Lidar sensor module

Abstract

A LiDAR sensor module according to an embodiment of the present invention includes one light receiver and a plurality of light emitters. The light receiver and the plurality of light emitters are arranged in series in a direction of the smaller of the horizontal field of view (FOV) and the vertical FOV, and the optical axis of at least one of the plurality of light emitters is different from the optical axis of the light receiver.

Description

Lidar sensor module

[0001] The present invention relates to a lidar sensor module, and more specifically, to a lidar sensor module capable of having a wide field of view without a physical driving unit.

[0002] LiDAR (Light Detection and Ranging) devices measure the distance to a target object or create a shape by using laser pulses that are emitted from the device and then reflected back from the target object. LiDAR devices can be applied to various technical fields that require 3D imaging. For example, LiDAR devices can be applied to various fields such as meteorology, aviation, space, and automotive. Recently, the role of LiDAR devices in the autonomous driving field has been rapidly increasing.

[0003] LiDAR sensors included in LiDAR devices can be categorized into spinning LiDAR and scanning LiDAR depending on their drive system. Spinning LiDAR uses a physical actuator to rotate the sensor to scan its surroundings, while scanning LiDAR scans in only one direction without a physical actuator. Scanning LiDAR is also called solid-state LiDAR.

[0004] LiDAR sensors without physical actuators can be relatively inexpensive and durable, but they have the disadvantage of a limited field of view. While the field of view may be large in one direction (horizontal or vertical), it may be very narrow in the other.

[0005] The present invention is intended to solve the above-mentioned problems and aims to provide a lidar sensor module having a large field of view in the horizontal and vertical directions without a physical driving unit.

[0006] The technical problem to be achieved by the present invention is to provide a lidar sensor module in which the minimum value of the maximum measurable distance is 5 m or more.

[0007] 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.

[0008] A lidar sensor module according to one embodiment of the present invention includes one light-receiving unit and a plurality of light-emitting units, wherein the light-receiving unit and the plurality of light-emitting units are arranged in series in a direction smaller than a horizontal field of view (FOV) and a vertical field of view, and the optical axis of at least one of the plurality of light-emitting units may be different from the optical axis of the light-receiving unit.

[0009] In one embodiment of the present invention, the lidar sensor module may have a horizontal field of view and a vertical field of view that is wider than the horizontal field of view and the vertical field of view, and the horizontal field of view by the single light receiving unit and the plurality of light emitting units may be greater than 160 degrees and less than 240 degrees, and the vertical field of view may be greater than 60 degrees.

[0010] In one embodiment of the present invention, when the horizontal angle of view is wider than the vertical angle of view, the horizontal angle of view of each of the plurality of light-emitting units may be greater than 45 degrees and less than 170 degrees.

[0011] According to one embodiment of the present invention, the lidar sensor module may have a minimum maximum measurable distance greater than 5 m by using the one light receiving unit and the plurality of light emitting units.

[0012] In a lidar sensor module according to one embodiment of the present invention, the maximum turn-on time of the plurality of light-emitting units may be 20% or less of the turn-off time.

[0013] In a lidar sensor module according to one embodiment of the present invention, the width on the time axis of the light pulses emitted from the plurality of light emitting units may be greater than 1 ns and less than 1 us.

[0014] In a lidar sensor module according to one embodiment of the present invention, the F / # of the light receiving unit may be 0.7 or more and 1.6 or less.

[0015] In a lidar sensor module according to one embodiment of the present invention, each of the plurality of light-emitting units may include a light source and an optical system.

[0016] In a lidar sensor module according to one embodiment of the present invention, the optical system may be a diffusion optical system and may include at least one of a lens, a diffuser, an MLA (micro lens array), a diffractive element, and a beam splitter.

[0017] In a lidar sensor module according to one embodiment of the present invention, the horizontal diffusion angle of the diffusion optical system may be 120 degrees or more.

[0018] In a lidar sensor module according to one embodiment of the present invention, the optical system may be an optical system for changing the direction of light emitted from the light source.

