Lidar device and driving method thereof

Abstract

The present invention relates to a LIDAR device capable of normally supplying light to an activated light receiving array of a light receiving module even when a light transmitting module and the light receiving module are misaligned and a driving method thereof, the LIDAR device including: a light transmitting module including a plurality of light emitting sub-arrays extending in a first direction; a light receiving module including a plurality of light receiving sub-arrays extending in the first direction; and a control part for controlling the light transmitting module and the light receiving module such that an illumination angle in a second direction of an activated light emitting sub-array among the plurality of light emitting sub-arrays is greater than a viewing angle in the second direction of one light receiving sub-array among the plurality of light receiving sub-arrays.

Description

Lidar device and method for operating the same

[0001] The present invention relates to a lidar device, and more particularly, to a lidar device capable of normally supplying light to an activated light receiving array of a light receiving module even when a light transmitting module and a light receiving module are misaligned, and a method for driving the same.

[0002] LIDAR (Light Detection and Ranging) is a type of remote sensing device that can measure physical properties of an object, such as distance, direction, speed, temperature, material distribution, and concentration characteristics, by shining light, such as a laser, on the object and analyzing the light reflected from the object. LIDAR devices can measure the physical properties of an object more precisely by taking advantage of the laser's ability to generate pulse signals with high energy density and short cycles.

[0003] Lidar devices utilize laser light sources of a specific wavelength or a tunable wavelength as their light source and are used in a variety of fields, including 3D imaging, weather observation, measuring the speed or distance of objects, and autonomous driving. For example, Lidar devices are installed on aircraft and satellites for precise atmospheric analysis and observation of the Earth's environment. They are also installed on spacecraft and rovers to complement camera functions, such as measuring distances to objects.

[0004] The purpose of the present invention is to provide a lidar device and a driving method thereof that can normally supply light to an activated light receiving array of a light receiving module even when the light transmitting module and the light receiving module are misaligned.

[0005] According to one embodiment of the present invention for achieving the above object, a lidar device includes a light transmitting module including a plurality of light emitting sub-arrays extending in a first direction; a light receiving module including a plurality of light receiving sub-arrays extending in the first direction; and a control unit that controls the light transmitting module and the light receiving module such that an illumination angle in a second direction of an activated light emitting sub-array among the plurality of light emitting sub-arrays is larger than a viewing angle in the second direction of one light receiving sub-array among the plurality of light receiving sub-arrays.

[0006] A plurality of light-emitting sub-arrays are activated in the same period of time in greater numbers than the plurality of light-receiving sub-arrays.

[0007] Among the multiple light-emitting sub-arrays, the activated light-emitting sub-arrays are adjacent to each other.

[0008] The control unit simultaneously activates two adjacent light-emitting sub-arrays and activates one light-receiving sub-array during the same period.

[0009] The two light-emitting sub-arrays have an illumination angle that is substantially twice the field of view of the single light-receiving sub-array.

[0010] The optical transmitting module includes a larger number of light-emitting sub-arrays than the light-receiving sub-arrays of the optical receiving module.

[0011] According to another embodiment of the present invention, a lidar device includes a light transmitting module including a plurality of light emitting sub-arrays having a matrix structure of M rows and N columns; a light receiving module including a plurality of light receiving sub-arrays having a matrix structure of M rows and N columns; and a control unit that controls the light transmitting module and the light receiving module such that illumination angles in a first direction and a second direction of an activated light emitting sub-array among the plurality of light emitting sub-arrays are larger than viewing angles in the first direction and the second direction of one light receiving sub-array among the plurality of light receiving sub-arrays. An area of ​​the illumination angle in the first direction of one light emitting sub-array among the plurality of light emitting sub-arrays is larger than an area of ​​the viewing angle in the first direction of one light receiving sub-array among the plurality of light receiving sub-arrays. A ratio of the illumination angle in the X direction to the illumination angle in the Y direction of one light emitting sub-array is equal to a ratio of the illumination angle in the X direction to the illumination angle in the Y direction of one light receiving sub-array.

[0012] A method for driving a lidar device according to one embodiment of the present invention comprises the steps of: preparing a light transmitting module including a plurality of light emitting sub-arrays extending in a first direction; preparing a light receiving module including a plurality of light receiving sub-arrays extending in the first direction; and controlling the light transmitting module and the light receiving module such that an illumination angle in a second direction of an activated light emitting sub-array among the plurality of light emitting sub-arrays is greater than a viewing angle in the second direction of one light receiving sub-array among the plurality of light receiving sub-arrays.

[0013] The step of controlling the optical transmission module and the optical reception module includes the step of activating one light-receiving sub-array among the plurality of light-receiving arrays during the same period; and the step of simultaneously activating one light-emitting sub-array among the plurality of light-emitting arrays and at least one light-emitting sub-array disposed adjacent to one of the light-emitting sub-arrays during the same period.

[0014] The step of controlling the optical transmission module and the optical reception module includes the step of activating one of the light-receiving sub-arrays during the same period; and the step of activating one of the light-emitting sub-arrays during the same period.

[0015] The step of controlling the light transmitting module and the light receiving module includes the step of activating one light-receiving sub-array during different periods; and the step of simultaneously activating one light-emitting sub-array among the plurality of light-emitting arrays and at least one light-emitting sub-array disposed adjacent to one of the light-emitting sub-arrays during the different periods.

[0016] The lidar device and its driving method according to the present invention can provide the following effects.

[0017] Since the lidar device according to the present invention operates the illumination angle of the light transmitting module to be larger than the viewing angle of the light receiving module, even if the alignment between the light transmitting module and the light receiving module is misaligned, light from the light transmitting module can be normally supplied to the corresponding light receiving sub-array light receiving elements of the light receiving module.

[0018] Figure 1 is a schematic diagram of a lidar device according to the present invention.

[0019] Figure 2 is a detailed configuration diagram of a lidar device according to one embodiment of the present invention.

