Lidar system and driving method thereof

Abstract

In a LIDAR system comprising a plurality of LIDAR devices, according to one embodiment of the present invention, each of the plurality of LIDAR devices comprises a plurality of light-emitting units, a power supply unit, and a light-receiving unit for receiving light emitted from at least one of the plurality of light-emitting units, wherein the plurality of LIDAR devices are sequentially disposed on the outer sides of a vehicle, and if all of the plurality of light-emitting units included in the plurality of LIDAR devices output light, the plurality of light-emitting units and the light-receiving unit of each LIDAR device are controlled by an electronic device provided in the vehicle when the horizontal detection ranges of the plurality of light-emitting units at least partially overlap, so that the overlapping areas of the horizontal detection ranges of the light output by the plurality of light-emitting units of the LIDAR devices can be minimized.

Description

Lidar system and its driving method

[0001] The present invention relates to a lidar system and a method for driving the same, and more particularly, to a lidar system disposed in a vehicle and a method for driving the same.

[0002] When driving, it's crucial to accurately perceive the surroundings and precisely control the vehicle, such as by stopping to avoid collisions with other vehicles. This requires accurately assessing the locations of surrounding objects.

[0003] At this time, it is important to meaningfully utilize the data collected from the vehicle's sensors, but it can be very cumbersome for users to visually check the collected data one by one.

[0004] Therefore, automatically interpreting and analyzing the collected data is crucial. However, using a standard camera has the limitation of only being able to capture image data from a specific direction. Furthermore, while capturing image data is possible, it doesn't provide information on the distance to the object from the image data.

[0005] Accordingly, methods for obtaining distance information about objects using distance measurement sensors such as LiDAR sensors are being used. LiDAR (Light Detection And Ranging, LiDAR), often called LADAR (Laser Detection And Ranging), ToF (Time of Flight), laser scanner, or laser radar, is a sensing method that detects objects and maps their distances. LiDAR illuminates a target with an optical pulse and then measures the characteristics of the reflected signal.

[0006] Vehicles need to detect objects in all directions. Multiple lidar devices may be used for this purpose, and interference can be problematic when multiple lidar devices simultaneously emit light.

[0007] The present invention is intended to solve the above-mentioned problems, and aims to provide a lidar system placed on a vehicle and a method for driving the same.

[0008] The technical problem to be achieved by the present invention is to provide a lidar system disposed in a vehicle including a plurality of lidar devices, and a method for operating the plurality of lidar devices to detect objects in the vehicle's surroundings.

[0009] In addition, the technical problems to be solved by the present invention are not limited to the technical problems described above, and other technical problems may exist.

[0010] In a lidar system including a plurality of lidar devices according to one embodiment of the present invention, each of the plurality of lidar devices includes a plurality of light-emitting units, a power supply unit, and a light-receiving unit that receives light emitted from at least one of the plurality of light-emitting units, and when the plurality of lidar devices are sequentially arranged around the vehicle and the plurality of light-emitting units included in the plurality of lidar devices all output, when the horizontal detection ranges of the plurality of light-emitting units at least partially overlap, the plurality of light-emitting units and the light-receiving units of the plurality of lidar devices are controlled by an electronic device in the vehicle so that an area where the horizontal detection ranges of light output by the plurality of light-emitting units of the lidar devices overlap can be minimized.

[0011] In a lidar system including a plurality of lidar devices according to one embodiment of the present invention, the plurality of light emitting units included in each of the plurality of lidar devices may be driven sequentially for a certain period of time to minimize an area where the horizontal detection ranges of light output by the plurality of light emitting units of the plurality of lidar devices overlap.

[0012] In a lidar system including a plurality of lidar devices according to one embodiment of the present invention, the light receiving unit can control a light receiving area based on a light emitting unit sequentially driven among a plurality of light emitting units included in each of the plurality of lidar devices.