[0019] According to one embodiment of the present invention, the lidar sensor module includes a plurality of light sources, wherein the light sources included in the plurality of light-emitting units include at least one of a vertical-cavity surface-emitting laser (VCSEL), a light emitting diode (LED), and a laser diode (LD), and the center wavelength of the light sources may be 0.85 um to 2 um.

[0020] According to an embodiment of the present invention, a lidar sensor module having a large horizontal and vertical field of view can be provided.

[0021] According to an embodiment of the present invention, a lidar sensor module having a minimum value of a maximum measurable measurement distance of 5 m or more can be provided.

[0022] 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.

[0023] FIG. 1A and FIG. 1B are a plan view and a side view of a lidar sensor module according to one embodiment of the present invention.

[0024] FIG. 2 is an operation time sequence diagram showing an example of pulses emitted from a light emitting unit of a lidar sensor module according to one embodiment of the present invention.

[0025] FIGS. 3 to 5 are plan views of a lidar sensor module according to various embodiments of the present invention.

[0026] FIG. 6a is a plan view of a lidar sensor module according to another embodiment of the present invention, and FIGS. 6b and 6c are various side views of the lidar sensor module having the same plan view as FIG. 6a.

[0027] FIG. 7a and FIG. 7b are drawings showing various light sources of a light emitting unit included in a lidar sensor module according to an embodiment of the present invention.

[0028] Hereinafter, a preferred embodiment of the present invention will be described in detail with reference to the attached drawings.

[0029] 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.

[0030] 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.

[0031] 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.

[0032] 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.

[0033] Additionally, in describing components of embodiments of the present invention, terms such as first, second, A, B, (a), (b), etc. may be used.

[0034] 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.

[0035] 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.

[0036] 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.

[0037] FIG. 1A and FIG. 1B are a plan view and a side view of a lidar sensor module according to one embodiment of the present invention.

[0038] Referring to FIGS. 1A and 1B, the lidar sensor module (100) may include one light-receiving unit (110) and multiple light-emitting units (120, 130). In FIGS. 1A and 1B, the multiple light-emitting units (120, 130) are composed of a first light-emitting unit (120) and a second light-emitting unit (130), but are not limited thereto. The multiple light-emitting units may include more light-emitting units.

[0039] The light receiving unit (110) may include a receiving sensor (112) and a lens unit (114). The receiving sensor (112) may be placed on a board (116). The lens unit (114) may be placed in front of the receiving sensor (112) to collect light entering the lens unit (114) and cause the light to enter the receiving sensor (112). The lens unit (114) may include a plurality of lenses. The F value (F / #) of the light receiving unit (110), which indicates the amount of light, may be 0.7 or more and 1.6 or less. In Fig. 1a, an area 118-1 represents a horizontal angle of view of the light receiving unit (110), and in Fig. 1b, an area 118-2 represents a vertical angle of view of the light receiving unit (110).

[0040] The first light emitting unit (120) may include a plurality of light sources (122). In addition, a board (124) on which the plurality of light sources (122) are arranged and a diffuser (126) may be further included in the first light emitting unit (120). The diffuser (126) is a type of diffusion optical system and can diffuse the light emitted from the plurality of light sources (122) and radiate it to the outside. The diffuser (126) may be arranged so that the light emitted from the plurality of light sources (122) is incident thereon. In FIG. 1A, area 128 represents the horizontal angle of view of the first light emitting unit (120).

[0041] The second light emitting unit (130), like the first light emitting unit (120), may include a plurality of light sources (132), a board (134) on which the plurality of light sources (132) are arranged, and a diffuser (136). The diffuser (136) may be arranged so that light emitted from the plurality of light sources (132) is incident thereon. The light emitted from the plurality of light sources (132) may be radiated to the outside through the diffuser (136). In FIG. 1A, area 138 represents the horizontal field of view of the second light emitting unit (130).

[0042] In Figs. 1a and 1b, a diffuser is described as an example of a diffusion optical system, but the present invention is not limited thereto. Instead of or in addition to a diffuser, at least one of a lens, a diffuser, an MLA (micro lens array), a diffractive element, and a beam splitter, which are diffusion optical systems, may be used. The optical elements of the diffusion optical system included in the light-emitting unit may have a horizontal diffusion angle of 120 degrees or more. When a plurality of optical elements are included in the light-emitting unit as diffusion optical systems, the horizontal diffusion angle of the entirety of the diffusion elements, rather than each individual diffusion element, may be 120 degrees or more.