[0020] Figures 3a to 3d are drawings for explaining the operation of the lidar device of Figure 2.

[0021] FIG. 4 is a timing diagram showing a driving pulse of an optical transmission module and a driving pulse of an optical reception module of a lidar device according to one embodiment of the present invention.

[0022] Figure 5 is a detailed configuration diagram of a lidar device according to another embodiment of the present invention.

[0023] FIG. 6a and FIG. 6d are drawings for explaining the operation of the lidar device of FIG. 4.

[0024] Figure 7 is a processing flowchart for explaining a method of driving a lidar device according to one embodiment of the present invention.

[0025] The advantages and features of the present invention, and the methods for achieving them, will become clearer with reference to the embodiments described in detail below together with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but may be implemented in various different forms. These embodiments are provided only to ensure that the disclosure of the present invention is complete and to fully inform those skilled in the art of the scope of the invention, and the present invention is defined only by the scope of the claims. Accordingly, in some embodiments, well-known process steps, well-known device structures, and well-known techniques are not specifically described to avoid ambiguity in the interpretation of the present invention. Like reference numerals refer to like elements throughout the specification.

[0026] To clearly represent the various layers and areas in the drawings, the thicknesses are enlarged. Similar parts are designated by the same drawing reference numerals throughout the specification.

[0027] Although terms such as "first," "second," and "third" may be used herein to describe various components, these components are not limited by these terms. These terms are used to distinguish one component from another. For example, without departing from the scope of the present invention, a first component may be referred to as a second or third component, and similarly, a second or third component may be referred to interchangeably.

[0028] When a component is referred to as being "connected" or "connected" to another component, it should be understood that it may be directly connected or connected to that other component, but that there may be other components intervening. Conversely, when a component is referred to as being "directly connected" or "connected" to another component, it should be understood that there are no other components intervening.

[0029] The terminology used herein is merely used to describe specific embodiments and is not intended to limit the present invention. The singular expression includes the plural expression unless the context clearly indicates otherwise. In this application, it should be understood that the terms "comprise" or "have" indicate the presence of a feature, number, step, operation, component, part, or combination thereof described in the specification, but do not preclude the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

[0030] Unless otherwise defined, all terms (including technical and scientific terms) used herein may be used in their common sense to those of ordinary skill in the art to which the present invention pertains. Furthermore, terms defined in commonly used dictionaries are not to be interpreted ideally or excessively unless explicitly and specifically defined otherwise.

[0031] Hereinafter, a lidar device and a method of driving the same according to various embodiments of the present invention will be described in detail with reference to FIGS. 1 to 9.

[0032] Figure 1 is a schematic diagram of a lidar device (1000) according to the present invention.

[0033] The lidar device (1000) according to the present invention may include a light transmission module (1000a, or light source unit) and a light reception module (1000b, or light receiving unit), as illustrated in FIG. 1.

[0034] The optical transmission module (1000a) can emit laser light in a pulse shape. The light emitted from the optical transmission module (1000a) is reflected by the measured object (2000) and received as reflected light by the optical reception module (1000b).

[0035] The light receiving module (1000b) may include a light receiving element that converts light into an electrical signal through photoelectric conversion, and may output a signal according to the received light.

[0036] The lidar device (1000) of the present invention can measure the distance between the lidar device (1000) and the object to be measured (2000) in various ways, such as, for example, the ToF (Time of Flight) method, the AMCW (Amplitude Modulated Continuous Wave) method, and the FMCW (Frequency Modulation) method.

[0037] As an example, the method by which the lidar device (1000) of the present invention measures the distance to the measured object (2000) using the ToF method is described as follows.

[0038] First, the time at which the optical transmission module (1000a) emits light (light emission timing) is time t. em , and the time at which the light emitted from the optical transmission module (1000a) is reflected by the measured object (2000) and received by the optical reception module (1000b) is time t. re Let us define it as follows. Here, if the constant c is the speed of light (2.9979×108 [m / sec]), the distance D between the lidar device (1000) and the measured object (2000) can be calculated by the following equation (1).

[0039] D=(c / 2)×(t re -t em ) … (1)

[0040] The lidar device (100) of the present invention can repeat the above-described processing multiple times.

[0041] Hereinafter, a lidar device according to one embodiment of the present invention will be described with reference to the drawings.

[0042] Fig. 2 is a detailed configuration diagram of a lidar device according to an embodiment of the present invention. Figs. 3a to 3d are diagrams for explaining the operation of the lidar device of Fig. 2. Fig. 4 is a timing diagram showing a driving pulse of an optical transmission module and a driving pulse of an optical reception module of a lidar device according to an embodiment of the present invention.

[0043] A lidar device (100) according to one embodiment of the present invention may include a light transmission module (100a), a light reception module (100b), and a control unit (100c), as illustrated in FIG. 2.

[0044] The optical transmission module (100a) according to one embodiment of the present invention may have more light-emitting sub-arrays than the light-receiving sub-arrays of the optical reception module (100b).

[0045] The optical transmission module (100a) may include a plurality of sub-arrays (hereinafter, light-emitting sub-arrays) (T-SA1 to T-SA13), as illustrated in FIG. 2. Here, each light-emitting sub-array (T-SA1 to T-SA13) may include a plurality of light-emitting elements (EDs). In other words, a plurality of light-emitting elements (EDs) may be arranged in each light-emitting sub-array (T-SA1 to T-SA13).

[0046] The light-emitting element (ED) may be, for example, a laser diode, and may emit laser light in a pulsed fashion. An example of such a light-emitting element (ED) may include, for example, a vertical cavity surface emitting laser (VCSEL) that emits laser light as a surface light source.

[0047] One light-emitting sub-array may have a bar shape that extends long in one direction. For example, the first light-emitting sub-array (T-SA1) may have a bar shape that extends long along the X-axis direction.

[0048] The light emitting elements (EDs) arranged in one light emitting sub-array may be arranged along one identical row. For example, ten light emitting elements (EDs) of the first light emitting sub-array (T-SA1) may be arranged in a row along one identical row along the X-axis direction.

