LIDAR DEVICE AND METHODS OF OPERATION

Abstract

The embodiment discloses a LIDAR device including an output unit that outputs an optical signal; a distributor that distributes the optical signal into a first optical signal and a second optical signal; a receiver that receives a third optical signal, which is light reflected from an object of the first optical signal; an interference unit that generates interference between the second optical signal and the third optical signal; a detector that detects a fourth optical signal, which is interference light generated by the interference between the second optical signal and the third optical signal, or a fifth optical signal, which is noise; and a depth information generator that generates depth information and velocity information for an object of observation based on the optical signals; wherein the distributor adjusts the distribution ratio of the first optical signal and the second optical signal.

Description

[Technical Field]

[0001] Embodiments relate to lidar devices and methods of operation. [Background technology]

[0002] LiDAR (Light Detection And Ranging) systems are used in a variety of fields, including aerospace, geology, 3D maps, automobiles, robots, and drones.

[0003] Among them, FMCW (Frequency Modulated Continuous Wave) LIDAR is a LIDAR that modulates the frequency of light to simultaneously measure distance and speed information. FMCW LIDAR measures speed using the Doppler effect. When waves are reflected from a moving object, the Doppler effect causes a frequency change. By detecting this frequency change, FMCW LIDAR can simultaneously measure the object's speed and position without wasting time. FMCW LIDAR is also robust against interference from ambient light and other LIDARs. FMCW LIDAR also uses an interferometer to measure light and can block interactions with signals other than those sent by the LIDAR.

[0004] The optical signal generated by the FMCW LIDAR is divided to cause interference with the reflected light, but the division ratio changes the signal-to-noise ratio, which affects the detection rate. However, since the division ratio cannot be changed, the only way to change the signal-to-noise ratio is to adjust the output intensity of the optical signal, even if the measurement environment affects the signal-to-noise ratio.

[0005] Therefore, what is needed is a method that allows for the splitting ratio of an optical signal to be varied to maintain or generate an optimum signal-to-noise ratio.

[0006] Furthermore, FMCW lidar detects targets by dividing them into multiple pixels. In this case, when using one laser, the exposure time allocated to each pixel decreases. As the exposure time decreases, the signal strength decreases, and the maximum calculable distance decreases for the same frequency modulation range. Furthermore, to maintain the maximum calculable distance constant, the laser frequency modulation speed must increase. Increasing the frequency modulation speed can reduce the laser intensity.

[0007] Therefore, there is a need for a method that can adjust the exposure time to improve the performance of the lidar when detecting the signal. Summary of the Invention [Problem to be solved by the invention]

[0008] Embodiments provide a lidar device and method of operation that allows for an adjustable split ratio of an optical signal.

[0009] The present invention also provides a lidar device and an operating method that can maintain a signal-to-noise ratio by adjusting the split ratio of an optical signal according to changes in ambient light and other noise.

[0010] Also provided is a lidar device and operating method that detects changes in ambient light and other noise in real time and automatically adjusts the split ratio of the optical signal.

[0011] The present invention also provides a lidar device and an operating method that can modulate the frequency of an optical signal to an arbitrary waveform and adjust the detection unit of a detection target.

[0012] Also provided is a lidar device and method of operation that allows for increased exposure time of an optical signal for one detection unit.

[0013] Also provided is a lidar device and method of operation that allows for reduced range resolution with the same optical signal output.

[0014] Also provided is a lidar device and an operating method that enable the maximum measurement distance to be increased and the frequency modulation rate to be reduced with the same optical signal output.

[0015] The problems to be solved by the examples are not limited to these, and may also include the objectives and effects that can be grasped from the means for solving the problems and embodiments described below. [Means for solving the problem]

[0016] The LIDAR device according to the embodiment includes an output unit that outputs an optical signal; a distributor that distributes the optical signal into a first optical signal and a second optical signal; a receiver that receives a third optical signal, which is light reflected from an object of the first optical signal; an interference unit that generates interference between the second optical signal and the third optical signal; a detector that detects a fourth optical signal, which is interference light generated by the interference between the second optical signal and the third optical signal, or a fifth optical signal, which is noise; and a depth information generator that generates depth information and velocity information for an object of observation based on the fourth optical signal; and the distributor can adjust the distribution ratio of the first optical signal and the second optical signal.

[0017] The distribution ratio may follow Equation 1, Equation 2, and Equation 3.

[0018] [Formula 1]

[0019] P0=P1+P2

[0020] [Formula 2]

[0021] P1=(1-x)P0

[0022] [Formula 3]

[0023] P2=xP0

[0024] (P0 is the power of the optical signal, P1 is the power of the first optical signal, P2 is the power of the second optical signal, and x is a variable greater than or equal to 0 and less than or equal to 1)

[0025] The distributor may adjust the distribution ratio so that the ratio of the power of the fourth optical signal to the power of the fifth optical signal is within a predetermined range.

[0026] The ratio of the power of the fourth optical signal to the power of the fifth optical signal may be according to Equation 4.

[0027] [Formula 4]

[0028] TIFF2025535018000002.tif19155

[0029] (SNR is the ratio of the power of the fourth optical signal to the power of the fifth optical signal, R is the responsivity, Loss is the degree of loss of reflected light, e is the amount of charge of an electron, B is the frequency bandwidth of the system, and i others is the noise variance of the fifth optical signal.)

[0030] The distribution ratio may be determined by the value x at which the ratio of the power of the fourth optical signal to the power of the fifth optical signal according to Equation 4 is maximum.

[0031] The distributor can adjust the distribution ratio according to a change in the fifth optical signal.

[0032] The distributor may increase x when the power of the fifth optical signal increases, and may decrease x when the power of the fifth optical signal decreases.

[0033] The detection unit detects a change in the fifth optical signal in real time, and the distribution unit can automatically adjust the distribution ratio according to the change in the fifth optical signal detected in real time.

[0034] The distribution unit includes a first distribution unit and a second distribution unit, and the optical signal passes through the first distribution unit and the second distribution unit sequentially. The first distribution unit is rotated to adjust the polarization angle of the optical signal, and the second distribution unit passes the vertically polarized light of the optical signal that has passed through the first distribution unit and reflects the horizontally polarized light, thereby adjusting the distribution ratio.

[0035] The first distributor may be a half wave plate (HWP), and the second distributor may be a polarizing beam splitter (PBS).

[0036] The divider includes a third divider, a fourth divider, and a fifth divider, and the optical signal passes through the third divider and the fourth divider in sequence or the third divider and the fifth divider in sequence, and the third divider can adjust the distribution ratio of the optical signal distributed to the fourth divider or the fifth divider by moving the path of the optical signal.

[0037] The third distribution unit, the fourth distribution unit, and the fifth distribution unit are waveguides, and the third distribution unit can adjust the distribution ratio by changing the contact area with the fourth distribution unit or the fifth distribution unit.

[0038] A LIDAR operating method according to an embodiment includes the steps of: operating a LIDAR device to check a signal from a weather sensor, a current time sensor, or an illuminance sensor; setting the power of ambient light according to the signal from the weather sensor, the current time sensor, or the illuminance sensor using a lookup table; adjusting a signal-to-noise ratio, which is the ratio of the power of the optical signal to the power of the set ambient light, by changing a distribution ratio of the optical signal by a distributor of the LIDAR device, the distribution ratio being a ratio at which the optical signal is distributed to incident light irradiating an observation target and reference light for interference; and

[0039] generating depth information and velocity information of an object to be observed through interference between the incident light and the reference light;

[0040] The distribution ratio may follow Equation 1, Equation 2, and Equation 3.

[0041] [Formula 1]

[0042] P0=P1+P2

[0043] [Formula 2]

[0044] P1=(1-x)P0

[0045] [Formula 3]

[0046] P2=xP0

[0047] (P0 is the power of the optical signal, P1 is the power of the first optical signal, P2 is the power of the second optical signal, and x is a variable greater than or equal to 0 and less than or equal to 1)

[0048] The signal to noise ratio may be according to Equation 4:

[0049] [Formula 4]

[0050] TIFF2025535018000003.tif19154

[0051] (SNR is the signal-to-noise ratio, R is the responsivity, Loss is the degree of loss of reflected light, e is the amount of charge of an electron, B is the frequency bandwidth of the system, and i others is the noise variance of the ambient light.)

[0052] The distribution unit adjusts the distribution ratio according to a change in the set ambient light power, and increases x when the ambient light power increases and decreases x when the ambient light power decreases, thereby automatically adjusting the distribution ratio according to changes in the optical signal detected in real time.

[0053] The LIDAR device according to the embodiment may include an optical output device (VCSEL, Vertical Cavity Surface Emitting Laser) that outputs an optical signal; a group of lenses that focus the optical signal and output the focused optical signal to the outside; an optical detection device (SPAD, Single Photon Avalanche Diode) that detects a first signal generated when the optical signal is reflected by an observation target and a second signal that is ambient light; a depth information generation unit that generates depth information for the observation target based on the optical signal and the first signal; a distribution unit that compares the intensity of the first signal with the intensity of the second signal and adjusts the distribution ratio of the optical signal; and a memory that stores data on the signal-to-noise ratio adjusted by changing the distribution ratio.

[0054] The LIDAR device according to the embodiment includes an output unit that outputs an optical signal; a receiver unit that receives input optical signals for a plurality of points on the object that are input after being reflected from the object; an interference unit that generates an interference optical signal by generating interference between the input optical signal and a reference light; a detector unit that detects the input optical signal; a depth information generator that generates depth information for the object based on the optical signal and the input optical signal; and a controller that adjusts the frequency of the optical signal. The controller is configured to modulate the waveform of the frequency of the optical signal, and the depth information generator can generate the depth information using data for a continuous portion of the input optical signal among the plurality of points.

[0055] The depth information generator may generate depth information of a first pixel using first to ith data for the input optical signal at first to ith points (i is an integer equal to or greater than 1).

[0056] The depth information generating unit may generate depth information of a second pixel using the second to (i+1)th data for the input optical signal at the second to (i+1)th points.