[0013] In a lidar system including a plurality of lidar devices according to one embodiment of the present invention, the plurality of lidar devices include first to fourth lidar devices, and in order to minimize an area where horizontal detection ranges of light output by a plurality of light emitting units of the first to fourth lidar devices overlap, the plurality of light emitting units included in the first lidar device are sequentially driven for a predetermined period of time, and the plurality of light emitting units included in the second lidar device, the plurality of light emitting units included in the third lidar device, and the plurality of light emitting units included in the fourth lidar device may also be sequentially driven for a predetermined period of time like the plurality of light emitting units included in the first lidar device.

[0014] In a lidar system including a plurality of lidar devices according to one embodiment of the present invention, the plurality of lidar devices include first to fourth lidar devices, and in order to minimize an area where horizontal detection ranges of light output by a plurality of light-emitting units of the first to fourth lidar devices overlap, the intensity of output light signals of the first lidar device and the third lidar device may be output at a maximum for a predetermined period of time and then output at a minimum for a predetermined period of time, and correspondingly, the intensity of output light signals of the second lidar device and the fourth lidar device may be output at a minimum for a predetermined period of time and then output at a maximum for a predetermined period of time.

[0015] In a lidar system including a plurality of lidar devices according to one embodiment of the present invention, the plurality of lidar devices include first to fourth lidar devices, and for a certain period of time, the intensities of output light signals of the first lidar device and the third lidar device can be output at a maximum, and the intensities of output light signals of the second lidar device and the fourth lidar device can be output at a minimum, and again for a certain period of time, the intensities of output light signals of the first lidar device and the third lidar device can be output at a minimum, and the intensities of output light signals of the second lidar device and the fourth lidar device can be output at a maximum.

[0016] In a lidar system including a plurality of lidar devices according to one embodiment of the present invention, the plurality of lidar devices are solid state lidars without a physical driving device, and each of the plurality of light emitting units may have a horizontal azimuth angle greater than 120 degrees.

[0017] In a lidar system including a plurality of lidar devices according to one embodiment of the present invention, the plurality of lidar devices include first to fourth lidar devices, and the first to fourth lidar devices can be respectively disposed on the right, left, front, and rear of the vehicle.

[0018] In a lidar system including a plurality of lidar devices according to one embodiment of the present invention, each of the plurality of light-emitting units may include a vertical-cavity surface-emitting laser (VCSEL), a transmission driver for driving the VCSEL, and an internal power supply for supplying power to the VCSEL.

[0019] In a lidar system including a plurality of lidar devices according to one embodiment of the present invention, a transmission driver included in each of a plurality of light-emitting units of the plurality of lidar devices may be further connected to an electronic device in the vehicle and controlled by an enable pin.

[0020] In a lidar system including a plurality of lidar devices according to one embodiment of the present invention, a plurality of light-emitting units and light-receiving units of the plurality of lidar devices can be connected to an electronic device in a vehicle through I2C communication.

[0021] In a lidar system including a plurality of lidar devices according to one embodiment of the present invention, the light receiving unit includes a receiving sensor and a clock generating unit, and a signal generated by the clock generating unit is input to the receiving sensor, and a signal generated by the receiving sensor is input to the plurality of light emitting units, so that the plurality of light emitting units and the light receiving units can be synchronized.

[0022] According to an embodiment of the present invention, a lidar system for detecting objects around a vehicle and a method for driving the same can be provided.

[0023] According to an embodiment of the present invention, a lidar system including a plurality of lidar devices can be operated without interference between the lidar devices.

[0024] In addition, the effects that can be obtained from the present invention are not limited to the effects mentioned above, and other effects that are not mentioned can be clearly understood by a person having ordinary skill in the technical field to which the present invention belongs from the description below.

[0025] FIG. 1A is a drawing showing a lidar device placed on a vehicle according to one embodiment of the present invention.

[0026] FIGS. 1b to 1e illustrate detection ranges based on horizontal azimuth angles of each lidar device disposed on a vehicle according to one embodiment of the present invention.

[0027] Figure 2a shows the horizontal detection range when light is irradiated using all lidar devices installed on the vehicle, and Figures 2b and 2c show the horizontal detection range when light is irradiated using some of the lidar devices installed on the vehicle.