[0049] The light emitting elements (EDs) of the plurality of light emitting sub-arrays (or at least two light emitting sub-arrays) can be driven simultaneously in the same period. For example, in a first period, all the light emitting elements (EDs) of the first light emitting sub-array (T-SA1) (e.g., ten light emitting elements (EDs)), all the light emitting elements (EDs) of the second light emitting sub-array (T-SA2) (e.g., ten light emitting elements (EDs)) and all the light emitting elements (EDs) of the third light emitting sub-array (T-SA3) (e.g., ten light emitting elements (EDs)) can be driven simultaneously (or substantially simultaneously) and emit light simultaneously (or substantially simultaneously).

[0050] The optical receiving module (100b) may include a smaller number of sub-arrays than the optical transmitting module (100a). For example, the optical receiving module (100b) may include a plurality of sub-arrays (hereinafter, light-receiving sub-arrays) (R-SA1 to R-SA12), as illustrated in FIG. 2. Here, each of the light-receiving sub-arrays (R-SA1 to R-SA12) may include a plurality of light-receiving elements (RD). In other words, a plurality of light-receiving elements (RD) may be arranged in each of the light-receiving sub-arrays (R-SA1 to R-SA12).

[0051] The light receiving element (RD) of the light receiving module (100b) can receive light reflected from the object to be measured (2000) after being irradiated from the corresponding light emitting element (ED) of the light transmitting module (100a). When the reflected light is received, the light receiving element (RD) can generate an output in response thereto. For example, when the light receiving element (RD) receives light provided through the light emitting element (ED), the light receiving element (RD) can output a detection signal in response thereto. This light receiving element (RD) can include, for example, a single photon avalanch diode.

[0052] The field of illumination (FOI) in the Y-axis direction of the light-emitting sub-array of the light-transmitting module (100a) activated by the driving pulse provided in any period of the driving frame is larger than the field of view (FOV) in the Y-axis direction of one light-receiving sub-array of the light-receiving module (100b). For example, the field of illumination (FOI) in the Y-axis direction of the light-emitting sub-array of the activated light-transmitting module (100a) may be at least twice as large as the field of view (FOV) in the Y-axis direction of one light-receiving sub-array of the light-receiving module (100b).

[0053] Since the illumination angle of the light-emitting sub-array of the activated light transmitting module (100a) is larger than the viewing angle of the individual light-receiving sub-array of the light receiving module (100b), even if the light transmitting module (100a) is misaligned with the light receiving module (100b), the laser light emitted from the light transmitting module (100a) can be normally supplied to the light-receiving elements (RD) of the light-receiving sub-array of the light receiving module (100b).

[0054] In addition, the number of light-emitting elements (ED) and light-receiving elements (RD) may be driven in different numbers during the same period. More specifically, the number of light-emitting sub-arrays and light-receiving sub-arrays may be driven in different numbers during the same period. As an example, in the first period of one driving frame, the light-emitting elements (ED) of the first and second light-emitting sub-arrays (T-SA1, T-SA2) may be driven simultaneously to emit light simultaneously, and the corresponding light-receiving elements (RD) of the first light-receiving sub-array (R-SA1) may be driven simultaneously to receive light simultaneously during the first period.

[0055] At this time, light from light emitting elements (ED) arranged in at least one of the first and second light emitting sub-arrays (T-SA1, T-SA2) may be incident on different locations of the object to be measured (2000) and then reflected to be supplied to the light receiving elements (RD) arranged in the first light receiving sub-array (R-SA1).

[0056] In other words, the optical transmission module (100a) can activate a larger number of light-emitting sub-arrays than the light-receiving sub-arrays of the optical reception module (100b) that are activated for each period. Accordingly, the optical coverage of the optical transmission module (100a) can be increased, so that even if the optical transmission module (100a) is misaligned with the optical reception module (100b), the laser light emitted from the optical transmission module (100a) can be normally supplied to the corresponding light-receiving sub-array light-receiving elements (RD) of the optical reception module (100b).

[0057] At this time, in order to effectively deal with both the misalignment in the Y-axis direction between the light transmitting module (100a) and the light receiving module (100b) and the misalignment in the reverse direction of the Y-axis (hereinafter, -Y-axis direction), when the light emitting sub-array (hereinafter, reference light emitting sub-array) corresponding to the light receiving sub-array activated in the current period emits light, at least one light emitting sub-array arranged adjacent to each side of the reference light emitting sub-array can also emit light simultaneously in the current period.

[0058] For example, in the second period, the second light-receiving sub-array (R-SA2) can be activated to receive laser light emitted simultaneously from the second light-emitting sub-array (T-SA2) and the third light-emitting sub-array (T-SA3) in the second period.

[0059] However, this is just one example, and three adjacent light-emitting sub-arrays can be activated simultaneously and one light-receiving sub-array can be activated for a certain period of time during the driving frame.

[0060] For example, an embodiment is also possible in which not only the third light-emitting sub-array (T-SA3) but also the fourth and fifth light-emitting sub-arrays (T-SA4, T-SA5) arranged adjacent to the lower side of the third light-emitting sub-array (T-SA3) are simultaneously activated and emit laser light during the third period. In other words, a plurality of light-emitting sub-arrays arranged adjacent to a reference light-emitting sub-array can all simultaneously emit light during the same period.

[0061] Meanwhile, some of the light-emitting arrays driven in one period may be driven again in another period. For example, the nth light-emitting sub-array and the n+1th light-emitting sub-array may be activated simultaneously in the nth period (n is a natural number), and the n+1th light-emitting sub-array and the n+2nd light-emitting sub-array may be driven simultaneously in the n+1st period (n is a natural number), such that the n+1th light-emitting sub-array may be activated in both the nth period and the n+1st period of the driving frame. As a specific example, after the first and second light-emitting arrays are driven in the first period, the second and third light-emitting arrays may be driven in the second period. Here, the second light-emitting array may continuously emit light in the first period and the second period.