[0043] The multiple light sources included in the first light emitting unit (120) and the second light emitting unit (130) may be the same light source, but are not limited thereto. Specific descriptions and various examples of the types of light sources, arrangements of light sources, etc. are described in FIGS. 7a and 7b and are therefore omitted here.

[0044] The horizontal field of view of the lidar sensor module (100) may be greater than 160 degrees and less than 240 degrees. Referring to FIG. 1B, the vertical field of view of the lidar sensor module (100) may be greater than 60 degrees. The horizontal field of view of each of the first light emitting unit (120) and the second light emitting unit (130) may be greater than 45 degrees and less than 170 degrees. The optical axes of the plurality of light emitting units (120, 130) are different, so that the horizontal field of view of the lidar sensor module (100) may be greater than 160 degrees and less than 240 degrees. When the plurality of light emitting units include three or more light emitting units, the optical axes of some of the plurality of light emitting units may be different.

[0045] The light receiving unit (110) and the plurality of light emitting units (120, 130) may be arranged in series in a vertical direction in which the angle of view is small. Referring to FIG. 1B, the plurality of light emitting units (120, 130) are illustrated as being arranged above the light receiving unit (110), but conversely, the plurality of light emitting units (120, 130) may be arranged below the light receiving unit (110). Alternatively, some of the plurality of light emitting units (120, 130) may be arranged above the light receiving unit (110), and other parts may be arranged below the light receiving unit (110). According to one embodiment, at least one of the optical axes (128, 138) of the plurality of light emitting units may be different from the optical axis (116) of the light receiving unit. According to this structure, the maximum measurable measurement distance of the lidar sensor module (100) may be greater than at least 5 m.

[0046] According to one embodiment, the first light emitting unit (120) and the second light emitting unit (130) may be arranged symmetrically with respect to the light receiving unit (110). The first light emitting unit (120) and the second light emitting unit (130) may be arranged spaced apart from each other at a certain distance with respect to the light receiving unit (110).

[0047] According to one embodiment, in addition to the light receiving unit (110) and the plurality of light emitting units (120, 130), a mechanical structure for fixing them, an optical system for changing the direction of light, etc. may be further included in the lidar sensor module (100).

[0048] Meanwhile, using a lidar sensor module according to one embodiment of the present invention, the distance to an object can be measured using a direct or indirect TOF (time of flight) method.

[0049] FIG. 2 is an operation time sequence diagram showing an example of pulses emitted from a light emitting unit of a lidar sensor module according to one embodiment of the present invention.

[0050] The lidar sensor module can emit light to detect an object, and the emitted light can be in the form of a pulse. Accordingly, the lidar sensor module can have a frame per second (fps) setting. FIG. 2 illustrates a pulse set to 10 fps, for example, and the interval between pulses can be 100 ms. Specifically, the pulse can be composed of an on section (210) and an off section. The on section (210) of the pulse can be, for example, 33.3 ms. The off section of the pulse can be 66.4 ms, excluding the on section (210) of the pulse from 100 ms. The on section (210) of the pulse can further include pulses.

[0051] In Fig. 2, two examples (210-1, 210-2) are shown in which a pulse is included within the on section (210) of the pulse.

[0052] The first example (210-1) includes four pulses within the on period (210) of the pulse, and the second example (210-2) includes one pulse within the on period (210) of the pulse. In the first example (210-1), since four pulses are included within the on period (210) of the pulse, one pulse may be 8.325 ms. In the second example (210-2), since one pulse is included within the on period (210) of the pulse, the pulse may be 33.3 ms. In the first example (210-1) and the second example (210-2), the on time (220) of the pulse included within the on period (210) of the pulse may be 2 ms.

[0053] In one embodiment, a pulse may be included within the on time (220) of the pulse. The pulse included within the on time (220) of the pulse may be 8 MHz, and the duty ratio may be 50%.

[0054] FIGS. 3 to 5 are plan views of a lidar sensor module according to various embodiments of the present invention.