[0028] FIG. 3 is a drawing showing an operation method of a lidar system placed on a vehicle according to one embodiment of the present invention.

[0029] FIG. 4 is a drawing showing an operation method of a lidar system placed on a vehicle according to another embodiment of the present invention.

[0030] FIG. 5 is a drawing showing a state in which a lidar device according to one embodiment of the present invention is connected to an electronic device in a vehicle.

[0031] Hereinafter, a preferred embodiment of the present invention will be described in detail with reference to the attached drawings.

[0032] However, the technical idea of ​​the present invention is not limited to some of the embodiments described, but can be implemented in various different forms, and within the scope of the technical idea of ​​the present invention, one or more of the components between the embodiments can be selectively combined or substituted for use.

[0033] In addition, terms (including technical and scientific terms) used in the embodiments of the present invention may be interpreted as having a meaning that can be generally understood by a person of ordinary skill in the technical field to which the present invention belongs, unless explicitly and specifically defined and described, and terms that are commonly used, such as terms defined in a dictionary, may be interpreted in consideration of the contextual meaning of the relevant technology.

[0034] Additionally, the terms used in the embodiments of the present invention are intended to describe the embodiments and are not intended to limit the present invention.

[0035] In this specification, the singular may also include the plural unless specifically stated otherwise in the phrase, and when it is described as “A and / or at least one (or more) of B, C”, it may include one or more of all combinations that can be combined with A, B, C.

[0036] Additionally, in describing components of embodiments of the present invention, terms such as first, second, A, B, (a), (b), etc. may be used.

[0037] These terms are intended only to distinguish one component from another, and are not intended to limit the nature, order, or sequence of the component.

[0038] And, when a component is described as being 'connected', 'coupled' or 'connected' to another component, it may include not only cases where the component is directly connected, coupled or connected to the other component, but also cases where the component is 'connected', 'coupled' or 'connected' by another component between the component and the other component.

[0039] Additionally, when described as being formed or arranged "above or below" each component, "above" or "below" includes not only cases where the two components are in direct contact with each other, but also cases where one or more other components are formed or arranged between the two components. Furthermore, when expressed as "above" or "below", it can include the meaning of a downward direction as well as an upward direction based on one component.

[0040] FIG. 1A is a drawing showing a lidar device placed on a vehicle according to one embodiment of the present invention.

[0041] Referring to Fig. 1a, four lidar devices (11, 12, 13, 14) may be placed on a vehicle (10). Each of the four lidar devices (11, 12, 13, 14) may be placed at different locations so that their optical axes are different from each other. Fig. 1a is a drawing of the vehicle (10) as viewed from above, and the four lidar devices (11, 12, 13, 14) may be placed one each on the front, rear, left, and right sides of the vehicle (10), but are not limited thereto. For example, they may be placed on the front left and right sides and the rear left and right sides of the vehicle (10). In addition, the vehicle (10) may include a greater number of lidar devices or a less number of lidar devices. In the present disclosure, as an example, four lidar devices (11, 12, 13, 14) are placed in a vehicle (10), and the vehicle (10) can operate the four lidar devices (11, 12, 13, 14) as one lidar system to detect surrounding objects.

[0042] A lidar device can scan its surroundings by rotating a sensor using a physical actuator, such as a motor, but can also scan in one direction without a physical actuator. In the present invention, the lidar device may be a solid-state lidar that scans in one direction without a physical actuator. The lidar device can detect objects from several meters to more than 200 meters away, but can be used to detect long-distance objects rather than close-range objects. The lidar device can not only aim light to a specific area, but if the light is infrared, the wavelength is short, so the spatial resolution can be divided into units of 0.1 degrees, and the features of the object can be described in three dimensions without back-end processing. The azimuth (Field of View, FOV) of the lidar device is an important performance for classifying objects, and can be divided into vertical azimuth and horizontal azimuth. The lidar device in the present invention is a solid-state lidar, and the horizontal azimuth can be greater than 120 degrees.

[0043] FIGS. 1b to 1e illustrate detection ranges based on horizontal azimuth angles of each lidar device disposed on a vehicle according to one embodiment of the present invention.