[0057] The depth information generator may generate depth information of the (m-i+1)th pixel using the (m-i+1)th to m-th data of the input optical signal at the (m-i+1)th to m-th points from the second pixel (m is an integer equal to or greater than i).

[0058] The depth information generating unit may repeat the process of generating the depth information of the 1st to (m-i+1)th pixels.

[0059] The period of the waveform of the frequency of the optical signal may be the same as the exposure time of one of the points, and the exposure time of one of the pixels may be i times the exposure time of the input optical signal of one of the points.

[0060] The depth information generating unit may generate the depth information using data on the interference light signals of a continuous portion of the plurality of points.

[0061] The control unit can increase the period of the waveform of the frequency of the optical signal by j times.

[0062] The period of the waveform of the frequency of the optical signal may be the same as the exposure time of one of the points, and the exposure time of one of the pixels may be the same as the exposure time of the input optical signal at one of the points.

[0063] The LIDAR operating method according to the embodiment may include the steps of: receiving reflected light reflected from a plurality of points on an object using a receiving unit; detecting reflected light reflected from the first to i-th points using a detecting unit; and generating depth information for a first pixel using the first to i-th data generated by detecting reflected light reflected from the first to i-th points using a depth information generating unit (where i is an integer equal to or greater than 1).

[0064] The LIDAR operation method according to the embodiment may include the steps of: detecting reflected light reflected at the (i+1)th point by the detection unit; and generating depth information of a second pixel by the depth information generation unit using the (2)th to (i+1)th data generated by detecting reflected light reflected at the (2)th to (i+1)th points.

[0065] The LIDAR operation method according to the embodiment may include the steps of: the detection unit repeatedly detecting reflected light reflected at up to the m-th point; and the depth information generation unit generating depth information up to the m-i+1-th pixel using the m-i+1-th to m-th data generated by detecting reflected light reflected at the m-i+1-th to m-th points (m is an integer equal to or greater than i).

[0066] The depth information generating unit may repeat the process of generating the depth information of the 1st to (m-i+1)th pixels.

[0067] The period of the waveform of the frequency of the optical signal may be the same as the exposure time of one of the points, and the exposure time of one of the pixels may be i times the exposure time of the input optical signal of one of the points.

[0068] The LIDAR operation method according to the embodiment may include the step of: the control unit increasing the period of the waveform of the frequency of the optical signal by j times.

[0069] The period of the waveform of the frequency of the optical signal may be the same as the exposure time of one of the points, and the exposure time of one of the pixels may be the same as the exposure time of the input optical signal at one of the points.

[0070] The LIDAR device according to the embodiment includes an optical output device (VCSEL, Vertical Cavity Surface Emitting Laser) that outputs an optical signal; a group of lenses that focus the optical signal and output the focused optical signal to the outside; an optical detection device that detects input optical signals that are input when the optical signal is reflected from multiple points on an observation target; and a depth information generation unit that generates depth information for the observation target based on the optical signal and the input optical signal, and the depth information generation unit can generate the depth information using data for the input optical signals at consecutive points among the multiple points. [Effects of the Invention]

[0071] According to the embodiment, a LIDAR device and an operating method that can adjust the split ratio of an optical signal can be implemented.

[0072] In addition, a lidar device and operating method can be implemented that can maintain a signal-to-noise ratio by adjusting the division ratio of an optical signal according to changes in ambient light or other noise.

[0073] In addition, a lidar device and operating method that automatically adjusts the division ratio of an optical signal by detecting changes in noise such as ambient light in real time can be realized.

[0074] In addition, a LIDAR device and an operating method can be implemented that can modulate the frequency of an optical signal to an arbitrary waveform and adjust the detection unit of a detection target.

[0075] In addition, a LIDAR device and an operating method that can increase the exposure time of an optical signal for one detection unit may be implemented.

[0076] It is also possible to implement a lidar device and an operating method that allows the range resolution to be reduced with the same optical signal output.

[0077] Furthermore, it is possible to implement a lidar device and an operating method that can increase the maximum measurement distance or decrease the frequency modulation rate with the same optical signal output.

[0078] The various beneficial advantages and effects of the present invention are not limited to the above, but will be more easily understood in the course of describing specific embodiments of the present invention. [Brief explanation of the drawings]

[0079] [Figure 1] FIG. 1 is a configuration diagram of a LIDAR device according to an embodiment.

[0080] [Figure 2] FIG. 1 is a schematic conceptual diagram of the operating principle of a LIDAR device according to an embodiment.

[0081] [Figure 3] FIG. 1 is a schematic conceptual diagram of a LIDAR device according to an embodiment.

[0082] [Figure 4] 10 is a graph showing a change in the optimum distribution ratio due to a change in noise according to an embodiment.

[0083] [Figure 5] FIG. 2 is a conceptual diagram of a distribution unit of a LIDAR device according to an embodiment.

[0084] [Figure 6] FIG. 10 is a conceptual diagram of a distribution unit of a LIDAR device according to another embodiment.

[0085] [Figure 7] 1 is a flowchart of a rider operation method according to an embodiment.

[0086] [Figure 8] FIG. 1 is a configuration diagram of a LIDAR device according to an embodiment.

[0087] [Figure 9]FIG. 1 is a schematic conceptual diagram of a LIDAR device according to an embodiment.

[0088] [Figure 10] 1 is an image illustrating the operating principle of a LIDAR device according to an embodiment.

[0089] [Figure 11] 1 is a graph showing a waveform of the frequency of an optical signal of a LIDAR device according to an embodiment.

[0090] [Figure 12] This is an image showing the detection method of an existing LIDAR device.

[0091] [Figure 13] 1 is an image illustrating a detection method of a LIDAR device according to an embodiment.

[0092] [Figure 14] 10 is an image illustrating a detection method of a LIDAR device according to another embodiment.

[0093] [Figure 15] 1 is a flowchart of a rider operation method according to an embodiment.

[0094] [Figure 16] FIG. 2 is an exploded view of the LIDAR device according to the embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0095] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

[0096] However, the technical concept of the present invention is not limited to the described embodiments and may be embodied in various different forms, and one or more of the components of the embodiments may be selectively combined or substituted within the scope of the technical concept of the present invention.

[0097] Furthermore, unless otherwise clearly and specifically defined, terms (including technical and scientific terms) used in the embodiments of the present invention may be interpreted in a manner that would be commonly understood by a person of ordinary skill in the art to which the present invention pertains, and commonly used terms, such as dictionary-defined terms, may be interpreted in light of the contextual meaning of the relevant art.

[0098] Furthermore, the terms used in the embodiments of the present invention are intended to explain the embodiments and are not intended to limit the present invention.

[0099] In this specification, the singular can also include the plural unless otherwise specified in the context, and when it is stated as "A and (and) at least one (or more) of B and C," it can include one or more of all possible combinations of A, B, and C.

[0100] Additionally, terms such as first, second, A, B, (a), (b), etc. may be used to describe components of embodiments of the present invention.

[0101] Such terms are merely used to distinguish a component from other components, and are not intended to limit the nature, order, or sequence of the components.

[0102] Furthermore, when a component is described as being "coupled," "coupled," or "connected" to another component, it can include not only cases where the component is directly coupled, coupled, or connected to the other component, but also cases where the component is "coupled," "coupled," or "connected" by yet another component between the component and the other component.

[0103] Furthermore, when it is described as being formed or disposed "above or below" each component, "above" or "below" includes not only the case where two components are in direct contact with each other but also the case where one or more other components are formed or disposed between the two components. Furthermore, when it is expressed as "above or below," it can mean not only the upper direction but also the lower direction based on one component.

[0104] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

[0105] However, the technical concept of the present invention is not limited to the described embodiments and may be embodied in various different forms, and one or more of the components of the embodiments may be selectively combined or substituted within the scope of the technical concept of the present invention.

[0106] Furthermore, unless otherwise clearly and specifically defined, terms (including technical and scientific terms) used in the embodiments of the present invention may be interpreted in a manner that would be commonly understood by a person of ordinary skill in the art to which the present invention pertains, and commonly used terms, such as dictionary-defined terms, may be interpreted in light of the contextual meaning of the relevant art.

[0107] Furthermore, the terms used in the embodiments of the present invention are intended to explain the embodiments and are not intended to limit the present invention.

[0108] In this specification, the singular can also include the plural unless otherwise specified in the context, and when it is stated as "A and (and) at least one (or more) of B and C," it can include one or more of all possible combinations of A, B, and C.

[0109] Additionally, terms such as first, second, A, B, (a), (b), etc. may be used to describe components of embodiments of the present invention.

[0110] Such terms are merely used to distinguish a component from other components, and are not intended to limit the nature, order, or sequence of the components.

[0111] Furthermore, when a component is described as being "coupled," "coupled," or "connected" to another component, it can include not only cases where the component is directly coupled, coupled, or connected to the other component, but also cases where the component is "coupled," "coupled," or "connected" by yet another component between the component and the other component.

[0112] Furthermore, when it is described as being formed or disposed "above or below" each component, "above" or "below" includes not only the case where two components are in direct contact with each other but also the case where one or more other components are formed or disposed between the two components. Furthermore, when it is expressed as "above or below," it can mean not only the upper direction but also the lower direction based on one component.

[0113] The LIDAR device according to an embodiment of the present invention may refer to, but is not limited to, an information generating device that is mounted on a vehicle and measures the distance between the vehicle and an object to generate distance information. The LIDAR device according to an embodiment of the present invention may be a LIDAR (Light Detection and Ranging) camera. The LIDAR device according to an embodiment of the present invention may extract depth information using a Time of Flight (ToF) principle. In this specification, the LIDAR device may be referred to as a depth information generating device or a camera device.

[0114] FIG. 1 is a configuration diagram of a LIDAR device according to an embodiment.

[0115] 1, a LIDAR device 100 according to the embodiment may include an output unit 110, a distributor 120, a receiver 130, an interference unit 140, a detector 150, and a depth information generator 160. Only components related to the present embodiment are shown in the LIDAR device 100 illustrated in FIG. 1. Therefore, it will be apparent to those skilled in the art that the LIDAR device 100 may further include other general components in addition to the components illustrated in FIG. 1.