[0062] The control unit (100c) can control the aforementioned optical transmission module (100a) and optical reception module (100b). For example, the control unit (100c) can control the aforementioned operations of the aforementioned light-emitting elements (EDs) and light-receiving elements (RDs), including the light-emitting timing of the aforementioned light-emitting elements (EDs) and the light-receiving timing of the light-receiving elements (RDs), and the number of light-emitting sub-arrays and the number of light-receiving sub-arrays driven in the same period, by controlling the optical transmission module (100a) and the optical reception module (100b).

[0063] Hereinafter, the operation of a lidar device according to one embodiment of the present invention will be described with reference to FIGS. 3a to 3d and FIG. 4.

[0064] In FIGS. 3A to 3D, among the light-emitting elements (EDs), the light-emitting elements highlighted in gray represent light-emitting elements that are emitting light, and among the light-receiving elements (RDs), the light-receiving elements highlighted in gray represent activated light-receiving elements. On the other hand, among the light-emitting elements (EDs), the white light-emitting elements represent light-emitting elements that are in a light-off state, and among the light-receiving elements (RDs), the white light-receiving elements represent deactivated light-receiving elements.

[0065] Referring to FIG. 4, the driving frame of the optical transmission module (100a) may be the same as the driving frame of the optical reception module (100b).

[0066] The first light-emitting sub-array (T-SA1) and the thirteenth light-emitting sub-array (T-SA13) of the optical transmission module are activated by receiving driving pulses only during the first and thirteenth periods. The second light-emitting sub-array (T-SA2) to the twelfth light-emitting sub-array (T-SA12) of the optical transmission module are activated by receiving driving pulses during two consecutive periods.

[0067] The first light-emitting sub-array (R-SA1) and the thirteenth light-emitting sub-array (R-SA13) of the optical receiving module are activated by receiving a driving pulse in each period of the driving frame.

[0068] First, referring to FIGS. 3A and 4, the operation of the lidar device (100) in the first period will be described as follows. Here, the first period may correspond to, for example, the first period of one frame.

[0069] As illustrated in FIGS. 3a and 4, in the first period of one driving frame, the first light-emitting sub-array (T-SA1) and the second light-emitting sub-array (T-SA2) of the light transmitting module (100a) are simultaneously activated by the first pulse, and the first light-receiving sub-array (R-SA1) of the light receiving module (100b) is activated by the second pulse having the same or a slight time difference from the first pulse.

[0070] Here, activation of the light-receiving element (RD) may mean, for example, that the light-receiving element (RD) is driven by a driving power source or the like and can perform an operation of receiving light (or an operation of detecting light).

[0071] Then, the light from the first light-emitting sub-array (T-SA1) and the second light-emitting sub-arrays (T-SA2) emitted from the light transmission module (100a) during the first period can be reflected after being incident on the measured object (2000) and provided to the light reception module (100b).

[0072] Additionally, in the first period of one driving frame, the light receiving elements (RD) of the first light receiving sub-array (R-SA1) arranged in the light receiving module (100b) can be activated simultaneously.

[0073] In this case, the field of illumination (FOI) in the Y-axis direction of the first light-emitting sub-array (T-SA1) and the second light-emitting sub-array (T-SA2) of the optical transmission module (100a) driven by the first pulse in the first period of the driving frame may be at least twice as large as the field of view (FOV) in the Y-axis direction of the first light-receiving sub-array (R-SA1) driven by the second pulse.

[0074] If the optical transmission module (100a) is misaligned with the optical reception module (100b), some of the light from the first light-emitting sub-array (T-SA1) may not be normally supplied to the first light-receiving sub-array (R-SA1). However, instead, for example, laser light from the second light-emitting sub-array (T-SA2) may be supplied to the first light-receiving sub-array (R-SA1).

[0075] As a specific example, even if the light transmitting module (100a) is misaligned by being shifted in the Y-axis direction or the reverse direction of the Y-axis (hereinafter, -Y-axis direction) relative to the light receiving module (100b), light can be stably supplied to the first light receiving sub-array (R-SA1) because the illumination angles of the first light emitting sub-array (T-SA1) and the second light emitting sub-array (T-SA2) are sufficiently larger than the viewing angle of the first light receiving sub-array (R-SA1), as shown in FIG. 3a.

[0076] Accordingly, even if the light transmitting module (100a) is misaligned with the light receiving module (100b), the light from the light transmitting module (100a) emitted in the first period can be normally provided to the light receiving element (RD) of the first light receiving sub-array (R-SA1) activated in the first period.

[0077] Next, the operation of the lidar device (100) in the second period will be described with reference to FIG. 3b as follows.

[0078] As illustrated in FIG. 3b, in the second period of the driving frame, the second light-emitting sub-array (T-SA2) and the third light-emitting sub-array (T-SA3) of the light transmitting module (100a) can be simultaneously activated by the first pulse, and the second light-receiving sub-array (R-SA2) of the light receiving module (100b) can be activated by the second pulse having the same or a slight time difference from the first pulse.

[0079] During the second period of the driving frame, light from the second light-emitting sub-array (T-SA2) and the third light-emitting sub-array (T-SA3) emitted from the light transmission module (100a) can be reflected after being incident on the measured object (2000) and provided to the light reception module (100b).

[0080] In this case, the illumination angle (FOI: Field of Illumination) in the Y-axis direction of the second light-emitting sub-array (T-SA2) and the third light-emitting sub-array (T-SA3) of the optical transmission module (100a) driven by the first pulse in the second period of the driving frame may be at least twice as large as the viewing angle (FOV: Field of View) in the Y-axis direction of the second light-receiving sub-array (R-SA2) driven by the second pulse.