[0044] Fig. 1b shows a detection range (110) based on the horizontal azimuth of a lidar device (11) disposed on the right side of a vehicle (10), and Fig. 1c shows a detection range (120) based on the horizontal azimuth of a lidar device (12) disposed on the rear side of the vehicle (10). Fig. 1d shows a detection range (130) based on the horizontal azimuth of a lidar device (13) disposed on the left side of the vehicle (10), and Fig. 1e shows a detection range (140) based on the horizontal azimuth of a lidar device (14) disposed on the front side of the vehicle (10).

[0045] According to one embodiment, each of the lidar devices (11, 12, 13, 14) may include a plurality of light-emitting units. Each of the plurality of light-emitting units may have a horizontal azimuth angle of 120 degrees or more. Each lidar device may irradiate light using both of the light-emitting units. Specifically, FIGS. 1B to 1E illustrate detection ranges when each lidar device irradiates light using both of the light-emitting units. Since the detection range of each lidar device exceeds 180 degrees, if adjacent lidar devices irradiate light at the same time, a range in which interference occurs may occur.

[0046] Figure 2a shows the horizontal detection range when light is irradiated using all lidar devices installed on the vehicle, and Figures 2b and 2c show the horizontal detection range when light is irradiated using some of the lidar devices installed on the vehicle.

[0047] Referring to FIG. 2A, when all LiDAR devices deployed on a vehicle are used to irradiate light, objects can be detected in all ranges around the vehicle. However, the horizontal detection range of each LiDAR device may overlap with the horizontal detection ranges of adjacent LiDAR devices in some areas. For example, the horizontal detection range of a LiDAR device deployed on the right side of the vehicle may overlap (210) with part of the horizontal detection ranges of LiDAR devices deployed on the front and rear of the vehicle, respectively. The horizontal detection range of a LiDAR device deployed on the left side of the vehicle may also overlap part of the horizontal detection ranges of LiDAR devices deployed on the front and rear of the vehicle, respectively. In addition, the horizontal detection range of a LiDAR device deployed on the right side of the vehicle may overlap part of the horizontal detection range of a LiDAR device deployed on the left side of the vehicle. The location and size of the overlapping area may vary depending on the location of each of the multiple LiDAR devices deployed on the vehicle. For example, if the vehicle is long, the horizontal detection ranges of the lidar devices placed on the left and right sides of the vehicle may overlap in some areas, but the horizontal detection ranges of the lidar devices placed on the front and rear of the vehicle may not overlap.

[0048] From another perspective, some areas around a vehicle may be illuminated by light from only one lidar device, while other areas may be illuminated by light from multiple lidar devices. The number of lidar devices may vary depending on location. Interference of light may occur in areas illuminated by multiple lidar devices.

[0049] Fig. 2b illustrates the horizontal detection range of each lidar device when only the lidar devices positioned at the front and rear of the lidar devices deployed on the vehicle irradiate light. Each lidar device includes two light-emitting units, and the horizontal azimuth angle of each light-emitting unit is greater than 120 degrees, so that the horizontal detection range of each lidar device may be 240 degrees. Similarly, Fig. 2c illustrates the horizontal detection range of each lidar device when only the lidar devices positioned at the left and right of the lidar devices deployed on the vehicle irradiate light. Each lidar device includes two light-emitting units, and the horizontal azimuth angle of each light-emitting unit is greater than 120 degrees, so that the horizontal detection range of each lidar device may be 240 degrees.

[0050] Referring to FIGS. 2b and 2c, in FIG. 2b, there is no overlapping portion among the horizontal detection ranges of each lidar device, but in FIG. 2c, some of the horizontal detection ranges of each lidar device may overlap. This may be a phenomenon that occurs because the spacing between the positions of the lidar devices varies depending on the length of the vehicle. Again, referring to FIGS. 2b and 2c, there may be an area around the vehicle that is not included in the horizontal detection range of the lidar device. The size of the area that is not included in the horizontal detection range of the lidar device may be smaller in FIG. 2c than in FIG. 2b. This may likewise be a phenomenon that occurs due to the spacing between the positions of the lidar devices depending on the length of the vehicle.