[0116] The LIDAR device 100 according to the embodiment may be an FMCW LIDAR. Furthermore, a point scanning method may be used, and therefore the intensity of light received by the detector 150 may be lower than that of other methods, such as a flash method. Therefore, an avalanche photodiode (APD) or a single photon avalanche diode (SPAD), which have high sensing sensitivity, may be used as the detector 150. Specific circuit configurations, such as an analog front end (AFE) and a time-to-digital converter (TDC), may vary depending on whether the detector 150 includes an APD or a SPAD light receiving element.

[0117] The LIDAR device 100 according to the embodiment can measure the distance and speed of a detected object using the Doppler effect. When an optical signal is reflected from a moving object, a frequency change occurs due to the Doppler effect. By sensing this frequency change, the speed and position of the object can be measured simultaneously and without wasting time. The Doppler effect is a phenomenon in which the wavelength of the electromagnetic waves measured by an observer changes from the wavelength in the laboratory when an object emitting electromagnetic waves (light) moves toward or away from the observer. When an object emitting electromagnetic waves moves toward the observer, the observed wavelength of the electromagnetic waves becomes shorter, and when the object moves away from the observer, the observed wavelength of the electromagnetic waves becomes longer.

[0118] The LIDAR device 100 according to the embodiment may include an output unit 110 that outputs an optical signal, a distributor 120 that distributes the optical signal into a first optical signal and a second optical signal, a receiver 130 that receives a third optical signal, which is light reflected from an object from the first optical signal, an interference unit 140 that generates interference between the second optical signal and the third optical signal, a detector 150 that detects a fourth optical signal, which is interference light generated by the interference between the second optical signal and the third optical signal, or a fifth optical signal, which is noise, and a depth information generator 160 that generates depth information for the object of observation based on the fourth optical signal.

[0119] The output unit 110 can output an optical signal and transmit it to the distribution unit 120 .

[0120] The output unit 110 may include a light source such as an edge-emitting laser (EDLA), a vertical-cavity surface-emitting laser (VCSEL), a distributed feedback laser (DFE), a light-emitting diode (LED), or a superluminescent diode (SLD). The output unit 110 may generate and emit light of multiple different wavelength bands or frequencies. The output unit 110 may generate pulsed light or continuous light. The continuous light may be in the form of a sinusoid wave or a square wave. By generating the output optical signal in the form of pulsed light or continuous light, the LIDAR device 100 can detect a time difference or phase difference between the output optical signal output from the output unit 110 and the input optical signal reflected from an object and input to the receiver 130. In this specification, the output optical signal may be referred to as an optical signal, and the object may be referred to as an observed object. From the perspective of the observed object, the output optical signal may be incident light.

[0121] The output unit 110 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 and outputs light. The light generated by the light source may be infrared light with a wavelength of 770 to 3000 nm, or may be visible light with a wavelength of 380 to 770 nm. The light source may be a light-emitting diode (LED), and may have a configuration in which multiple LEDs are arranged in a regular pattern. Alternatively, the light source may include an organic light-emitting diode (OLED) or a laser diode (LD). Alternatively, the light source may be a vertical cavity surface-emitting laser (VCSEL). A VCSEL is a type of laser diode that converts electrical signals into optical signals and may output a wavelength of approximately 800 to 1000 nm, for example, approximately 850 nm or approximately 940 nm. The light source repeatedly flashes (on / off) at regular time intervals to generate an output optical signal in the form of a pulse wave or a continuous wave. The regular time interval may be the frequency of the output optical signal.

[0122] The lens group may condense light output from the light source and output the condensed light to the outside. The lens group may be disposed above the light source and spaced apart from the light source. Here, above the light source may refer to the side from which light is output from the light source. The lens group may include at least one lens. When the lens group includes multiple 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.

[0123] The diffusion member receives the light output from the light source and the lens group, and then refracts or diffracts the received light and outputs it.

[0124] The splitter 120 according to the embodiment can split an optical signal into a plurality of optical signals.

[0125] The splitter 120 can receive the optical signal from the output unit 110 and split it into a first optical signal and a second optical signal. The first optical signal is sent to the receiver 130, and the second optical signal is sent to the interference unit 140.

[0126] The splitter 120 can adjust the split ratio between the first optical signal and the second optical signal. The splitting method of the splitter 120 is not limited, and may include a method using polarization.

[0127] The receiver 130 may transmit an optical signal to an object or receive an optical signal reflected from the object. In this case, the received reflected light may be an optical signal output from the output unit 110 reflected from the object.

[0128] The receiving unit 130 may include an image sensor, a filter disposed on the image sensor, and a lens group disposed on the filter. An optical signal reflected from an 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 filter may be disposed between the lens group and the image sensor. The filter may be disposed on the optical path between the object and the image sensor. The filter may filter light having a predetermined wavelength range. The filter may transmit a specific wavelength band of light. The filter may pass light of a specific wavelength. For example, the filter may pass light in the infrared band and block light other than the infrared band. The image sensor may detect light. The image sensor may receive an optical signal. The image sensor may detect the optical signal and output it as an electrical signal. The image sensor may detect light of a wavelength corresponding to the wavelength of light output from the light source. For example, the image sensor may detect light in the infrared band.

[0129] The image sensor may have a structure in which a plurality of pixels are arranged in a grid pattern. The image sensor may be a complementary metal oxide semiconductor (CMOS) image sensor or a charge coupled device (CCD) image sensor. The image sensor may also include a time-of-flight (ToF) sensor that receives IR light reflected from an object and measures distance using a time difference or phase difference.

[0130] The receiver 130 may receive a first optical signal from the output unit 110 and transmit the received first optical signal to an object. The receiver 130 may also receive a third optical signal, which is light reflected back from the object after the first optical signal is reflected. Here, the receiver 130 may correspond to an optical system including a plurality of lenses, and may be located above the output unit 110 and the interference unit 140.

[0131] The interference unit 140 may generate interference between the second optical signal and the third optical signal. Since the LIDAR device 100 according to the embodiment measures a change in the interference light between the second optical signal and the third optical signal by changing the frequency of the optical signal, an interference unit 140 that generates interference may be present.

[0132] The interference unit 140 can receive the third optical signal from the receiving unit 130 and can receive the second optical signal from the dividing unit 120. The interference unit 140 can generate interference between the received second and third optical signals. The interference unit 140 can also transmit a fourth optical signal, which is interference light generated by the interference, to the detecting unit 150.

[0133] The detector 150 can receive and detect optical signals. The detector 150 can include a plurality of photodiodes, which can be light-receiving elements that generate electrical signals in response to optical energy. The type of light-receiving element is not particularly limited.

[0134] The detector 150 can receive and detect the fourth optical signal from the interference unit 140. The detector 150 can also receive and detect a fifth optical signal, which is noise, from the outside. The noise can include various types of light incident on the detector 150, including sunlight. The noise can include dark noise and thermal noise, which are characteristics of the detector 150 itself. The intensity of the fifth optical signal can change in real time as it is affected by sunlight and the like. The stronger the intensity of the fifth optical signal, the more difficult it can be to detect the fourth optical signal.

[0135] The depth information generator 160 may generate depth information and velocity information of an object using the fourth optical signal output from the interference unit 140. The fourth optical signal may correspond to the result of interference between the third optical signal reflected from the object and the second optical signal output from the distributor 120. That is, the fourth optical signal corresponds to the result of the Doppler effect occurring between the second optical signal and the third optical signal. The fourth optical signal includes depth information and velocity information of the object due to the Doppler effect. The depth information generator 160 may receive the fourth optical signal and the fifth optical signal and derive information about the object.

[0136] FIG. 2 is a schematic conceptual diagram illustrating the operating principle of the LIDAR device according to the embodiment.

[0137] A LIDAR device typically consists of a laser, a scanner, and a photodiode. Each component may have a variety of configurations. Various optical components may be located between the laser and scanner, between the scanner and the target, and between the scanner and the photodiode. The laser may be capable of frequency modulation. The laser's optical signal may be split into incident light and reference light. The incident light may travel through the scanner to the target and then be reflected back. The reflected light may be attenuated by a loss. The reflected light and the reference light may interfere with each other to generate a beat frequency. The distance and speed of the target can be measured based on this beat frequency.

[0138] Referring to FIG. 2, the LIDAR device according to this embodiment may be a scanning-type LIDAR. The receiver (scanner) can calculate the distance while scanning M*N points. At this time, the signal-to-noise ratio of the optical signal can be determined by the ambient light and noise inside the detector (photodiode). In this case, the ratio at which the optical signal is split into incident light and reference light can be optimized to generate the highest signal-to-noise ratio. In other words, the highest signal-to-noise ratio can be obtained for a given output power of the output unit (laser). Also, the laser output power can be lowered to obtain the same signal-to-noise ratio.

[0139] FIG. 23 is a schematic conceptual diagram of a LIDAR device according to an embodiment.

[0140] Referring to FIG. 23, the distributor 120 of the LIDAR device 100 according to the embodiment can adjust the distribution ratio of the first optical signal and the second optical signal.

[0141] The splitter 120 can receive an optical signal from the output unit and split it into a first optical signal and a second optical signal. The splitter 120 can send the first optical signal to the receiver and the second optical signal to the interference unit 140.

[0142] The distribution ratio of the LIDAR device according to the embodiment may follow Equation 1, Equation 2, and Equation 3.

[0143] [Formula 1]

[0144] P0=P1+P2

[0145] [Formula 2]

[0146] P1=(1-x)P0

[0147] [Formula 3]

[0148] P2=xP0

[0149] (P0 is the power of the optical signal, P1 is the power of the first optical signal, P2 is the power of the second optical signal, and x is a variable greater than or equal to 0 and less than or equal to 1)

[0150] The sum of the power of the first optical signal and the power of the second optical signal may correspond to the power of the optical signal output by the output unit. When the sum of the power of the first optical signal and the power of the second optical signal is constant, the power of the first optical signal and the power of the second optical signal may be distributed at a ratio of (1-x), x, where x is a variable greater than or equal to 0 and less than or equal to 1.

