light emitting unit 100b and the second light receiving unit 200b also overlap in the first direction. The first light emitting unit 100a and the first light receiving unit 200a are arranged to be spaced apart in the first direction, and the second light emitting unit 100b and the second light receiving unit 200b are also arranged to be spaced apart in the first direction.

[0079] Because of this arrangement, the ratio between the light emitting unit 100 and the light receiving unit 200 in the LiDAR module 1000 according to the prior art is different. As a result, the light reflected from the object may not be received correctly, or the amount of light incident on any one of the multiple channels may differ greatly between the outer and central portions of the channel, leading to a significant degradation in the performance of the LiDAR module 1000.

[0080] However, according to an embodiment of the present invention, the LiDAR module 1000 has a ratio between the length of the light emitting unit 100 in the first direction and the length of the light receiving unit 200 in the second direction that is the same as or similar to the ratio between the length of the light receiving unit 200 in the first direction and the length of the light emitting unit 100 in the second direction. Therefore, the difference in the amount of light between the peripheral portion of the channel and the central portion of the channel can be significantly reduced, thereby providing the advantage of improving the performance of the LiDAR module 1000.

[0081] refer to Figure 4 ,like Figure 4 As shown, the third LiDAR module 1000c may include a third optical emitting unit 100c and a third optical receiving unit 200c, and the fourth LiDAR module 1000d may include a fourth optical emitting unit 100d and a fourth optical receiving unit 200d.

[0082] Here, the third optical emitting unit 100c and the fourth optical emitting unit 100d overlap at least partially in a third direction, and the third optical receiving unit 200c and the fourth optical receiving unit 200d may overlap at least partially in a third direction.

[0083] Furthermore, the third optical emitting unit 100c and the third optical receiving unit 200c overlap in the first direction, the fourth optical emitting unit 100d and the fourth optical receiving unit 200d also overlap in the first direction, the third optical emitting unit 100c and the third optical receiving unit 200c are arranged to be spaced apart in the first direction, and the fourth optical emitting unit 100d and the fourth optical receiving unit 200d are also arranged to be spaced apart in the first direction.

[0084] Due to this arrangement, the LiDAR module 1000 according to an embodiment of the present invention has a ratio between the length of the light emitting unit 100 in the first direction and the length of the light receiving unit 200 in the second direction that is the same as or similar to the ratio between the length of the light receiving unit 200 in the first direction and the length of the light receiving unit 200 in the second direction. Therefore, the difference in light quantity between the peripheral portion and the central portion of the channel can be significantly reduced, thereby providing the advantage of improved performance of the LiDAR module 1000.

[0085] In the LiDAR module 1000 according to the prior art, there may be a phenomenon that the ratio of light intensity in the outer part of the channel to that in the center part of the channel decreases as the FOV increases.

[0086] To describe this phenomenon, please refer to Table 1 below and Figure 5 .

[0087] [Table 1]

[0088] First, referring to Table 1, the recognition distance (calculated distance) corresponds to the average distance at which objects can be recognized. When the FOV is 120×30, the central portion can recognize a distance of 70m, and the outer portion (edge) can recognize a distance of 30m. However, in the case of the LiDAR module 1000 with an FOV of 190×45 according to an embodiment of the present invention, the central portion can recognize a distance of approximately 19.7m, and the outer portion can recognize a distance of 4.6m.

[0089] Although the recognition distance is expressed in meters (m) here, a more accurate comparison can also be made using the ratio between the center points, and this comparison is not necessarily limited to the methods described above. Furthermore, while precise data values ​​are mentioned, due to various errors during the measurement process, it may be expected that the data values ​​be interpreted with an error margin of 5%. That is to say, the data values ​​are not necessarily limited to the numerical values ​​presented.

[0090] As described above, the LiDAR module 1000 according to an embodiment of the present invention has a lower recognition distance than the conventional LiDAR module 1000. However, since this is caused by the angle of incidence of light when the FOV is 180 degrees or greater, preferably close to 190 degrees, the shorter recognition distance is unavoidable due to the wide FOV characteristics.