[0051] FIG. 3 is a drawing showing an operation method of a lidar system placed on a vehicle according to one embodiment of the present invention.

[0052] The vehicle includes a lidar system for detecting surrounding objects. The lidar system includes multiple lidar devices (11, 12, 13, 14) and can be operated by electronic devices within the vehicle. The lidar device may be a solid-state lidar without a physical actuator, as described above. The lidar device may include multiple light emitters, each of which can be operated. The horizontal azimuth of each light emitter may be greater than 120 degrees.

[0053] When light is irradiated through all light-emitting units of a lidar device installed in a vehicle, an interference area may be generated. According to one embodiment of the present invention, the size of a horizontal detection area can be adjusted by controlling a plurality of light-emitting units included in a lidar device. Referring to FIG. 3, a plurality of light-emitting units included in a lidar device can be sequentially driven. The driving order of the light-emitting units can be the same for light-emitting units whose horizontal detection areas to be driven do not overlap each other. Alternatively, the driving order of the light-emitting units can be adjusted to minimize the overlapping area of ​​the horizontal detection areas of the driven light-emitting units. For example, an electronic device in a vehicle can detect an object by setting the first light emitting unit of a lidar device disposed on the right side of the vehicle, the first light emitting unit of a lidar device disposed on the front side of the vehicle, the first light emitting unit of a lidar device disposed on the left side of the vehicle, and the first light emitting unit of a lidar device disposed on the rear side of the vehicle to on, and setting the second light emitting unit of a lidar device disposed on the right side of the vehicle, the second light emitting unit of a lidar device disposed on the front side of the vehicle, the second light emitting unit of a lidar device disposed on the left side of the vehicle, and the second light emitting unit of a lidar device disposed on the rear side of the vehicle to off. Thereafter, the electronic device in the vehicle can detect an object by setting the first light emitting unit of the lidar device disposed on the right side of the vehicle, the first light emitting unit of the lidar device disposed on the front side of the vehicle, the first light emitting unit of the lidar device disposed on the left side of the vehicle, and the first light emitting unit of the lidar device disposed on the rear side of the vehicle to off, and setting the second light emitting unit of the lidar device disposed on the right side of the vehicle, the second light emitting unit of the lidar device disposed on the front side of the vehicle, the second light emitting unit of the lidar device disposed on the left side of the vehicle, and the second light emitting unit of the lidar device disposed on the rear side of the vehicle to on. The electronic device in the vehicle can detect an object by controlling the first light emitting unit and the second light emitting unit of each lidar device to turn on and off at regular time intervals.

[0054] For reference, in FIG. 3, the horizontal detection area by the first light emitting unit of the first lidar device is indicated as 110-1, the horizontal detection area by the second light emitting unit of the first lidar device is indicated as 110-2, the horizontal detection area by the first light emitting unit of the second lidar device is indicated as 120-1, and the horizontal detection area by the second light emitting unit of the second lidar device is indicated as 120-2.

[0055] According to one embodiment, each lidar device can include a light receiving unit and control each unit. The electronic device in the vehicle can control the light receiving area of ​​the light receiving unit according to the driving order of the light emitting unit of the lidar device. According to one embodiment, the electronic device in the vehicle can control the light receiving area of ​​the light receiving unit according to the driving order of the light emitting unit of the lidar device without controlling the on / off of the light emitting unit of the lidar device.

[0056] FIG. 4 is a drawing showing an operation method of a lidar system placed on a vehicle according to another embodiment of the present invention.

[0057] A lidar system including multiple lidar devices may be included in a vehicle. The lidar system may be operated by electronic devices included in the vehicle. The lidar device may be a solid-state lidar without a physical actuator, as described above. The lidar device may include multiple emitters, each of which may be operated individually. The horizontal azimuth of each emitter may be greater than 120 degrees.