[0151] FIG. 4 is a graph showing changes in the optimum distribution ratio due to changes in noise according to the embodiment.

[0152] Referring to FIG. 4, the distributor of the LIDAR device according to the embodiment can adjust the distribution ratio so that the ratio of the power of the fourth optical signal to the power of the fifth optical signal is within a predetermined range.

[0153] When a lidar device detects an optical signal, noise may be present and detected along with the signal, making it difficult to detect the optical signal. In other words, when the signal-to-noise ratio (SNR) is low due to high noise intensity, a method for increasing the SNR is needed. In addition, because noise can change in real time due to various types of light, including sunlight, heat, and the characteristics of the detector itself, a method for maintaining the SNR in real time is needed.

[0154] When the distribution ratio of the distribution unit of the LIDAR device according to the embodiment is changed, the signal-to-noise ratio value changes. When the ratio of the power of the fourth optical signal to the power of the fifth optical signal changes, the distribution ratio of the distribution unit can be adjusted to maintain the signal-to-noise ratio within a predetermined range.

[0155] When comparing the optimal x value that maximizes the signal-to-noise ratio when the fifth optical signal of the LIDAR device of the embodiment is weak and when the fifth optical signal is strong, the optimal x value when the fifth optical signal is weak may be greater than the optimal x value when the fifth optical signal is weak.

[0156] In the LIDAR device according to the embodiment, the optimal x value x1 when the fifth optical signal is weak may be 0.061063, and the optimal x value x2 when the fifth optical signal is strong may be 0.131353.

[0157] The ratio of the power of the fourth optical signal to the power of the fifth optical signal in the LIDAR device according to the embodiment may follow Equation 4:

[0158] [Formula 4]

[0159] TIFF2025535018000004.tif17156

[0160] (SNR is the ratio of the power of the fourth optical signal to the power of the fifth optical signal, R is the responsivity, Loss is the degree of loss of reflected light, e is the amount of charge of an electron, B is the frequency bandwidth of the system, and i others is the noise variance of the fifth optical signal.)

[0161] The ratio of the power of the fourth optical signal to the power of the fifth optical signal in the embodiment may be the ratio of the dispersion of the fourth optical signal to the dispersion of the fifth optical signal.

[0162] The distribution ratio of the LIDAR device according to the embodiment can be determined by the value x at which the ratio of the power of the fourth optical signal to the power of the fifth optical signal according to Equation 4 is maximum.

[0163] The distribution unit can adjust the distribution ratio according to x, which is the maximum signal-to-noise ratio.

[0164] By differentiating the ratio of the power of the fourth optical signal to the power of the fifth optical signal with respect to x, it is possible to determine the value of x at which the ratio of the power of the fourth optical signal to the power of the fifth optical signal is maximum.

[0165] The value x at which the ratio of the power of the fourth optical signal to the power of the fifth optical signal is maximum can be determined by Equation 5.

[0166] [Formula 5]

[0167] TIFF2025535018000005.tif21155

[0168] The value x at which the ratio of the power of the fourth optical signal to the power of the fifth optical signal is maximum can be determined by Equation 6.

[0169] [Formula 6]

[0170] TIFF2025535018000006.tif21156

[0171] Loss means the degree of loss of the third optical signal (reflected light), but if the degree of loss of the third optical signal is very small, Loss can be ignored and x can be determined at which the ratio of the fourth optical signal to the fifth optical signal is maximum.

[0172] The distribution unit of the LIDAR device according to the embodiment can adjust the distribution ratio according to the change in the fifth optical signal.

[0173] The fifth optical signal is a noise signal, and when the detector detects the optical signal, the noise may be present and detected together. This can make it difficult to detect the optical signal. In other words, when the noise intensity increases and the signal-to-noise ratio (SNR) decreases, a method for increasing the SNR is needed. Furthermore, because noise can change in real time due to various types of light, including sunlight, heat, and the characteristics of the detector itself, it is necessary to maintain the SNR in real time. Therefore, the distributor can adjust the distribution ratio according to changes in the fifth optical signal to adjust the SNR.

[0174] The distributor of the LIDAR device according to the embodiment can increase x when the power of the fifth optical signal increases, and can decrease x when the power of the fifth optical signal decreases.

[0175] If the power of the fifth optical signal increases and the ratio of the power of the fourth optical signal to the power of the fifth optical signal increases, x can be increased to maintain an optimal signal-to-noise ratio, and if the power of the fifth optical signal decreases and the ratio of the power of the fourth optical signal to the power of the fifth optical signal decreases, x can be decreased to maintain an optimal signal-to-noise ratio.

[0176] The detection unit of the LIDAR device according to the embodiment detects changes in the fifth optical signal in real time, and the distribution unit can automatically adjust the distribution ratio in accordance with the changes in the fifth optical signal detected in real time.

[0177] The fifth optical signal is a noise signal and may change in real time due to changes in sunlight, weather, etc. Therefore, in order to prevent the signal-to-noise ratio from continuously changing in real time, the detection unit may measure the fifth optical signal in real time and detect changes in the fifth optical signal in real time, and the distribution unit may automatically adjust the distribution ratio according to the changes in the fifth optical signal detected in real time.

[0178] FIG. 5 is a conceptual diagram of a distribution unit of a LIDAR device according to an embodiment.

[0179] 5, the distributor of the LIDAR device according to the embodiment includes a first distributor 121 and a second distributor 122, and an optical signal passes through the first distributor 121 and the second distributor 122 in sequence. The distributor rotates the first distributor 121 to adjust the polarization angle of the optical signal, and uses the second distributor 122 to pass vertically polarized light and reflect horizontally polarized light of the optical signal that has passed through the first distributor 121, thereby adjusting the distribution ratio.

[0180] The distribution unit according to the embodiment may include a first distribution unit 121 and a second distribution unit 122. The first distribution unit 121 and the second distribution unit 122 may be arranged side by side on the path of the optical signal, but are not limited to this. The optical signal may pass through the first distribution unit 121 and the second distribution unit 122 sequentially.

[0181] The first distributor 121 can change the polarization angle depending on the angle of the optical signal. For example, the polarization direction of a linearly polarized signal is rotated 90 degrees before and after passing through the first distributor 121, resulting in a difference. A circularly polarized signal may not be affected even after passing through the first distributor 121. The first distributor 121 may be made of a material with a refractive index that varies depending on the polarization direction.

[0182] The second splitter 122 can pass vertically polarized light of the incident optical signal and reflect horizontally polarized light of the incident optical signal. For example, the vertically polarized light of the incident optical signal can be passed to become a first optical signal, and the horizontally polarized light of the incident optical signal can be reflected to become a second optical signal.

[0183] The distributor can adjust the polarization angle and thereby adjust the distribution ratio of the optical signal by rotating the first distributor 121. That is, the distributor can adjust the signal-to-noise ratio by rotating the first distributor 121.

[0184] The first distributor 121 of the LIDAR device according to the embodiment may be a half wave plate (HWP), and the second distributor 122 may be a polarizing beam splitter (PBS).

[0185] FIG. 6 is a conceptual diagram of a distribution unit of a LIDAR device according to another embodiment.

[0186] Referring to FIG. 6, the distribution unit of the LIDAR device according to the embodiment includes a third distribution unit 123, a fourth distribution unit 124, and a fifth distribution unit 125, and the optical signal passes through the third distribution unit 123 and the fourth distribution unit 124 sequentially or the third distribution unit 123 and the fifth distribution unit 125 sequentially. The third distribution unit 123 can adjust the distribution ratio of the optical signal distributed to the fourth distribution unit 124 or the fifth distribution unit 125 by changing the path of the optical signal.

[0187] The third distribution unit 123, the fourth distribution unit 124, and the fifth distribution unit 125 of the LIDAR device according to the embodiment are waveguides, and the third distribution unit 123 can adjust the distribution ratio of the optical signal by changing the contact area with the fourth distribution unit 124 or the fifth distribution unit 125.

[0188] The third distribution unit 123, the fourth distribution unit 124, and the fifth distribution unit 125 may be hollow conduits made of a conductor. The third to fifth distribution units 123, 124, and 125 may have a structure that allows optical signals to pass through the inside of the conduit. When optical signals are input to the third distribution unit 123, the fourth distribution unit 124, and the fifth distribution unit 125, the optical signals can pass through the inside of the conduit structure evenly and exit.

[0189] The third distribution unit 123 can change the contact area with the fourth distribution unit 124 or the fifth distribution unit 125. The fourth distribution unit 124 and the fifth distribution unit 125 may be arranged in vertical contact with each other, and the third distribution unit 123 may be arranged in such a way that the cross section of the pipe structure of the fourth distribution unit 124 or the fifth distribution unit 125 contacts each other. Therefore, the distribution unit can adjust the distribution ratio of the optical signals by vertically moving the third distribution unit 123 while it remains in contact with the fourth distribution unit 124 and the fifth distribution unit 125. By moving the third distribution unit 123, the distribution unit can adjust the distribution ratio of the optical signals, thereby adjusting the signal-to-noise ratio.

[0190] FIG. 7 is a flowchart of a lidar operation method according to an embodiment.

[0191] Referring to FIG. 7, a LIDAR operating method (S1000) according to an embodiment includes: operating a LIDAR device to check weather, current time, or a signal from an illuminance sensor (S1100); setting ambient light power according to the weather, current time, or illuminance sensor signal using a lookup table (S1200); adjusting a signal-to-noise ratio, which is the ratio of the optical signal power to the set ambient light power, by changing a distribution ratio of the optical signal using a distributor of the LIDAR device, where the distribution ratio is the ratio at which the optical signal is distributed between incident light that irradiates an observation target and reference light for interference (S1300); and generating depth information and velocity information of the observation target through interference between the incident light and the reference light (S1400).

[0192] The distribution ratios for the lidar operation method according to the embodiment may follow Equation 1, Equation 2, and Equation 3.