[0091] However, in the LiDAR module 1000 with a FOV of 190×45 according to an embodiment of the present invention, when the light intensity of the central portion is assumed to be 1, the light intensity of the peripheral portion is 0.55 times that of the central portion, and in the case of 120×30, when the light intensity of the central portion is assumed to be 1, the light intensity of the peripheral portion can be 0.9 times that of the central portion.

[0092] Furthermore, the LiDAR module 1000 with an FOV of 120×30 according to the prior art has an F number of 0.8, and the LiDAR module 1000 with an FOV of 190×45 according to an embodiment of the present invention can have an F number of 1.1.

[0093] Based on the above, it can be confirmed that the recognition distance and relative illumination are lower in the case of 190×45 FOV than in the case of 120×30 FOV. However, when it is confirmed that the relative illumination is not 0% in the case of FOV exceeding 180 degrees, a significant difference can be confirmed compared with the case of 120×30 FOV.

[0094] Specifically, when the field of view (FOV) is 180 degrees or greater, light incident from the lateral side may typically not diffract inwards, causing the relative illuminance to converge to 0%, and given that a 120×30 module has a typical FOV within 180 degrees, this convergence can be physically and readily predicted. However, the LiDAR module 1000 according to an embodiment of the invention has a relative illuminance of 50% or greater at an FOV of 180 degrees or greater, and this can be achieved by... Figure 5 Confirmed.

[0095] Here, Figure 5 The Y-axis corresponds to relative illumination (%), and the X-axis can correspond to an angle that corresponds to half of the FOV. Specifically, the deg (degrees) on the X-axis corresponds to the angle from the axis to the limit of the FOV, and twice the deg can be interpreted as corresponding to the FOV.

[0096] Based on this, generally speaking, in a field of view (FOV) of 180 degrees or greater, the relative illumination should be derived to be quite low or close to 0%. However, it can be confirmed that the LiDAR module 1000 according to an embodiment of the present invention has a relative illumination of 70% to 50% at a degree of 90 degrees or greater (i.e., at an FOV of 180 degrees or greater), and approximately 55% based on an FOV of 190 degrees. Here, approximately 55% based on an FOV of 190 degrees is preferably interpreted as falling within the range of 58% to 52%.

[0097] At the same time, as mentioned above, since forming a 180-degree or larger field of view is generally somewhat difficult, the first optical system can have, for example, Figure 6 The arrangement shown is illustrated. Here, the first optical system includes multiple lenses, excluding a diffuser for diffusing light, and may include at least one aspherical lens.

[0098] In the first lens 101 adjacent to the object, the object-side surface facing the object may be convex, and the inner surface facing the light source 110 may be concave. Furthermore, in the second lens 102 adjacent to the first lens 101, the object-side surface may also be convex, and the inner surface facing the light source 110 may be concave.

[0099] Furthermore, in the third lens 103 adjacent to the second lens 102, the object-side surface may be concave, and the inner surface facing the light source 110 may also be concave. In the fourth lens 104 adjacent to the third lens 103, the object-side surface may be concave, and the inner surface facing the light source 110 may be convex.

[0100] Furthermore, in the fifth lens 105 adjacent to the fourth lens 104, the object-side surface may be convex, and the inner surface facing the light source 110 may also be convex. Furthermore, in the sixth lens 106 adjacent to the fifth lens 105, the object-side surface may be convex, and the inner surface facing the light source 110 may also be convex. Furthermore, the seventh lens 107 adjacent to both the sixth lens 106 and the light source 110 may be a microlens array. That is, a microlens array may be disposed in the optical path between the sixth lens 106 and the light source 110.

[0101] As described above, the FOV of the LiDAR module 1000 can be achieved to 180 degrees or greater through the arrangement of the first lens 101 to the seventh lens 107, and this is one embodiment for achieving an FOV of 180 degrees or greater, and is not necessarily limited to the arrangement, shape and configuration described above.