[0055] The lidar sensor modules of FIGS. 3 to 5 may include identical or similar parts to the lidar sensor modules described in FIGS. 1A and 1B. For identical or similar parts, reference may be made to FIGS. 1A and 1B. In particular, the light-receiving units of the lidar sensor modules in FIGS. 3 to 5 may be substantially the same, and thus are indicated by dotted lines and a detailed description thereof may be omitted. Hereinafter, the multiple light-emitting units of the lidar sensor module will be described in detail.

[0056] Referring to FIG. 3, the lidar sensor module (300) may include one light-receiving unit (310) and multiple light-emitting units (320, 330). The multiple light-emitting units (320, 330) may include more light-emitting units in addition to the first light-emitting unit (320) and the second light-emitting unit (330), but in FIG. 3, the first light-emitting unit (320) and the second light-emitting unit (330) are included as in FIGS. 1A and 1B. In FIGS. 1A and 1B, the multiple light-emitting units (120, 130) are spaced apart from the light-receiving unit (110) by a certain distance and then spread apart, but in FIG. 3, the light-receiving unit (310) and the multiple light-emitting units (320, 330) may be arranged such that their optical axes are parallel to each other in the horizontal direction, and the multiple light-emitting units (320, 330) may be arranged forward of the light-receiving unit (310). More specifically, the light sources (322, 332) included in the plurality of light-emitting units (320, 330) may be arranged in front of the receiving sensor (312) of the light-receiving unit (310). In FIG. 3, a mirror (340) may be arranged between the plurality of light-emitting units (320, 330). The mirror (340) may change the path of light so that the light emitted from the light sources included in the light-emitting units is incident on the diffuser. The light emitted from the light source may have its path changed by the mirror (340) and may be incident on the diffuser. Thereafter, the light may be emitted to the outside of the lidar sensor module (300). Referring to FIG. 3, the shape of the mirror (340) may be a triangular prism, but is not limited thereto.

[0057] In Fig. 3, a diffuser is used as an optical system to diffuse light, and a mirror is used as an optical system to change the path of light, but this is not limited thereto. Instead of or in addition to the diffuser, at least one of a lens, diffuser, MLA, diffractive element, or beam splitter may be used. Additionally, a lens, prism, or the like may be used instead of or in addition to the mirror.

[0058] Referring to FIG. 4, the lidar sensor module (400) of FIG. 4 may also include one light receiving unit (410) and multiple light emitting units (420, 430). The multiple light emitting units (420, 430) may include a first light emitting unit (420) and a second light emitting unit (430). The one light receiving unit (410) and the multiple light emitting units (420, 430) of FIG. 4 may be arranged in a straight line. According to one embodiment, the receiving sensor (412) included in the light receiving unit (410) and each light source (422, 432) included in the multiple light emitting units (420, 430) may be arranged on one board. The light receiving unit (410) and the plurality of light emitting units (420, 430) are arranged in a straight line so that the optical axes of the light receiving unit (410) and the plurality of light emitting units (420, 430) can be parallel to each other in the horizontal direction. In Fig. 4, the lidar sensor module (400) may further include a mirror (440, 445) and a beam splitter (450). The light emitted from the light source of each light emitting unit (420, 430) may be reflected by the mirror (440, 445) and then split by the beam splitter (450). The mirror (440, 445) may have a concave shape. The light split by the beam splitter (450) may be incident on the diffuser (426, 436) and emitted to the outside. The mirrors (440, 445) and the beam splitter (450) can be arranged so that the light emitted from the light sources (422, 432) of the plurality of light-emitting units is incident on the diffuser (426, 436).

[0059] In Fig. 4, a concave mirror is used as an optical system to change the direction of light, and a diffuser and beam splitter are used as optical systems to diffuse light, but this is not limited to these. For example, other optical elements such as lenses, MLAs, and diffractive elements may also be used.