[0081] If the optical transmission module (100a) is misaligned with the optical reception module (100b), light from the second light-emitting sub-array (T-SA2) may not be normally supplied to the second light-receiving sub-array (R-SA2). However, instead, for example, laser light from the third light-emitting sub-array (T-SA3) may be supplied to the second light-receiving sub-array (R-SA2).

[0082] As a specific example, when the light transmitting module (100a) is misaligned by being shifted in the Y-axis direction or the reverse direction of the Y-axis (hereinafter, -Y-axis direction) relative to the light receiving module (100b), as shown in FIG. 3b, the illumination angles of the second light emitting sub-array (T-SA2) and the third light emitting sub-array (T-SA3) are sufficiently larger than the viewing angle of the second light receiving sub-array (R-SA2), so that light can be stably supplied to the second light receiving sub-array (R-SA2).

[0083] Accordingly, even if the light transmitting module (100a) is misaligned with the light receiving module (100b), the light from the light transmitting module (100a) emitted in the second period can be normally provided to the light receiving element (RD) of the second light receiving sub-array (R-SA2) activated in the second period.

[0084] Next, the operation of the lidar device (100) in the third period will be described with reference to FIG. 3c as follows.

[0085] As illustrated in FIG. 3c, in the third period of the driving frame, the third light-emitting sub-array (T-SA3) and the fourth light-emitting sub-array (T-SA4) of the light transmitting module (100a) can be simultaneously activated by the first pulse, and the third light-receiving sub-array (R-SA3) of the light receiving module (100b) can be activated by the second pulse having the same or a slight time difference from the first pulse.

[0086] During the third period of the driving frame, light from the third light-emitting sub-array (T-SA3) and the fourth light-emitting sub-array (T-SA4) emitted from the light transmission module (100a) can be reflected after being incident on the measured object (2000) and provided to the light reception module (100b).

[0087] In this case, the illumination angle (FOI: Field of Illumination) in the Y-axis direction of the third light-emitting sub-array (T-SA3) and the fourth light-emitting sub-array (T-SA4) of the optical transmission module (100a) driven by the first pulse in the third period of the driving frame may be at least twice as large as the viewing angle (FOV: Field of View) in the Y-axis direction of the third light-receiving sub-array (R-SA3) driven by the second pulse.

[0088] If the optical transmission module (100a) is misaligned with the optical reception module (100b), light from the third light-emitting sub-array (T-SA3) may not be supplied normally to the third light-receiving sub-array (R-SA3). However, instead, for example, laser light from the fourth light-emitting sub-array (T-SA4) may be supplied to the third light-receiving sub-array (R-SA3).

[0089] As a specific example, when the light transmitting module (100a) is misaligned by being shifted in the Y-axis direction or the reverse direction of the Y-axis (hereinafter, -Y-axis direction) relative to the light receiving module (100b), as shown in FIG. 3c, the illumination angles of the third light emitting sub-array (T-SA3) and the fourth light emitting sub-array (T-SA4) are sufficiently larger than the viewing angle of the third light receiving sub-array (R-SA3), so that light can be stably supplied to the third light receiving sub-array (R-SA3).

[0090] Accordingly, even if the light transmitting module (100a) is misaligned with the light receiving module (100b), the light from the light transmitting module (100a) emitted in the third period can be normally provided to the light receiving element (RD) of the third light receiving sub-array (R-SA3) activated in the third period.

[0091] Meanwhile, although not shown, the operation of the lidar device (100) according to one embodiment of the present invention is substantially the same as the operation in the preceding period in the fourth to eleventh periods.

[0092] Following the 11th period, the operation of the 12th period may be performed. For example, the 12th period may correspond to the last period of the driving frame. The operation of the lidar device (100) in this last period, the 12th period, is described below with reference to FIG. 3D.

[0093] As illustrated in FIG. 3d, in the 12th period of the driving frame, the 12th light-emitting sub-array (T-SA12) and the 13th light-emitting sub-array (T-SA13) of the light transmitting module (100a) can be simultaneously activated by the first pulse, and the 12th light-receiving sub-array (R-SA12) of the light receiving module (100b) can be activated by the second pulse having the same or a slight time difference from the first pulse.

[0094] During the 12th period of the driving frame, light from the 12th light-emitting sub-array (T-SA12) and the 13th light-emitting sub-array (T-SA13) emitted from the light transmission module (100a) can be incident on the measured object (2000) and then reflected to be provided to the light reception module (100b).

[0095] In this case, the illumination angle (FOI: Field of Illumination) in the Y-axis direction of the 12th light-emitting sub-array (T-SA12) and the 13th light-emitting sub-array (T-SA13) of the optical transmission module (100a) driven by the first pulse in the 12th period of the driving frame may be at least twice as large as the viewing angle (FOV: Field of View) in the Y-axis direction of the 12th light-receiving sub-array (R-SA12) driven by the second pulse.

[0096] If the optical transmission module (100a) is misaligned with the optical reception module (100b), light from the 12th light-emitting sub-array (T-SA12) may not be supplied normally to the 12th light-receiving sub-array (R-SA3). However, instead, for example, laser light from the 13th light-emitting sub-array (T-SA13) may be supplied to the 12th light-receiving sub-array (R-SA12).

[0097] As a specific example, when the light transmitting module (100a) is misaligned by being shifted in the Y-axis direction or the reverse direction of the Y-axis (hereinafter, -Y-axis direction) relative to the light receiving module (100b), as shown in FIG. 3d, light can be stably supplied to the 12th light receiving sub-array (R-SA12) because the illumination angles of the 12th light emitting sub-array (T-SA12) and the 13th light emitting sub-array (T-SA13) are sufficiently larger than the viewing angle of the 12th light receiving sub-array (R-SA12).

[0098] Accordingly, even if the light transmitting module (100a) is misaligned with the light receiving module (100b), the light from the light transmitting module (100a) emitted in the 12th period can be normally provided to the light receiving element (RD) of the 12th light receiving sub-array (R-SA12) activated in the 12th period.