[0193] [Formula 1]

[0194] P0=P1+P2

[0195] [Formula 2]

[0196] P1=(1-x)P0

[0197] [Formula 3]

[0198] P2=xP0

[0199] (P0 is the power of the optical signal, P1 is the power of the incident light, P2 is the power of the reference light, and x is a variable greater than or equal to 0 and less than or equal to 1.)

[0200] The signal-to-noise ratio of an embodiment of a LIDAR operating method may follow Equation 4:

[0201] [Formula 4]

[0202] TIFF2025535018000007.tif22155

[0203] (SNR is the signal-to-noise ratio, R is the responsivity, Loss is the degree of loss of reflected light, e is the amount of charge of an electron, B is the frequency bandwidth of the system, and i others is the noise variance of the ambient light.)

[0204] The distribution unit of the LIDAR operation method according to the embodiment adjusts the distribution ratio according to changes in the power of the ambient light, increasing x when the power of the ambient light increases and decreasing x when the power of the ambient light decreases, and can automatically adjust the distribution ratio according to changes in the optical signal detected in real time.

[0205] The LIDAR device according to the embodiment may include an optical output device (VCSEL, Vertical Cavity Surface Emitting Laser) that outputs an optical signal, a group of lenses that focus the optical signal and output the focused optical signal to the outside, an optical detection device (SPAD, Single Photon Avalanche Diode) that detects a first signal generated when the optical signal is reflected from an observation target and a second signal that is ambient light, a depth information generation unit that generates depth information for the observation target based on the optical signal and the first signal, a distribution unit that compares the intensity of the first signal with the intensity of the second signal and adjusts the distribution ratio of the optical signal, and a memory that stores data on the signal-to-noise ratio adjusted by changing the distribution ratio.

[0206] FIG. 8 is a configuration diagram of a LIDAR device according to an embodiment.

[0207] 8, a LIDAR device 200 according to this embodiment may include an output unit 210, a receiver 220, a detector 230, an interference unit 240, a depth information generator 250, and a controller 140-160. Only components relevant to this embodiment are shown in the LIDAR device 200. Therefore, it will be apparent to those skilled in the art that the LIDAR device 200 may further include other general components in addition to the components shown in FIG.

[0208] The LIDAR device 200 according to the embodiment may be an FMCW LIDAR. Furthermore, a point scanning method may be used, and therefore the intensity of light received by the detector 230 may be lower than that of other methods, such as a flash method. Therefore, the detector 230 may employ an avalanche photodiode (APD) or a single photon avalanche diode (SPAD), which have high sensing sensitivity. Depending on whether the detector 230 includes an APD or a SPAD light receiving element, specific circuit configurations such as an analog front end (AFE) and a time-to-digital converter (TDC) may vary.

[0209] The LIDAR device 200 according to the embodiment can measure the distance and speed of a detected object using the Doppler effect. When an optical signal is reflected from a moving object, a frequency change occurs due to the Doppler effect. By sensing this frequency change, the speed and position of the object can be measured simultaneously and without wasting time. The Doppler effect is a phenomenon in which the wavelength of the electromagnetic waves measured by an observer changes from the wavelength in the laboratory when an object emitting electromagnetic waves (light) moves toward or away from the observer. When an object emitting electromagnetic waves moves toward the observer, the observed wavelength of the electromagnetic waves becomes shorter, and when the object moves away from the observer, the observed wavelength of the electromagnetic waves becomes longer.

[0210] FIG. 9 is a schematic conceptual diagram of a LIDAR device according to an embodiment.

[0211] 8 and 9, the LIDAR device 200 according to the embodiment may include an output unit 210 that outputs an optical signal, a receiver 220 that receives input optical signals for multiple points on the object after being reflected from the object, an interference unit 240 that generates an interference optical signal by generating interference between the input optical signal and a reference light, a detector 230 that detects the input optical signal, a depth information generator 250 that generates depth information for the object based on the optical signal and the input optical signal, and a controller 260 that adjusts the frequency of the optical signal. The LIDAR device 200 may include an output unit 210 that irradiates the object with the output optical signal, a receiver 220 that receives input optical signals for multiple points on the object after being reflected from the object, a detector 230 that detects the input optical signal, and a controller 240 that adjusts the frequency of the optical signal.

[0212] The output unit 210 can output an optical signal and transmit it to the receiving unit 220 .

[0213] The output unit 210 may include a light source such as an edge emitting laser, a vertical-cavity surface emitting laser (VCSEL), a distributed feedback laser, a light emitting diode (LED), or a super luminescent diode (SLD). The output unit 210 may generate and irradiate light of a plurality of different wavelength bands. The output unit 210 may generate pulsed light or continuous light.

[0214] The continuous light may be in the form of a sinusoid wave or a square wave. By generating the output optical signal in the form of pulsed light or continuous light, the LIDAR device 200 can detect a time difference or phase difference between the output optical signal output from the output unit 210 and the input optical signal reflected from an object and input to the receiving unit 220. In this specification, the output optical signal may be referred to as an optical signal, and the object may be referred to as an observed object. From the perspective of the observed object, the output optical signal may be incident light.

[0215] The output unit 210 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 and outputs light. The light generated by the light source may be infrared light with a wavelength of 770 to 3000 nm, or may be visible light with a wavelength of 380 to 770 nm. The light source may use a light-emitting diode (LED), and may have a configuration in which multiple LEDs are arranged in a regular pattern. Alternatively, the light source may include an organic light-emitting diode (OLED) or a laser diode (LD). Alternatively, the light source may be a vertical cavity surface-emitting laser (VCSEL). A VCSEL is a type of laser diode that converts electrical signals into optical signals and may output a wavelength of approximately 800 to 1000 nm, for example, approximately 850 nm or approximately 940 nm. The light source repeatedly flashes (on / off) at regular time intervals to generate an output optical signal in the form of a pulse wave or a continuous wave. The regular time interval may be the frequency of the output optical signal.

[0216] The lens group may condense light output from the light source and output the condensed light to the outside. The lens group may be disposed above the light source and spaced apart from the light source. Here, above the light source may refer to the side from which light is output from the light source. The lens group may include at least one lens. When the lens group includes multiple 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.

[0217] The diffusion member receives the light output from the light source and the lens group, and then refracts or diffracts the received light and outputs it.

[0218] The optical signal output by the output unit 210 may be controlled by the control unit 260. The output unit 210 may receive a command to control the output of the optical signal from the control unit 260 and control the output optical signal. The output unit 210 may output optical signals with different intensities, periods, frequencies, etc. The output unit 210 may transmit the output optical signal to the receiving unit 220. The output unit 210 may output an optical signal whose frequency is modulated at a constant period. The distance and velocity of an object may be measured simultaneously using the Doppler effect through the frequency-modulated optical signal.

[0219] The optical signal output from the output unit 210 may be split into input light and reference light by the control unit 260. For example, a splitter 270 connected between the output unit 210 and the receiving unit 220 may split the optical signal into input light and reference light. Here, the input light may be transmitted to the receiving unit 220, and the reference light may be transmitted to the interference unit 240. The input light reflected from the object and received may have characteristics different from those of the reference light, and the interference unit 240 may generate interference between the input light and the reference light and output a specific optical signal. The LIDAR device 200 can simultaneously measure the distance and speed of an object using the optical signal generated as a result of the interference.

[0220] The receiving unit 220 can emit an optical signal to an object or receive an optical signal reflected from the object. The receiving unit 220 can be referred to as a scanner.

[0221] The receiving unit 220 may include an image sensor, a filter disposed on the image sensor, and a lens group disposed on the filter. An optical signal reflected from an 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 filter may be disposed between the lens group and the image sensor. The filter may be disposed on the optical path between the object and the image sensor. The filter may filter light having a predetermined wavelength range. The filter may transmit a specific wavelength band of light. The filter may pass light of a specific wavelength. For example, the filter may pass light in the infrared band and block light other than the infrared band. The image sensor may detect light. The image sensor may receive an optical signal. The image sensor may detect the optical signal and output it as an electrical signal. The image sensor may detect light of a wavelength corresponding to the wavelength of light output from the light source. For example, the image sensor may detect light in the infrared band. Here, the image sensor may correspond to the detection unit 230 of the LIDAR device 200.

[0222] The image sensor may have a structure in which a plurality of pixels are arranged in a grid pattern. The image sensor may be a complementary metal oxide semiconductor (CMOS) image sensor or a charge coupled device (CCD) image sensor. The image sensor may also include a time-of-flight (ToF) sensor that receives IR light reflected from an object and measures distance using a time difference or phase difference.

[0223] The receiving unit 220 may receive the optical signal output from the output unit 210. The receiving unit 220 may irradiate the received optical signal onto an object. The receiving unit 220 may receive an input optical signal reflected from the object and re-input. The receiving unit 220 may also transmit the received input optical signal to the detecting unit 230. The received input optical signal may be interfered with a reference light in the interferometer 240 and provided to the detecting unit 230.

[0224] The receiver 220 can uniformly and consistently irradiate each unit of the object divided into certain units with an optical signal.

[0225] The receiver 220 may be moved or its angle adjusted to uniformly irradiate the object with the optical signal, but the method of irradiating the optical signal is not limited.

[0226] The interference unit 240 can generate interference between the incident optical signal and the reference light. Since the LIDAR device 200 according to the embodiment measures changes in the interference light between the incident optical signal and the reference light by changing the frequency of the optical signal, the interference unit 240 that generates interference may be present.

[0227] The interference unit 240 can receive the incident optical signal from the receiving unit 230. The interference unit 240 can generate interference between the received incident optical signal and the reference light. The interference unit 240 can also transmit the interference light generated by the interference to the detecting unit 230.

[0228] The detector 230 can detect an optical signal.

[0229] The detector 230 can receive and detect the interference light generated by the interference from the interferometer 240. The detector 230 can include a plurality of photodiodes, which can be light-receiving elements that generate an electrical signal in response to optical energy. The type of the light-receiving element is not particularly limited.