[0060] Referring to FIG. 5, the lidar sensor module (500) of FIG. 5 may also include one light receiving unit (510) and multiple light emitting units (520, 530). In FIG. 5, the multiple light emitting units (520, 530) may be a first light emitting unit (520) and a second light emitting unit (530). The first light emitting unit (520) and the second light emitting unit (530) may be arranged in a straight line. The first light emitting unit (520) and the second light emitting unit (530) may be arranged to rotate at a certain angle around the board (516) of the light receiving unit (510). The lidar sensor module (500) may further include a mirror (540) and a beam splitter (550). In FIG. 5, light emitted from the second light emitting unit (530) among the plurality of light emitting units (520, 530) is reflected by a mirror (540) and split through a beam splitter (550), and light emitted from the first light emitting unit (520) can be directly transmitted to the beam splitter (550) and split. The mirror (540) may have a concave shape to reflect the light emitted from the second light emitting unit (530) to the beam splitter (550). The light split through the beam splitter (550) can be emitted to the outside through each diffuser (523, 536).

[0061] In Fig. 5, as in Fig. 4, a concave mirror (540) is used as an optical system for changing the direction of light, and a diffuser (526, 536) and a beam splitter (550) are used as a diffusion optical system for diffusing light, but are not limited thereto. For example, other optical elements such as lenses, MLAs, and diffractive elements may also be used.

[0062] FIG. 6a is a plan view of a lidar sensor module according to another embodiment of the present invention, and FIGS. 6b and 6c are various side views of the lidar sensor module having the same plan view as FIG. 6a.

[0063] Specifically, the plan view of the lidar sensor module is the same as in Fig. 6a, but the side view may be different due to the different arrangement of the internal components included in the lidar sensor module.

[0064] Referring to FIG. 6A, the lidar sensor module (600) may be similar to the lidar sensor module of FIG. 1A. Similar to FIG. 1A, the lidar sensor module (600) may include a light receiving unit (610) and a plurality of light emitting units (620, 630). The light receiving unit (610) may include a receiving sensor (612) and a lens unit, and the receiving sensor (612) may be disposed on a board (616). The lens unit may include a plurality of lenses. The lens unit may be disposed in an opposite direction to the board (616) with the receiving sensor (612) at the center, and may collect light entering the lens unit and direct it to the receiving sensor (612). The plurality of light emitting units (620, 630) may include a first light emitting unit (620) and a second light emitting unit (630). Each of the plurality of light emitting units (620, 630) may include a light source (622, 632) and a diffuser (626, 636). In addition, the plurality of light emitting units (620, 630) may include a board (624, 634) on which the light sources (622, 632) are arranged. According to one embodiment, the board (624, 634) on which the light sources (622, 632) are arranged may include each of the plurality of light emitting units (620, 630) or may be configured as one.

[0065] When the lidar sensor module (600) is viewed from the side, a lens unit (614) can be seen in the light receiving unit (610). Referring to FIG. 6b, a plurality of light emitting units (620, 630) are arranged on the same axis in the horizontal direction, and referring to FIG. 6c, a plurality of light emitting units (620, 630) are arranged on the same axis in the vertical direction. The width of the lidar sensor module of FIG. 6b may be wider than the width of the lidar sensor module of FIG. 6c. For example, if the width of the location where the lidar sensor module is to be installed is 50 mm or less, the lidar sensor module of FIG. 6c can be installed, and if the width is 75 mm or less, the lidar sensor module of FIG. 6b can also be installed. However, since the configurations included in the lidar sensor module of FIG. 6b and the lidar sensor module of FIG. 6c may be the same, the length of the lidar sensor module of FIG. 6b may be shorter than the length of the lidar sensor module of FIG. 6c.

[0066] More specifically, in FIG. 6b, a plurality of light-emitting units (620, 630) may be arranged above a light-receiving unit (610). The first light-emitting unit (620) and the second light-emitting unit (630) may be arranged to form a certain angle with respect to the light-receiving unit (610). Although FIG. 6b illustrates that a plurality of light-emitting units (620, 630) are arranged above the light-receiving unit (610), a plurality of light-emitting units (620, 630) may also be arranged below the light-receiving unit (610).

[0067] In Fig. 6c, the plurality of light-emitting units (620, 630) of Fig. 6b can be arranged separately. The first light-emitting unit (620) can be arranged above the light-receiving unit (610), and the second light-emitting unit (630) can be arranged below the light-receiving unit (610), but conversely, the first light-emitting unit (620) can be arranged below the light-receiving unit (610), and the second light-emitting unit (630) can be arranged above the light-receiving unit (610).