[0099] Meanwhile, as another driving method of the lidar device according to one embodiment of the present invention, as described above, in the first period of the driving frame, the first to third light-emitting sub-arrays (T-SA1 to T-SA3) may be simultaneously activated and the first light-receiving sub-array (R-SA1) may be activated. Thereafter, in the second period of the driving frame, the first to third light-emitting sub-arrays (T-SA1 to T-SA3) may be simultaneously activated again and the second light-receiving sub-array (R-SA2) may be activated.

[0100] Likewise, the 11th period and the 12th period of the driving frame can be performed twice consecutively. In this case, in the 11th period, the 11th to 13th light-emitting sub-arrays (T-SA11 to T-SA13) can be driven simultaneously, and the 11th light-receiving sub-array (R-SA11) can be activated. Thereafter, in the 12th period, the 11th to 13th light-emitting sub-arrays (T-SA11 to T-SA13) can be driven again simultaneously, and the 12th light-receiving sub-array (R-SA12) can be activated.

[0101] Meanwhile, the light emitting elements (ED) arranged in one light emitting sub-array and the light receiving elements (RD) arranged in one light receiving sub-array of the lidar device according to one embodiment of the present invention may be arranged along one same column. For example, ten light emitting elements (ED) of the first light emitting sub-array (T-SA1) and ten light receiving elements (RD) of the first light receiving sub-array (R-SA1) may be arranged in a row along one same column along the Y-axis direction. A plurality of light emitting sub-arrays and a plurality of light receiving sub-arrays arranged in a row along the column may be driven column-by-column simultaneously during the same period.

[0102] Hereinafter, a lidar device (100) according to another embodiment of the present invention will be described with reference to the drawings. Fig. 5 is a detailed configuration diagram of a lidar device (100) according to another embodiment of the present invention. Figs. 6a to 6d are diagrams explaining the operation of a lidar device according to another embodiment of the present invention. Fig. 7 is a timing diagram showing a driving pulse of an optical transmission module and a driving pulse of an optical reception module for driving a lidar device according to another embodiment of the present invention.

[0103] Referring to FIG. 5, a lidar device (100) according to another embodiment of the present invention may include a light transmitting module (100a), a light receiving module (100b), and a control unit (100c).

[0104] The remaining configuration of the lidar device (100) of FIG. 5 is substantially the same as, for example, the configuration of the lidar device (100) of FIG. 2 described above, so for a description of the remaining configuration of the lidar device (100) of FIG. 5, refer to FIG. 2 and the related description.

[0105] A lidar device (100) according to another embodiment of the present invention includes an optical transmission module (100a) including MXN (M and N are natural numbers) pixels formed by M rows and N columns.

[0106] In addition, a lidar device (100) according to another embodiment of the present invention includes a light receiving module (100b) including MXN (M and N are natural numbers) pixels composed of M rows and N columns.

[0107] Referring to FIG. 5, the optical transmission module (100a) according to another embodiment of the present invention may have a light-emitting sub-array identical to the light-receiving sub-array of the optical reception module (100b).

[0108] Referring again to FIG. 5, the light transmitting module (100a) may include a plurality of sub-arrays (hereinafter, light emitting sub-arrays) (T-SA0101 to T-SA1210).

[0109] Additionally, the light receiving module (100b) may have the same light receiving sub-array (e.g., 120) as the light emitting sub-array (e.g., 120) of the light transmitting module (100a).

[0110] The field of illumination (FOI) of one light-emitting sub-array in the X-axis and Y-axis directions is larger than the field of view (FOV) of one light-receiving sub-array in the X-axis and Y-axis directions.

[0111] The area of ​​the field of illumination (FOI) of one light-emitting sub-array with respect to a subject is larger than the area of ​​the field of view (FOV) of one light-emitting sub-array. In this case, the ratio of the illumination angle in the X direction to the illumination angle in the Y direction of one light-emitting sub-array may be the same as the ratio of the illumination angle in the X direction to the illumination angle in the Y direction of one light-receiving sub-array.

[0112] The control unit (100c) operates the light emitting array of the light transmitting module (100a) and the light receiving array of the light receiving module (100b) so that the light emission cycle of the light transmitting module (100a) and the light receiving cycle of the light receiving module (100b) are substantially identical.

[0113] Hereinafter, with reference to FIG. 6, the operation of a lidar device according to another embodiment of the present invention will be described.

[0114] In FIGS. 6A to 6D, among the light-emitting elements (EDs), the light-emitting elements highlighted in gray represent light-emitting elements that are emitting light, and among the light-receiving elements (RDs), the light-receiving elements highlighted in gray represent activated light-receiving elements. On the other hand, among the light-emitting elements (EDs), the white light-emitting elements represent light-emitting elements that are in a light-off state, and among the light-receiving elements (RDs), the white light-receiving elements represent deactivated light-receiving elements.

[0115] The driving frame of the optical transmission module (100a) may be the same as the driving frame of the optical reception module (100b).

[0116] The light-emitting sub-arrays (T-SA0101 to T-SA1210) of the optical transmission module (100a) are activated by receiving a driving pulse during the first to 120th periods of the driving frame. In addition, the first light-emitting sub-array (R-SA0101 to R-SA1210) of the optical reception module is activated by receiving a driving pulse during the first to 120th periods of the driving frame.

[0117] First, referring to FIG. 6a, the first light-emitting sub-array (T-SA0101) of the light transmitting module (100a) is activated by a first pulse in the first period of the driving frame, and the first light-receiving sub-array (R-SA0101) of the light receiving module (100b) is activated by a second pulse having the same time as or a slight time difference from the first pulse. Here, the first period may correspond to, for example, the first period of one driving frame.

[0118] Then, the laser light transmitted from the first light-emitting sub-array (T-SA0101) emitted from the light transmission module (100a) in the first period can be reflected after being incident on the object to be measured (2000) and provided to the light reception module (100b).