[0058] According to another embodiment of the present invention, the size of a horizontal detection area can be adjusted by controlling the intensity of output light signals of a plurality of light-emitting units included in a lidar device. Referring to FIG. 4, the plurality of lidar devices can be driven sequentially. The order in which the plurality of lidar devices are driven can be configured so that the horizontal detection areas of the driven lidar devices do not overlap with each other or overlap with each other to a minimum. In FIG. 4, the lidar device disposed on the right side of the vehicle and the lidar device disposed on the left side of the vehicle are set to output light to the maximum, and the lidar device disposed in front of the vehicle and the lidar device disposed at the rear of the vehicle are set to output light to the minimum, thereby detecting an object. Thereafter, the electronic device in the vehicle can detect an object by setting the lidar device disposed on the right side of the vehicle and the lidar device disposed on the left side of the vehicle to output light to the minimum, and the lidar device disposed in front of the vehicle and the lidar device disposed at the rear of the vehicle to output light to the maximum. That is, the electronic device in the vehicle can detect an object by dividing the plurality of lidar devices into a plurality of groups and controlling the output to the minimum or maximum at regular time intervals.

[0059] In one embodiment, each lidar device includes a light-receiving unit and can be controlled individually. The electronic device in the vehicle can control the light-receiving area of ​​the light-receiving unit based on the intensity of the output of the lidar device. That is, the electronic device in the vehicle can set the light-receiving unit to detect an object when the intensity of the output of the light-emitting unit of the lidar device is set to maximum, and can set the light-receiving unit not to operate otherwise.

[0060] In Fig. 3, the light emitting unit is controlled to turn on or off, and in Fig. 4, the output of the light emitting unit is controlled to maximum or minimum, but this is not a limitation. For example, in Fig. 3, the output of the light emitting unit can be controlled to maximum or minimum, and in Fig. 4, the light emitting unit can also be controlled to turn on or off.

[0061] FIG. 5 is a drawing showing a state in which a lidar device according to one embodiment of the present invention is connected to an electronic device in a vehicle.

[0062] A vehicle may include an in-vehicle electronic device (510) and a lidar system (not shown). The lidar system may include multiple lidar devices. In one embodiment, the multiple lidar devices may be positioned on the left, right, front, and rear of the vehicle, respectively. The multiple lidar devices may be the same lidar device, but may also be different lidar devices. FIG. 5 illustrates an internal configuration diagram of one lidar device that may be included in the lidar system. The in-vehicle electronic device (510) may operate a lidar system including multiple lidar devices to detect objects around the vehicle.

[0063] Referring to FIG. 5, the lidar device (520) may include a power supply unit (530), a plurality of light-emitting units (540, 550), and a light-receiving unit (560). The lidar device (520) may receive power and control signals from an in-vehicle electronic device (510). According to one embodiment, the lidar device (520) may also transmit a generated signal or data to the in-vehicle electronic device (510).

[0064] The power supply unit (530) can transmit the received power to a component requiring power within the lidar device (520). The power transmitted to the power supply unit (530) may be transmitted from an electronic device (510) within the vehicle, but is not limited thereto. The power supply unit (530) can transmit power according to the power required by the component requiring power within the lidar device (520). In particular, the light emitting units (540, 550) can irradiate light by adjusting the intensity of light, and thus can request power corresponding thereto from the power supply unit (530). The power supply unit (530) can supply power of the intensity requested by the light emitting units (540, 550) to the light emitting units (540, 550).