[0230] The detector 230 can divide an object into a plurality of units and detect an input optical signal for each unit. The detector 230 can detect an optical signal for each unit of the object and detect input optical signals reflected from all parts of the object. The detector 230 can detect the input optical signals and simultaneously measure the distance and speed of the object.

[0231] The depth information generator 250 of the LIDAR device according to the embodiment may generate depth information using data for a continuous portion of input optical signals among a plurality of points.

[0232] The depth information generator 250 can generate depth information of the object using the interference light generated by the interference unit 240. The depth information generator 250 can generate information on the object's position and speed using the results of interfering light with varying frequencies using the FMCW method. When waves are reflected from a moving object, a frequency change occurs due to the Doppler effect, and by detecting this frequency change, the object's speed and position can be measured simultaneously and without wasting time. The FMCW method is different from the dToF method, which measures the round-trip time of an optical signal, and the iToF method, which measures distance using an optical signal with varying magnitude.

[0233] The optical signal output from the output unit 210 may correspond to an optical signal whose frequency is modulated. The reference light incident on the interference unit 240 may also correspond to an optical signal whose frequency is modulated, and the input optical signal reflected from the object and incident on the interference unit 240 may also correspond to an optical signal whose frequency is modulated. Here, interference between the reference light and the input light having different characteristics occurs in the interference unit 240. That is, a Doppler effect occurs between the different optical signals. As a result, the interference light output from the interference unit 240 has characteristics. The detection unit 230 can detect the interference light, and the depth information generation unit 250 can measure the speed and position of the object in real time using information about the detected interference light.

[0234] A control unit of the LIDAR device according to the embodiment can be configured to modulate the waveform of the frequency of the optical signal.

[0235] The control unit 260 may adjust the optical signal output by the output unit 210. The control unit 260 controls the operation of the output unit 210, the receiving unit 220, and the depth information generating unit 250. The depth information generating unit 250 and the control unit 260 may be implemented in the form of a printed circuit board (PCB). Alternatively, the depth information generating unit 250 and the control unit 260 may be implemented in other configurations. Alternatively, the control unit 260 may be included in a terminal or a vehicle in which the LIDAR device 200 according to an embodiment of the present invention is installed. For example, the control unit 260 may be implemented in the form of an application processor (AP) of a smartphone in which the LIDAR device 200 according to an embodiment of the present invention is installed, or in the form of an electronic control unit (ECU) of a vehicle in which the LIDAR device 200 according to an embodiment of the present invention is installed.

[0236] The control unit 260 can transmit a command to the output unit 210 to adjust the output optical signal. The control unit 260 can transmit a command to adjust the output intensity, period, or frequency of the optical signal. The control unit 260 can receive detection data of the input optical signal from the detection unit. The control unit 260 can transmit a command to the output unit 210 to adjust the optical signal according to the corresponding data.

[0237] The control unit 260 can send a command to adjust the magnitude of the frequency of the optical signal, adjust the change in the frequency of the optical signal to have a constant waveform, and adjust the shape or period of the waveform.

[0238] The LIDAR device 200 may generally be composed of components including a laser, a scanner, and a photodiode. Each component may have a variety of configurations. Various optical components may be located between the laser and scanner, between the scanner and the target, and between the scanner and the photodiode. The laser may be capable of frequency modulation. The laser's optical signal may be split into incident light and reference light via a splitter 270. The incident light may travel through the scanner to the target and then be reflected back. The reflected light reflected back from the target may be attenuated by a loss. The reflected light and the reference light may interfere with each other to generate a beat frequency. The distance and speed of the target can be measured based on this beat frequency.

[0239] FIG. 10 is an image illustrating a method for dividing an object in a LIDAR device according to an embodiment.

[0240] 10, the LIDAR device according to the embodiment may be a scanning type LIDAR. The LIDAR device according to the embodiment may detect input optical signals for a plurality of points on an object. In addition, a depth information generator of the LIDAR device according to the embodiment may generate depth information using data for some consecutive input optical signals from the plurality of points.

[0241] The points may be units obtained by dividing an object to be detected by the LIDAR device into certain units. The points may be units obtained by dividing a portion of the object to be observed into certain areas and shapes. The detector may detect an input optical signal for each point. The depth information generator may generate depth information using data for some consecutive input optical signals from the plurality of points.

[0242] The receiver 220 can irradiate an optical signal onto an object and transmit the reflected incident optical signal to the detector. The receiver 220 can irradiate an optical signal uniformly to a1, a2, a3, ..., am in order by adjusting the irradiation position or angle of the optical signal. The depth information generator can generate depth information for each divided point using data on the incident optical signal at the corresponding point. The size of the divided point is not limited.

[0243] FIG. 11 is a graph showing the waveform of the frequency of the optical signal of the LIDAR device according to the embodiment.

[0244] The frequency of the optical signal of the LIDAR device according to the embodiment can exhibit a sawtooth wave (11-a).

[0245] The frequency of the optical signal of the LIDAR device according to the embodiment can exhibit a triangular waveform (11-b).

[0246] The frequency of the optical signal according to the embodiment may be varied constantly over time within the range of f0 to f1, and may exhibit a waveform having a constant period (Tf). However, the waveform of the frequency of the optical signal is not limited.

[0247] For a triangular waveform, the range resolution of the LIDAR device can be determined by Equation 7:

[0248] [Formula 7]

[0249] TIFF2025535018000008.tif19153

[0250] where ΔR is the distance resolution, c is the speed of the optical signal, f1-f0 is the frequency width of the optical signal, Tf is the period of one waveform, and Tp is the exposure time of one point in the depth information generator. (In the case of a sawtooth wave, Equation 1 can be 2 instead of 4.)

[0251] Range resolution refers to the smallest measurable distance between two points, expressed in plane distance units. The lower the range resolution, the better the performance of the LIDAR device.

[0252] For a triangular waveform, the maximum measurable distance of the LIDAR device can be determined by Equation 8:

[0253] [Formula 8]

[0254] TIFF2025535018000009.tif22154

[0255] where Rmax is the maximum measurement distance, f1-f0 is the frequency range of the optical signal, fs is the sampling frequency, c is the speed of the optical signal, and Tf is the period of the waveform. (For a sawtooth wave, Equation 8 can be 4 instead of 8.)

[0256] The maximum measurement distance refers to the maximum distance at which a LIDAR device can detect an object. As the maximum measurement distance increases, the performance of the LIDAR device improves.

[0257] For a triangular waveform, the frequency modulation rate of the lidar device can be determined by Equation 9:

[0258] [Formula 9]

[0259] TIFF2025535018000010.tif23157

[0260] where Vf is the frequency modulation rate, f1-f0 is the frequency range of the optical signal, and Tf is the period of the waveform. (For a sawtooth waveform, Equation 3 can be 4 instead of 2.)

[0261] The frequency modulation rate refers to the rate at which a lidar device can modulate the frequency of an output optical signal. The lower the frequency modulation rate, the better the performance of the lidar device.

[0262] Figure 12 is an image showing the detection method of existing LIDAR devices.

[0263] 11 and 12, the depth information generating unit can generate depth information using data on input optical signals at each point (a1, a2, ..., am) of the object. The receiving unit can irradiate an optical signal having a certain waveform and frequency period toward the object. The receiving unit can irradiate an optical signal having a certain waveform and frequency period toward the object and receive the reflected input optical signal. The receiving unit can irradiate the optical signal to the object at a certain time by adjusting the irradiating position or angle of the optical signal.

[0264] The period of the waveform of the frequency of the optical signal is Tf and can be constant.

[0265] The exposure times of the depth information generating units (a1, a2, a3, ..., am) may be constant, t1, t2, t3, ..., tm, respectively. In this case, the exposure time tm may be equal to the waveform period (Tf) of the optical signal frequency.

[0266] The range resolution of an existing LIDAR device can be determined by Equation 10.

[0267] [Formula 10]

[0268] TIFF2025535018000011.tif18149

[0269] The maximum measurement range of an existing LIDAR device can be determined by Equation 11.

[0270] [Formula 11]

[0271] TIFF2025535018000012.tif20147

[0272] The frequency modulation rate of an existing lidar device can be determined by Equation 12.

[0273] [Formula 12]

[0274] TIFF2025535018000013.tif23155

[0275] In a conventional LIDAR device, a depth information generator can generate depth information and velocity information for a point on an object using an input optical signal reflected from the point on the object. That is, the depth information generator can generate depth information and velocity information for the point on the object using an input optical signal corresponding to one period. In particular, the LIDAR device can generate depth information and velocity information for the point on the object from interference light generated as a result of interference between an input optical signal reflected from the point on the object and a reference optical signal. Hereinafter, a method for detecting depth information and velocity information of the LIDAR device 200 according to an embodiment will be described.

[0276] FIG. 13 is an image illustrating a detection method of the LIDAR device according to the embodiment.

[0277] 12 and 13, the depth information generator of the LIDAR device according to the embodiment may generate depth information for a first pixel using the first through i-th data for the input optical signals of the first through i-th points. Here, pixels may correspond to a unit different from the points described above. For example, the number of pixels may be less than the number of points.

[0278] The detector can detect incident optical signals from each point on the object in the same manner as existing LIDAR devices. That is, the detector can detect interference optical signals generated by interference between the incident optical signals reflected from the first to mth points and the reference optical signal. The corresponding operation is the same as that of the detector described with reference to FIGS. 1 to 5.

[0279] The depth information generator may generate depth information using a plurality of data points for input optical signals, with pixels (b1, b2, b3, ..., bm-i+1) as new units. (i is an integer equal to or greater than 1, and m is an integer equal to or greater than i.) For example, referring to FIG. 13, when i is 3, the depth information generator may generate depth information for a first pixel using first to third data points obtained by detecting input optical signals for a total of three points.

[0280] The number of points and data in the LIDAR device according to the embodiment is m in total, and depth information per pixel can be generated using i pieces of data.

[0281] The depth information generating unit of the LIDAR device according to the embodiment may generate depth information of the second pixel using the second to (i+1)th data for the input optical signals at the second to (i+1)th points.