[0119] In this case, the illumination angle (FOI: Field of Illumination) of the first light-emitting sub-array (T-SA0101) of the optical transmission module (100a) driven by the first pulse in the first period of the driving frame is substantially larger than the field of view (FOV: Field of View) of the first light-receiving sub-array (R-SA0101) driven by the second pulse.

[0120] At this time, since the first light-emitting sub-array (T-SA0101) has an illumination angle greater than the viewing angle of the first light-receiving sub-array (R-SA0101), even if the light transmission module (100a) is misaligned by shifting in the X-axis direction or the reverse direction of the X-axis (hereinafter, -X-axis direction) or the Y-axis direction or the reverse direction of the Y-axis (hereinafter, -Y-axis direction) relative to the light reception module (100b), the laser light of the first light-emitting sub-array (T-SA0101) emitted in the first period can be stably provided to the light-receiving element (RD) of the first light-receiving sub-array (R-SA0101) activated in the first period.

[0121] Next, referring to FIG. 6b, in the second period of the driving frame, the first light-emitting sub-array (T-SA0102) of the light transmitting module (100a) is activated by the first pulse, and the second light-receiving sub-array (R-SA0102) of the light receiving module (100b) is activated by the second pulse having the same or a slight time difference from the first pulse.

[0122] Then, in the second period, the light from the second light-emitting sub-array (T-SA0102) emitted from the light transmission module (100a) can be reflected after being incident on the measured object (2000) and provided to the light reception module (100b).

[0123] In this case, the illumination angle (FOI: Field of Illumination) of the first light-emitting sub-array (T-SA0102) of the optical transmission module (100a) driven by the first pulse in the second period of the driving frame is substantially larger than the field of view (FOV: Field of View) of the second light-receiving sub-array (R-SA0102) driven by the second pulse.

[0124] As the driving frame period is sequentially progressed as described above, for example, referring to FIG. 6c, in the 107th period of the driving frame, the first light-emitting sub-array (T-SA1007) of the light transmitting module (100a) is activated by the first pulse, and the 107th light-receiving sub-array (R-SA1007) of the light receiving module (100b) is activated by the second pulse having the same or a slight time difference from the first pulse.

[0125] Referring to FIG. 6d, when the 120th light-emitting sub-array (T-SA1210) and the 120th light-receiving sub-array (R-SA1210) are driven in the 120th period of the driving frame in this sequential manner, the lidar device (100) completes one driving frame.

[0126] Figure 7 is a processing flowchart for explaining a method of driving a lidar device according to one embodiment of the present invention.

[0127] Referring to FIG. 7, first, a step (S1) of preparing and arranging an optical transmission module may be performed. The optical transmission module may include, for example, a plurality of light-emitting sub-arrays extending in the X direction, as illustrated in FIG. 2 described above.

[0128] Next, a step (S2) of preparing and arranging a light receiving module may be performed. The light receiving module may include a plurality of light receiving sub-arrays extending in the X direction, for example, as illustrated in the aforementioned FIG. 2.

[0129] Thereafter, a step (S3) of controlling the light transmitting module (100a) and the light receiving module (100a) so that the second direction illumination angle of the activated light emitting sub-array among the plurality of light emitting sub-arrays is larger than the second direction viewing angle of the light receiving sub-array among the plurality of light receiving sub-arrays can be performed during the same period.

[0130] For example, at this stage, a greater number of light-emitting sub-arrays can be driven than light-receiving sub-arrays in the same period.

[0131] As another example, in this step, the same number of light-receiving sub-arrays and light-emitting sub-arrays can be driven in the same period.

[0132] Meanwhile, the step of driving a larger number of light-emitting sub-arrays than light-receiving sub-arrays during the same period may include, for example, a step of driving one light-receiving sub-array; a step of simultaneously driving one light-emitting sub-array corresponding to one light-receiving sub-array and at least one light-emitting sub-array disposed proximate to one of the light-emitting sub-arrays. In this case, the step of driving one light-receiving sub-array (hereinafter, the first step) and the step of driving one light-emitting sub-array corresponding to one light-receiving sub-array and at least one light-emitting sub-array disposed proximate to one of the light-emitting sub-arrays (hereinafter, the second step) may be performed simultaneously. In other words, the first step and the second step may be performed simultaneously. Alternatively, the second step may be performed before the first step.

[0133] The step of simultaneously driving any one light-emitting sub-array corresponding to any one of the aforementioned light-receiving sub-arrays and at least one light-emitting sub-array disposed proximate to any one of the aforementioned light-emitting sub-arrays may include, for example, the step of simultaneously driving at least one light-emitting sub-array disposed proximate to one side of any one of the aforementioned light-receiving sub-arrays and at least one second light-emitting sub-array disposed proximate to the other side of any one of the aforementioned light-receiving sub-arrays.

[0134] As a specific example, referring to FIG. 3A, in the second period, the second light-receiving sub-array (R-SA2) is activated, and the second light-receiving sub-array (R-SA2) receives light from the corresponding second light-emitting sub-array (T-SA2). However, in order to more effectively address the problem of light not being received due to misalignment in both directions as described above, not only the second light-emitting sub-array (T-SA2), but also the first light-emitting sub-array (T-SA1) and the third light-emitting sub-array (T-SA3) adjacent to both sides thereof can simultaneously emit light in the second period.

[0135] Meanwhile, it will be understood that each block of the processing flowchart drawings and combinations of the flowchart drawings can be performed by computer program instructions. These computer program instructions can be installed in a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing equipment, so that the instructions executed by the processor of the computer or other programmable data processing equipment create a means for performing the functions described in the flowchart block(s). These computer program instructions can also be stored in a computer-available or computer-readable memory that can direct a computer or other programmable data processing equipment to perform the functions in a specific manner, so that the instructions stored in the computer-available or computer-readable memory can also produce an article of manufacture that includes an instruction means for performing the functions described in the flowchart block(s). Since the computer program instructions may be installed on a computer or other programmable data processing device, a series of operational steps may be performed on the computer or other programmable data processing device to create a computer-executable process, and the instructions that cause the computer or other programmable data processing device to perform the steps for performing the functions described in the flowchart block(s) may also provide steps for performing the functions described in the flowchart block(s).