[0065] The light emitting units (540, 550) may be plural. In FIG. 5, two light emitting units (540, 550) are included in the lidar device (520). The first light emitting unit (540) and the second light emitting unit (550) may include the same configuration. The first light emitting unit (540) and the second light emitting unit (550) may be driven separately. Here, the first light emitting unit (540) is described as an example, but the second light emitting unit (550) may also be applied. The first light emitting unit (540) may include a power supply 1 (542), a VCSEL (Vertical-cavity surface-emitting laser) 1 (544), a transmission driver IC 1-1 (546), and a transmission driver IC 1-2 (548). The power supply 1 (542) may supply power to the VCSEL 1 (544). VCSEL 1(544), also referred to as a 'vertical cavity surface-emitting laser' or 'VCSEL', is a type of semiconductor laser diode that emits laser in a vertical direction from its upper surface. VCSEL 1(544) can control the intensity of light output by controlling the current injected through voltage. Transmitting driver IC 1-1(546) and transmitting driver IC 1-2(548) can control and drive VCSEL 1(544). Specifically, transmitting driver IC 1-1(546) and transmitting driver IC 1-2(548) can control the timing at which VCSEL 1(544) outputs light. Transmitting driver IC 1-1(546) and transmitting driver IC 1-2(548) can control the output current according to the input voltage to control the output light intensity of VCSEL 1(544). Transmitter driver IC 1-1 (546) and transmitter driver IC 1-2 (548) can accurately supply the current required for VCSEL 1 (544) to enable stable operation of VCSEL 1 (544).Additionally, the transmitter driver IC 1-1 (546) and the transmitter driver IC 1-2 (548) can generate signals for transmitting data using techniques such as pulse width modulation (PWM), and can perform a temperature compensation function since the performance of the VCSEL 1 (544) can vary depending on temperature. In addition, the transmitter driver IC 1-1 (546) and the transmitter driver IC 1-2 (548) can protect the VCSEL 1 (544) from situations such as overcurrent, overheating, and short circuit.

[0066] In order to drive the transmission driver IC 1-1 (546) and the transmission driver IC 1-2 (548), a signal must be received, and this signal can be transmitted from an in-vehicle electronic device (510). The in-vehicle electronic device (510) is connected to the transmission driver IC 1-1 (546) and the transmission driver IC 1-2 (548) via an I2C (Inter-Integrated Circuit) to transmit and receive necessary signals. The first light-emitting unit (540) can be controlled by the in-vehicle electronic device (510) through the transmission driver IC 1-1 (546) and the transmission driver IC 1-2 (548). According to one embodiment, the in-vehicle electronic device (510) can also control the transmission driver IC 1-1 (546) and the transmission driver IC 1-2 (548), respectively.

[0067] Separately, the transmitter driver IC 1-1 (546) and the transmitter driver IC 1-2 (548) may include an enable pin. Using the enable pin, the transmitter driver IC 1-1 (546) and the transmitter driver IC 1-2 (548) may be directly controlled. In the present invention, the in-vehicle electronic device (510) may also be directly connected to the enable pins of the transmitter driver IC 1-1 (546) and the transmitter driver IC 1-2 (548) in order to directly control the first light-emitting unit (540).

[0068] The light receiving unit (560) can receive light emitted and reflected through the first light emitting unit (540) and the second light emitting unit (550). The light can be detected using a receiving sensor (562) included in the light receiving unit (560).

[0069] According to one embodiment, a clock generation unit (564) may be further included in the light-receiving unit (560) to synchronize the first light-emitting unit (540), the second light-emitting unit (550), and the receiving unit (560). A signal generated through the clock generation unit (564) is input to the receiving sensor (562), and the signal generated in the receiving sensor (562) may be used as a driving signal for the first light-emitting unit (540) and the second light-emitting unit (550). The signal generated in the receiving sensor (562) may be used as a driving signal for the first light-emitting unit (540) and the second light-emitting unit (550) to synchronize the first light-emitting unit (540), the second light-emitting unit (550), and the receiving unit (560).

[0070] An in-vehicle electronic device (510) can be connected to a lidar device (520) through communication. The in-vehicle electronic device (510) can communicate with a first light-emitting unit (540), a second light-emitting unit (550), and a receiving unit (560) through I2C. The in-vehicle electronic device (510) can control each of the first light-emitting unit (540), the second light-emitting unit (550), and the receiving unit (560) through I2C communication.

[0071] Although the above description focuses on examples, these are merely examples and do not limit the present invention. Those skilled in the art will appreciate that various modifications and applications not exemplified above are possible without departing from the essential characteristics of the present invention. For example, each component specifically shown in the examples can be modified and implemented. In addition, differences related to such modifications and applications should be construed as being included within the scope of the present invention defined in the appended claims.