[0282] The depth information generator generates depth information of a first pixel using data on input optical signals at points 1 to i, and may generate depth information of a second pixel using second to (i+1)th data on input optical signals at points 2 to i+1. For example, if i is 3, the depth information generator may generate depth information of a second pixel using second to fourth data obtained by detecting input optical signals at a total of three points, second to fourth.

[0283] The depth information generation unit of the LIDAR device according to the embodiment can generate depth information for the m-i+1th pixel using the m-i+1th to m-th data for the input optical signal from the second pixel to the m-i+1th to m-th points.

[0284] Just as the depth information generator generates depth information for the second pixel using data for the input optical signals at points 2 to (i+1), it can generate depth information for pixels 3 to (m-i+1) using data (m-i+1) to (m-i+1) for input optical signals at points 9-i+1 to (m-i+1). For example, if i is 3 and m is 100, the depth information generator can generate depth information for pixels 1 to 98 using data (98) to (100) for input optical signals at points 98 to (100).

[0285] The depth information generating unit of the LIDAR device according to the embodiment may repeat the process of generating depth information of the 1st to (m-i+1)th pixels.

[0286] The period of the waveform of the frequency of the optical signal of the LIDAR device according to the embodiment is the same as the exposure time of one point, and the exposure time of one pixel can be i times the exposure time of the input optical signal of one point.

[0287] 12 and 13, the period (T') of the waveform of the optical signal frequency according to the embodiment may be the same as the period (Tf) of the waveform of the optical signal frequency of an existing LIDAR device (T' = Tf). The period (T') of the waveform of the optical signal frequency may also be the same as the exposure time (t1, t2, ..., tm) of one point, and the exposure time (t'1, t'2, t'3, ..., t'm-i+1) of one pixel may be i times the exposure time (t1, t2, ..., tm) of the input optical signal of one point.

[0288] The distance resolution of the LIDAR device according to the embodiment may be 1 / i times the distance resolution when the depth information generating unit generates depth information at multiple points.

[0289] The range resolution of the LIDAR device according to the embodiment can be determined by Equation 13.

[0290] [Formula 13]

[0291] TIFF2025535018000014.tif18159

[0292] (ΔR′ may be the range resolution of the LIDAR device according to the embodiment.)

[0293] Therefore, according to Equation 7, the distance resolution of the LIDAR device according to the embodiment may be 1 / i times the distance resolution when an existing depth information generator generates depth information at multiple points. For example, referring to FIG. 6, t'm is three times tm, so the distance resolution of the LIDAR device according to the embodiment may be 1 / 3 times that of detection by an existing LIDAR device.

[0294] If the time to detect one unit is increased, the range resolution may be reduced and the performance of the LIDAR device may be improved.

[0295] FIG. 14 is an image showing a detection method of a LIDAR device according to another embodiment.

[0296] 12 and 14, the control unit of the LIDAR device according to the embodiment can increase the period of the waveform of the optical signal frequency by j times. At the same time, as described with reference to FIG. 6, the depth information generation unit of the LIDAR device can generate depth information for the first pixel using the first to ith data for the input optical signal at the first to ith points.

[0297] The period (T") of the waveform of the frequency of the optical signal in the embodiment may be i times the period of the waveform of the frequency of the optical signal of an existing LIDAR device. For example, referring to FIGS. 5 and 7, the period (T") of the waveform of the frequency of the optical signal in the embodiment may be three times the period (Tf) of the waveform of the frequency of the optical signal of an existing LIDAR device.

[0298] The period of the waveform of the frequency of the optical signal of the LIDAR device according to the embodiment may be the same as the exposure time of one point, and the exposure time of one pixel may be the same as the exposure time of the input optical signal of one point.

[0299] The period (T") of the waveform of the optical signal frequency may be i times the exposure time required to generate depth information of the input optical signal at one point, and the exposure time (t"1, t"2, t"3, ..., t"m-i+1) required to generate depth information of the input optical signal at one pixel (b1, b2, b3, ..., bm-i+1) may be the same as the exposure time required to generate depth information of the input optical signal at one point.

[0300] The maximum measurement distance of the LIDAR device according to the embodiment may be i times the maximum measurement distance when the depth information generating unit generates depth information at multiple points.

[0301] The maximum measurement distance of the LIDAR device according to the embodiment can be determined by Equation 14.

[0302] [Formula 14]

[0303] TIFF2025535018000015.tif17160

[0304] (Rmax" may be the maximum measurement range of the LIDAR device according to the embodiment.)

[0305] The period of the waveform of the frequency of the optical signal in the embodiment is T", which may be i times the period of the waveform of the frequency of the optical signal of a LIDAR device when generating depth information using existing points. For example, referring to Figures 12 and 14, T" is three times Tf, so the maximum measurement range of the LIDAR device in the embodiment may be three times the maximum measurement range of an existing LIDAR device.

[0306] If the period of the waveform of the optical signal frequency is increased, the maximum measurement distance can be increased and the performance of the LIDAR device can be improved.

[0307] The frequency modulation rate of the LIDAR device according to the embodiment may be 1 / i times the frequency modulation rate when the depth information generating unit generates depth information at multiple points.

[0308] The frequency modulation rate of the lidar device according to the embodiment can be determined by Equation 15.

[0309] [Formula 15]

[0310] TIFF2025535018000016.tif24158

[0311] (Vf" may be the frequency modulation rate of the LIDAR device according to the embodiment.)

[0312] The frequency modulation rate can be determined by Equation 15 above. The period of the waveform of the frequency of the optical signal in the embodiment is T", which can be i times the period of the waveform of the frequency of the optical signal of the LIDAR device when generating depth information using existing points. For example, with reference to Figures 12 and 14, T" is three times Tf, so the maximum measurement range of the LIDAR device in the embodiment can be 1 / 3 times the maximum measurement range of the existing LIDAR device.

[0313] If the period of the waveform of the frequency of the optical signal is increased, the frequency modulation rate can be reduced and the performance of the LIDAR device can be improved.

[0314] FIG. 15 is a flowchart of a method for operating a lidar according to an embodiment.

[0315] 15, the LIDAR operating method (S2000) according to the embodiment may include a step (S2100) in which a receiver receives reflected light reflected from a plurality of points on an object, a step (S2200) in which a detector detects reflected light reflected from the first through i-th points, and a step (S2300) in which a depth information generator generates depth information for a first pixel using the first through i-th data generated by detecting the reflected light reflected from the first through i-th points (i is an integer equal to or greater than 1).

[0316] The LIDAR operating method (S2000) according to the embodiment may include a step (S2400) in which the detection unit detects reflected light reflected at the (i+1)th point, and a step (S2500) in which the depth information generation unit generates depth information of the second pixel using the (2)th to (i+1)th data generated by detecting the reflected light reflected at the (2)th to (i+1)th points.

[0317] The LIDAR operating method (S2000) according to the embodiment may include a step (S2600) in which the detector repeatedly detects reflected light reflected from up to the m-th point, and a step (S2700) in which the depth information generator repeatedly generates depth information up to the m-i+1-th pixel using the m-i+1-th to m-th data generated by detecting reflected light reflected from the m-i+1-th to m-th points (m is an integer equal to or greater than i).

[0318] The lidar device 200 generates multiple data in real time and generates depth information for each pixel using the generated multiple data, thereby reducing the calculation time for depth information.

[0319] The depth information generating unit of the LIDAR operating method according to the embodiment may repeat the process of generating depth information of the 1st to (m-i+1)th pixels.

[0320] The period of the waveform of the optical signal frequency of the LIDAR operation method according to the embodiment is the same as the exposure time of one point, and the exposure time of one pixel can be i times the exposure time of the input optical signal of one point.

[0321] The LIDAR operating method according to the embodiment may include a step in which the control unit increases the period of the waveform of the frequency of the optical signal by j times.

[0322] In the LIDAR operation method according to the embodiment, the period of the waveform of the optical signal frequency is the same as the exposure time of one point, and the exposure time of one pixel can be the same as the exposure time of the input optical signal at one point.

[0323] The LIDAR device according to the embodiment includes an optical output device (VCSEL, Vertical Cavity Surface Emitting Laser) that outputs an optical signal, a group of lenses that focus the optical signal and output the focused optical signal to the outside, an optical detection device (SPAD, Single Photon Avalanche Diode) that detects input optical signals that are input when the optical signal is reflected at multiple points on the observation target, and a depth information generation unit that generates depth information for the observation target based on the optical signal and the input optical signal, and the depth information generation unit can generate depth information using data for a continuous portion of the input optical signals from the multiple points.

[0324] FIG. 16 is an exploded view of a LIDAR device according to an embodiment of the present invention.

[0325] The LIDAR device may include an output unit and a receiver. However, since components such as the substrate 10, holder 30, and shielding can 50 are integrally formed and shared by both the output unit and the receiver, it may be difficult to distinguish between the output unit and the receiver. In this case, each of the components may be understood as a component of the output unit and the receiver, respectively. However, as a variant, the shared components such as the substrate 10, holder 30, and shielding can 50 may be provided separately for the output unit and the receiver, respectively.

[0326] The output section may include a substrate 10, a light source 20, a holder 30, a diffusing member 41, a diffuser ring 42, and a shielding can 50. The receiving section may include a substrate 10, a sensor 60, a filter 80, a holder 30, a lens 70, a barrel 71, and a shielding can 50.

[0327] The substrate 10 may include a printed circuit board (PCB). The substrate 10 may be connected to a connector through an FPCB 91. The substrate 10 and the FPCB 91 may be formed of an RFPCB (Rigid Flexible PCB). 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 terminals. The terminals of the substrate 10 may be coupled to coupling portions of the shielding can 50. The terminals of the substrate 10 may include multiple terminals. The terminals of the substrate 10 may include two terminals.

[0328] 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 output unit 210 described above.

[0329] 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 on top of 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 holder 30 may house the light source 20, the diffuser module 40, the sensor 60, and the filter 80 inside. The holder 30 may be a plastic injection molding. The holder 30 may be formed by injection molding.