[0102] Furthermore, at least some of the lens arrangements in the first optical system and the second optical system can be the same. For example, in the first optical system, such as... Figure 6 The first lens 101 to the seventh lens 107 shown can be arranged on the optical axis, and in the arrangement of the second optical system, the first lens 101 to the seventh lens 107 can also be arranged on the optical axis in the same manner as in the first optical system. Alternatively, in the second optical system, any one of the first lens 101 to the seventh lens 107 can have a different arrangement.

[0103] Although only the lens arrangements of the first and second optical systems have been described here, both the first and second optical systems can have arrays and arrangements of lenses with the same characteristics, such as the shape and focal length of the first lens 101 to the seventh lens 107. If necessary, some of the lenses can have different arrangements and properties depending on the design, and the arrangement is not necessarily limited to those described above.

[0104] Furthermore, the F-numbers of the first optical system and the second optical system can be designed to be different from each other. Since the first optical system of the light emitting unit 100 does not need to have an F-number as low as that of the second optical system of the light receiving unit 200, the F-number of the first optical system can be greater than that of the second optical system.

[0105] Exemplary embodiments of the present invention have been examined, and it will be apparent to those skilled in the art that the invention may be practiced in other specific forms than those described above without departing from the spirit or scope of the invention.

[0106] Therefore, the above embodiments should be considered illustrative rather than restrictive, and accordingly, the invention is not limited to the above description, but can be modified within the scope of the appended claims and their equivalents.

Claims

1. A LiDAR module, comprising: An optical emitting unit, wherein the optical emitting unit is configured to emit light; as well as A light receiving unit, configured to receive light reflected from an object, The light emitting unit includes a first minor axis parallel to the first direction and a second major axis parallel to the second direction. The optical receiving unit includes a second minor axis parallel to the first direction and a second major axis parallel to the second direction. The light emitting unit includes a plurality of light sources arranged in the first direction. The optical receiving unit includes multiple channels arranged in the first direction, and The first direction and the second direction are perpendicular to each other.

2. The LiDAR module according to claim 1, wherein, The light emitting unit and the light receiving unit are spaced apart from each other in the first direction to be aligned.

3. The LiDAR module according to claim 1, wherein, The length of the light emitting unit in the second direction is 3 to 5 times the length of the light emitting unit in the first direction.

4. The LiDAR module according to claim 1, wherein, The length of the optical receiving unit in the second direction is 3 to 5 times the length of the optical receiving unit in the first direction.

5. The LiDAR module according to claim 1, wherein, The light emitting unit includes a first optical system formed by multiple lenses. The light receiving unit includes a second optical system formed by multiple lenses, and The arrangement of the plurality of lenses in the first optical system and the second optical system is at least partially the same.

6. The LiDAR module according to claim 5, wherein, The first optical system does not include a diffuser configured to diffuse the light.

7. The LiDAR module according to claim 1, wherein, The field of view of the light emitting unit is 160 degrees or greater, and The relative illuminance of the light receiving unit is 0.5 or greater.

8. A LiDAR device, comprising: First LiDAR module; Second LiDAR module; Third LiDAR module; as well as The fourth LiDAR module, Each of the first LiDAR module, the second LiDAR module, the third LiDAR module, and the fourth LiDAR module includes a light emitting unit and a light receiving unit. The light emitting unit includes a first minor axis parallel to the first direction and a second major axis parallel to the second direction. The optical receiving unit includes a second minor axis parallel to the first direction and a second major axis parallel to the second direction. The light emitting unit includes a plurality of light sources arranged in the first direction. The optical receiving unit includes multiple channels arranged in the first direction, and The first direction and the second direction are perpendicular to each other.

9. The LiDAR device according to claim 8, wherein, The light emitting units of the first LiDAR module and the second LiDAR module overlap in the second direction, and The light emitting units of the third LiDAR module and the fourth LiDAR module overlap in a third direction perpendicular to the first and second directions.

10. The LiDAR device according to claim 8, wherein, The light receiving unit of the first LiDAR module and the light receiving unit of the second LiDAR module overlap in the second direction, and The light receiving unit of the third LiDAR module and the light receiving unit of the fourth LiDAR module overlap in a third direction perpendicular to the first direction and the second direction.

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