Claims

1. In a lidar system including multiple lidar devices, Each of the above plurality of lidar devices, Multiple light emitters; Power supply; and A light receiving unit that receives light emitted from at least one of the plurality of light emitting units; A lidar system in which the plurality of lidar devices are sequentially arranged around the vehicle and, when all of the plurality of light-emitting units included in the plurality of lidar devices output light, the horizontal detection ranges of the plurality of light-emitting units overlap at least partially, and the plurality of light-emitting units and light-receiving units of the plurality of lidar devices are controlled by an electronic device in the vehicle so that the area where the horizontal detection ranges of light output by the plurality of light-emitting units of the plurality of lidar devices overlap is minimized.

2. In paragraph 1, A lidar system in which the plurality of light emitting units included in each of the plurality of lidar devices are sequentially driven for a certain period of time to minimize the area where the horizontal detection ranges of light output by the plurality of light emitting units of the plurality of lidar devices overlap.

3. In paragraph 2, A lidar system in which the light receiving unit controls the light receiving area based on sequentially driven light emitting units among the plurality of light emitting units included in each of the plurality of lidar devices.

4. In paragraph 1, The plurality of lidar devices include first to fourth lidar devices, In order to minimize the area where the horizontal detection ranges of light output by the plurality of light emitting units of the first to fourth lidar devices overlap, the plurality of light emitting units included in the first lidar device are driven sequentially for a certain period of time, A lidar system in which a plurality of light-emitting units included in the second lidar device, a plurality of light-emitting units included in the third lidar device, and a plurality of light-emitting units included in the fourth lidar device are also sequentially driven for a certain period of time like the plurality of light-emitting units included in the first lidar device.

5. In paragraph 1, The plurality of lidar devices include first to fourth lidar devices, In order to minimize the area where the horizontal detection ranges of light output by the plurality of light-emitting units of the first to fourth lidar devices overlap, the intensity of the output light signals of the first lidar device and the third lidar device is output at the maximum for a certain period of time and then output at the minimum for a certain period of time. In response to this, a lidar system that outputs the intensity of the output light signal of the second lidar device and the fourth lidar device at a minimum for a certain period of time and then outputs it at a maximum for a certain period of time.

6. In paragraph 1, The plurality of lidar devices include first to fourth lidar devices, For a certain period of time, the intensity of the output light signals of the first lidar device and the third lidar device is output at the maximum, and the intensity of the output light signals of the second lidar device and the fourth lidar device is output at the minimum. A lidar system in which the intensity of the output light signals of the first lidar device and the third lidar device is minimized for a certain period of time, and the intensity of the output light signals of the second lidar device and the fourth lidar device is maximized.

7. In paragraph 1, The above plurality of lidar devices are solid state lidars without physical actuators, A lidar system, wherein each of the plurality of light-emitting units has a horizontal azimuth angle greater than 120 degrees.

8. In paragraph 1, The plurality of lidar devices include first to fourth lidar devices, A lidar system in which the first to fourth lidar devices are respectively positioned on the right, left, front, and rear of the vehicle.

9. In paragraph 1, Each of the above plurality of light-emitting units, Vertical-cavity surface-emitting laser (VCSEL); A transmission driver for driving the VCSEL; and A lidar system comprising an internal power supply for supplying power to the VCSEL.

10. In paragraph 9, A lidar system in which a transmitter driver included in each of the plurality of light-emitting units of the plurality of lidar devices is further connected to and controlled by an enable pin with an electronic device in the vehicle.

11. In paragraph 1, A lidar system in which a plurality of light-emitting units and light-receiving units of the above-mentioned plurality of lidar devices are connected to an electronic device in a vehicle through I2C communication.

12. In paragraph 1, The above light receiving unit includes a receiving sensor and a clock generating unit, The signal generated by the clock generation unit is input to the receiving sensor, A lidar system in which a signal generated by the receiving sensor is input to the plurality of light-emitting units, and the plurality of light-emitting units and the light-receiving unit are synchronized.

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