[0330] The diffuser module 40 may include a diffusion member 41 and a diffuser ring 42. The diffuser module 40 may be integrally formed as in the modified example, but in this embodiment, the diffusion member 41 and the diffuser ring 42 may be separately manufactured to increase moldability during injection molding. The diffusion member 41 and the diffuser ring 42 may be separated from each other.

[0331] The diffusing member 41 may be a diffuser lens. The diffusing member 41 may be disposed within the holder 30. The diffusing member 41 may be coupled to the holder 30. The diffusing member 41 may be fixed to the holder 30. The diffusing member 41 may be disposed on the optical path of light emitted from the light source 20. The diffusing member 41 may be disposed on the light source 20. The diffusing member 41 may be disposed above the light source 20. The diffusing member 41 may be a plastic injection molding. The diffusing member 41 may be formed by plastic injection molding. The height of the upper end of the diffusing member 41 may correspond to the height of the upper end of the lens 70. The diffusing member 41 may be inserted upward in the vertical direction and coupled to the holder 30. In this case, the upward direction may be a direction from the bottom of the holder 30 to the top of the holder 30. A portion of the diffusing member 41 may overlap the holder 30 in the upward direction.

[0332] The diffuser ring 42 can be disposed in the holder 30. The diffuser ring 42 can be fixed to the holder 30. The diffuser ring 42 can be bonded to the holder 30. The diffuser ring 42 can be disposed below the diffusing member 41. The diffuser ring 42 can support the diffusing member 41. The diffuser ring 42 can be in contact with the diffusing member 41. The diffuser ring 42 can be a plastic injection product. The diffuser ring 42 can be formed by plastic injection.

[0333] The shielding can 50 may cover the body of the holder 30. The shielding can 50 may include a cover. The shielding can 50 may include a cover can. The shielding can 50 may be made of a non-magnetic material. The shielding can 50 may be formed of a metal material. The shielding can 50 may be formed of a metal plate. The shielding can 50 may be electrically connected to the substrate 10. The shielding can 50 may be connected to the substrate 10 through solder balls, through which the shielding can 50 may be grounded. The shielding can 50 may block electromagnetic interference (EMI). In this case, the shielding can 50 may be referred to as an "EMI shielding can." In this embodiment, the use of high voltage inside the optical device may increase the electromagnetic interference, but the shielding can 50 can block the electromagnetic interference.

[0334] The sensor 60 may be disposed on the substrate 10. The sensor 60 may be disposed on the other side of the partition wall of the holder 30 on the substrate 10. That is, the sensor 60 may be disposed on the opposite side of the light source 20 with respect to the partition wall of the holder 30. The sensor 60 may detect infrared light. The sensor 60 may detect light of a specific wavelength among infrared light. The sensor 60 may detect light that has passed through the filter 80. The sensor 60 may detect light in the wavelength band of the light source 20. As a result, the sensor 60 may detect light emitted from the light source 20 and reflected by the subject, thereby sensing 3D image information of the subject. The effective sensing area of ​​the sensor 60 is disposed to correspond to the diffusion member 41, but the sensor 60 may be disposed as a whole biased toward the partition wall. A circuit pattern of the sensor 60 may be disposed on the portion of the sensor 60 biased toward the partition wall.

[0335] The lens 70 may be fixed within the barrel 71. The lens 70 may be a plastic injection product. The lens 70 may be formed by plastic injection. The lens 70 may include multiple lenses.

[0336] The filter 80 may be disposed between the lens 70 and the sensor 60. The filter 80 may be a band pass filter that passes light in a specific wavelength band. The filter 80 may pass infrared light. The filter 80 may pass light of a specific wavelength among infrared light. The filter 80 may pass light in the wavelength band of light emitted by the light source 20. The filter 80 may block visible light. The filter 80 may be coupled to the holder 30. A groove of a size corresponding to the filter 80 may be formed in the holder 30, and the filter 80 may be inserted into the groove and fixed with an adhesive. The groove in the holder 30 may also be formed with an adhesive injection groove for injecting adhesive between the filter 80 and the holder 30. The filter 80 may be disposed at a position lower than the position of the diffuser ring 42.

[0337] Although the above description focuses on a LIDAR device that extracts depth information using a ToF method, embodiments of the present invention are not limited thereto. The LIDAR device according to embodiments of the present invention may also refer to a LIDAR device that extracts depth information using a structured light method. That is, the LIDAR device according to embodiments of the present invention may use structured light having a predetermined pattern as an output light signal and generate depth information using the disparity of the structured light.

[0338] The operation methods according to the disclosed embodiments may be embodied in the form of program instructions that can be executed by various computer means and recorded on a computer-readable medium. Also, the embodiments of the present disclosure may be a computer-readable recording medium having one or more programs including instructions for executing a wireless communication method recorded thereon.

[0339] The computer-readable media may include, alone or in combination with other media, program instructions, data files, data structures, and the like. The program instructions recorded on the media may be those specially designed and constructed for the present invention, or they may be any available media known to those skilled in the art of computer software. Examples of computer-readable media include magnetic media such as hard disks, floppy disks, and magnetic tape, optical media such as CD-ROMs and DVDs, magneto-optical media such as floptical disks, and hardware devices specially configured to store and execute program instructions, such as ROM, RAM, flash memory, and the like. Examples of program instructions include not only machine code, such as produced by a compiler, but also high-level language code that may be executed by a computer using an interpreter, for example.

[0340] Here, the machine-readable storage medium may be provided in the form of a non-transitory storage medium. Here, "non-transitory" simply means that the storage medium is a tangible device and does not contain a signal (e.g., electromagnetic waves). This term does not distinguish between data being stored semi-permanently on the storage medium and data being stored temporarily. For example, "non-transitory storage medium" may include a buffer in which data is temporarily stored.

[0341] According to one embodiment, methods of operation according to various embodiments disclosed herein may be provided in a computer program product. The computer program product may be traded commercially. The computer program product may be distributed in the form of a machine-readable storage medium (e.g., a compact disc read-only memory (CD-ROM)) or may be distributed online (e.g., downloaded or uploaded) through an application store (e.g., Play Store™) or directly between two user devices (e.g., smartphones). In the case of online distribution, at least a portion of the computer program product (e.g., a downloadable app) may be at least temporarily stored or temporarily generated on a machine-readable storage medium, such as the memory of a manufacturer's server, an application store server, or an intermediary server.

[0342] Specifically, the disclosed embodiments may be embodied as a computer program product including a recording medium storing a program for performing the operating methods according to the disclosed embodiments.

[0343] The term "module" used in this embodiment refers to software or hardware components such as FPGAs (field-programmable gate arrays) or ASICs, and the "module" performs a certain function. However, the term "module" is not limited to software or hardware. A "module" may be configured to reside on an addressable storage medium or to implement one or more processors. Thus, by way of example, a "module" includes components such as software components, object-oriented software components, class components, and task components, as well as processes, functions, attributes, procedures, subroutines, program code segments, drivers, firmware, microcode, circuits, data, databases, data structures, tables, arrays, and variables. The components and functions provided within the "modules" may be combined into fewer components and "modules" or further separated into additional components and "modules." Furthermore, the components and "modules" may be embodied to implement one or more CPUs within a device or security multimedia card.

[0344] The above description focuses on the embodiments, but these are merely examples and are not intended to limit the present invention. Those skilled in the art will recognize that various modifications and applications not exemplified above are possible within the scope of the essential characteristics of the present invention. For example, each component specifically illustrated in the embodiments can be modified and implemented. Differences related to such modifications and applications should be construed as being included within the scope of the present invention as defined in the appended claims.

Claims

1. an output section for outputting an optical signal; a splitter that splits the optical signal into a first optical signal and a second optical signal; a receiver for receiving a third optical signal, which is a reflected light of the first optical signal from an object; an interference section where interference between the second optical signal and the third optical signal occurs; a detection unit that detects a fourth optical signal that is interference light generated by interference between the second optical signal and the third optical signal or a fifth optical signal that is noise; and a depth information generating unit that generates depth information and velocity information for an observation target based on the optical signal; A lidar device, wherein the distribution unit adjusts the distribution ratio of the first optical signal and the second optical signal.

2. The LIDAR device of claim 1 , wherein the distribution ratios follow Equations 1, 2, and 3. [Formula 1] P0 = P1 + P2 [Formula 2] P1=(1-x)P0 [Formula 3] P2 = x P0 (P0 is the power of the optical signal, P1 is the power of the first optical signal, P2 is the power of the second optical signal, and x is a variable greater than or equal to 0 and less than or equal to 1.)

3. The LIDAR device according to claim 2 , wherein the distributor adjusts the distribution ratio so that a ratio of the power of the fourth optical signal to the power of the fifth optical signal is within a predetermined range.

4. 4. The lidar device of claim 3, wherein the ratio of the power of the fourth optical signal to the power of the fifth optical signal follows Equation 4. [Formula 4]

5. The LIDAR device according to claim 4 , wherein the distribution ratio is determined by the x at which the ratio of the power of the fourth optical signal to the power of the fifth optical signal according to Equation 4 is maximum.

6. The LIDAR device according to claim 3 , wherein the distributor adjusts the distribution ratio according to a change in the fifth optical signal.

7. 7. The LIDAR device according to claim 6, wherein the distributor increases x when the power of the fifth optical signal increases, and decreases x when the power of the fifth optical signal decreases.

8. the detection unit detects a change in the fifth optical signal in real time; The LIDAR device according to claim 6 , wherein the distributor automatically adjusts the distribution ratio in response to a change in the fifth optical signal detected in real time.

9. the distribution unit includes a first distribution unit and a second distribution unit; the optical signal passes through the first dividing unit and the second dividing unit in sequence; 2. The LIDAR device of claim 1, wherein the first distribution unit is rotated to adjust the polarization angle of the optical signal, and the second distribution unit adjusts the distribution ratio by passing vertically polarized light and reflecting horizontally polarized light of the optical signal that has passed through the first distribution unit.

10. 10. The LIDAR device according to claim 9, wherein the first splitter is a half wave plate (HWP), and the second splitter is a polarizing beam splitter (PBS).

Images