[0068] FIG. 7a and FIG. 7b are drawings showing various light sources of a light emitting unit included in a lidar sensor module according to an embodiment of the present invention.

[0069] In Figures 7a and 7b, a vertical-cavity surface-emitting laser (VCSEL) is described as the light source, but the present invention is not limited thereto. For example, an LED, LD, etc. can be used as the light source. The central wavelength of the light source can be 0.85 μm to 2 μm.

[0070] Referring to FIG. 7a, the light-emitting unit (710) of the lidar sensor module may include nine pixels as light sources. The nine pixels may be arranged in a 3x3 array. Each column (712, 714, 716) may be controlled by one driver IC (722, 724, 826).

[0071] Referring to FIG. 7b, the light-emitting unit (730) of the lidar sensor module may include 10 pixels as light sources. The 10 pixels may be arranged, for example, in a 5x2 array. Each column (732, 734) may be controlled by a respective driver IC (742, 744).

[0072] In one embodiment, when there are multiple light sources included in the light emitting unit, the light sources may be referred to as a light source group.

[0073] Figures 7a and 7b are only examples and are not limiting. The number of light sources included in the light emitting unit, the number of light sources controlled by a single driver IC, and / or their arrangement may vary. For example, a single driver IC may control pixels arranged in a single column, but may also control pixels arranged in a single row, pixels arranged in multiple columns, or pixels arranged in multiple rows.

[0074] The above description describes the horizontal field of view of the lidar sensor module as being wider than the vertical field of view, but is not limited to this. If the lidar sensor module is rotated 90 degrees, the vertical field of view may be wider than the horizontal field of view.

[0075] 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. One photoreceptor; Contains multiple light emitting units, The above light receiving unit and the plurality of light emitting units are arranged in series in a smaller direction among the horizontal field of view (FOV) and the vertical field of view, A lidar sensor module, wherein the optical axis of at least one of the plurality of light-emitting units is different from the optical axis of the light-receiving unit.

2. In paragraph 1, If the horizontal angle of view is wider than the vertical angle of view, A lidar sensor module in which a horizontal angle of view by the above-mentioned one light receiving unit and the above-mentioned plurality of light emitting units is greater than 160 degrees and less than 240 degrees, and a vertical angle of view is greater than 60 degrees.

3. In paragraph 2, If the horizontal angle of view is wider than the vertical angle of view, A lidar sensor module, wherein each of the plurality of light-emitting units has a horizontal angle of view greater than 45 degrees and less than 170 degrees.

4. In paragraph 1, A lidar sensor module, wherein the minimum maximum measurable distance is greater than 5 m by using the above one light receiving unit and the above multiple light emitting units.

5. In paragraph 1, A lidar sensor module, wherein the maximum turn-on time of the plurality of light-emitting units is 20% or less of the turn-off time.

6. In paragraph 1, A lidar sensor module, wherein the width of the light pulses emitted from the plurality of light emitting units on the time axis is greater than 1 ns and less than 1 us.

7. In paragraph 1, A lidar sensor module, wherein the F / # of the above light receiving unit is 0.7 or more and 1.6 or less.

8. In paragraph 1, A lidar sensor module, wherein each of the plurality of light-emitting units includes a light source and an optical system.

9. In paragraph 8, A lidar sensor module, wherein the optical system is a diffusion optical system and includes at least one of a lens, a diffuser, an MLA (micro lens array), a diffractive element, and a beam splitter.

10. In paragraph 9, A lidar sensor module having a horizontal diffusion angle of the above diffusion optical system of 120 degrees or more.

11. In paragraph 8, The above optical system is an optical system for changing the direction of light emitted from the light source, a lidar sensor module.

12. In paragraph 8, The light source included in the plurality of light-emitting units includes a plurality of light sources, The light source includes at least one of a vertical-cavity surface-emitting laser (VCSEL), a light emitting diode (LED), and a laser diode (LD), and A lidar sensor module having a central wavelength of the light source of 0.85 um to 2 um.

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