[0136] Additionally, each block may represent a module, segment, or portion of code that contains one or more executable instructions for performing a specific logical function(s). It should also be noted that in some alternative implementation examples, the functions described in the blocks may occur out of order. For example, two blocks depicted in succession may actually be executed substantially concurrently, or the blocks may sometimes be executed in reverse order, depending on their respective functions.

[0137] Here, the term '~ unit' used in the present embodiment means a software or hardware component such as an FPGA or ASIC, and the '~ unit' performs certain roles. However, the '~ unit' is not limited to software or hardware. The '~ unit' may be configured to be on an addressable storage medium and may be configured to play one or more processors. Accordingly, as an example, the '~ unit' includes components such as software components, object-oriented software components, class components, and task components, processes, functions, properties, procedures, subroutines, segments of program code, drivers, firmware, microcode, circuits, data, databases, data structures, tables, arrays, and variables. The functions provided within the components and '~ units' may be combined into a smaller number of components and '~ units' or further separated into additional components and '~ units'. Additionally, components and '~parts' may be implemented to regenerate one or more CPUs within a device or secure multimedia card.

[0138] Those skilled in the art will appreciate that the present disclosure may be implemented in other specific forms without altering the technical spirit or essential characteristics thereof. Therefore, the embodiments described above should be understood as illustrative in all respects and not restrictive. The scope of this disclosure is defined by the claims set forth below rather than the detailed description above, and all changes or modifications derived from the meaning and scope of the claims and their equivalents should be construed as being included within the scope of this disclosure.

[0139] Meanwhile, this specification and drawings disclose preferred embodiments of this specification, and although specific terms are used, they are used only in a general sense to easily explain the technical contents of this specification and help understand the invention, and are not intended to limit the scope of this specification. It will be apparent to those skilled in the art to which this specification pertains that other modified examples based on the technical ideas of this specification are possible in addition to the embodiments disclosed herein.

Claims

1. An optical transmitting module comprising a plurality of light-emitting sub-arrays extending in a first direction; A light receiving module comprising a plurality of light receiving sub-arrays extending in the first direction; and A lidar device including a control unit that controls the light transmitting module and the light receiving module such that an illumination angle in the second direction of an activated light emitting sub-array among the plurality of light emitting sub-arrays is larger than a viewing angle in the second direction of one light receiving sub-array among the plurality of light receiving sub-arrays.

2. In paragraph 1, A lidar device in which the plurality of light-emitting sub-arrays are activated in greater numbers during the same period than the plurality of light-receiving sub-arrays.

3. In paragraph 2, Among the above plurality of light-emitting sub-arrays, the activated light-emitting sub-arrays are adjacent to each other in the lidar device.

4. In paragraph 3, The above control unit is a lidar device that simultaneously activates two adjacent light-emitting sub-arrays and activates one light-receiving sub-array during the same period.

5. In paragraph 4, A lidar device wherein the two light-emitting sub-arrays have an illumination angle substantially twice the field of view of the one light-receiving sub-array.

6. In paragraph 2, A lidar device wherein the optical transmitting module includes a greater number of light emitting sub-arrays than light receiving sub-arrays of the optical receiving module.

7. An optical transmitting module including a plurality of light-emitting sub-arrays having a matrix structure consisting of M rows and N columns (M and N are natural numbers); A light receiving module including a plurality of light receiving sub-arrays having a matrix structure consisting of M rows and N columns (M and N are natural numbers); and A lidar device including a control unit that controls the light transmitting module and the light receiving module such that the illumination angles in the first direction and the second direction of an activated light emitting sub-array among the plurality of light emitting sub-arrays are larger than the viewing angles in the first direction and the second direction of one light receiving sub-array among the plurality of light receiving sub-arrays.

8. In paragraph 7, A lidar device, wherein an area of ​​an illumination angle in a first direction of one of the plurality of light-emitting sub-arrays is larger than an area of ​​a viewing angle in the first direction of one of the plurality of light-receiving sub-arrays.

9. In paragraph 8, A lidar device in which the ratio of the illumination angle in the X direction to the illumination angle in the Y direction of one light-emitting sub-array is the same as the ratio of the illumination angle in the X direction to the illumination angle in the Y direction of one light-receiving sub-array.

10. A step of preparing an optical transmitting module including a plurality of light-emitting sub-arrays extending in a first direction; A step of preparing a light receiving module including a plurality of light receiving sub-arrays extending in the first direction; and A method for driving a lidar device, comprising the step of controlling the light transmitting module and the light receiving module such that an illumination angle in a second direction of an activated light emitting sub-array among the plurality of light emitting sub-arrays is larger than a viewing angle in the second direction of one light receiving sub-array among the plurality of light receiving sub-arrays.

11. In Article 10, The step of controlling the above optical transmission module and the above optical reception module is: A step of activating one of the light-receiving sub-arrays among the plurality of light-receiving arrays during the same period; A method for driving a lidar device, comprising the step of simultaneously activating one light-emitting sub-array among the plurality of light-emitting arrays and at least one light-emitting sub-array disposed adjacent to one of the light-emitting sub-arrays during the same period.

12. In paragraph 10, The step of controlling the above optical transmission module and the above optical reception module is: A step of activating one of the photodetector sub-arrays during the same period; A method for driving a lidar device, comprising the step of activating one of the light-emitting sub-arrays during the same period.

13. In paragraph 12, The step of controlling the above optical transmission module and the above optical reception module is: A step of activating one of the photodetector sub-arrays during different periods; A method for driving a lidar device, comprising the step of simultaneously activating one light-emitting sub-array among the plurality of light-emitting arrays and at least one light-emitting sub-array disposed adjacent to one of the light-emitting sub-arrays during said different periods.

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