Lidar apparatus

Abstract

The present invention relates to a lidar apparatus and, more specifically, to a short-range lidar apparatus capable of reducing material costs. The lidar apparatus according to an embodiment comprises: a transmission unit including a laser array including a plurality of laser pixels, and a lens system disposed on the laser array and configured to direct, at different preset angles, laser light incident from the plurality of laser pixels; a reception unit which includes a first photodetector and a second photodetector each having a field of view of an acute angle, and which is configured to have a field of view wider than the field of view of the first photodetector or the second photodetector in the horizontal direction; and a control unit which controls the plurality of laser pixels to be sequentially driven at least one by one, and configured to receive electrical signals output from the first photodetector and the second photodetector to generate point cloud data, wherein the first photodetector and the second photodetector are disposed to be inclined at a predetermined angle with respect to a reference surface, respectively, and are disposed to be symmetrical to each other with respect to an axis perpendicular to the reference surface.

Description

LiDAR device

[0001] The present invention relates to a lidar device, and more specifically, to a short-range lidar device capable of reducing material costs.

[0002] LiDAR (Light Detection And Ranging) devices are being applied in various fields, such as aerospace, geology, 3D mapping, automobiles, robots, and drones, and are being sold in the market.

[0003] Conventional short-range LiDAR devices sold on the market are relatively limited in variety compared to other types of LiDAR devices, and their specifications do not fully meet the requirements of current Original Equipment Manufacturers (OEMs). Here, the requirements are that the horizontal x vertical field of view is 170 x 70 degrees, the measurement distance is within 20m, and the horizontal x vertical angular resolution is 0.5 x 0.5 degrees.

[0004] In order to cover the entire area of ​​a vehicle with short-range LiDAR devices, the number of LiDAR devices that must be installed per vehicle inevitably increases. However, because the unit cost of LiDAR devices is relatively high compared to other automotive parts, original equipment manufacturers (OEMs) prefer to install a total of four LiDAR devices on the vehicle, with one device covering 170 to 180 degrees and one device on each side of the vehicle.

[0005] Since most conventional short-range LiDAR devices utilized a scanning method equipped with mechanical drive units or moving parts, there were problems such as increased volume and weight due to these components, as well as relatively higher prices.

[0006] In conventional scanning-type short-range LiDAR devices, the transmitter simply serves as an illumination unit, while the receiver serves as the LiDAR unit that satisfies the requirements for horizontal / vertical field of view and spatial resolution. Consequently, because the receiver (RX) had to use high-performance sensors and precision lenses, conventional scanning-type short-range LiDAR devices have a problem with high material costs.

[0007] The problem that the present invention aims to solve is to provide a lidar device that can reduce material costs while satisfying the requirements of a short-range lidar device.

[0008] In addition, a lidar device that does not require mechanical drive parts or moving parts is provided.

[0009] In addition, a lidar device that satisfies eye-safety conditions is provided.

[0010] A lidar device according to an embodiment comprises: a transmitting unit including a laser array comprising a plurality of laser pixels and a lens system disposed on the laser array and configured to direct laser light incident from the plurality of laser pixels at different preset angles; a receiving unit comprising a first photodetector and a second photodetector having an acute angle of view and configured to have a field of view wider than the field of view of the first photodetector or the second photodetector in the horizontal direction; and a control unit configured to control the plurality of laser pixels to be driven sequentially at least one by one and to receive electrical signals output from the first photodetector and the second photodetector to generate point cloud data; wherein the first photodetector and the second photodetector are each disposed to be tilted at a predetermined angle with respect to a reference plane and are disposed symmetrically with respect to an axis perpendicular to the reference plane.

[0011] Using the lidar device of the present invention has the advantage of reducing material costs while satisfying the requirements of a short-range lidar device.

[0012] In addition, there is the advantage of not requiring mechanical drive units or moving parts.

[0013] In addition, it has the advantage of satisfying eye-safety conditions.

[0014] FIG. 1 is a schematic block diagram of a lidar device according to an embodiment.

[0015] FIG. 2 is a schematic diagram illustrating an embodiment of the transmitting unit (110) and receiving unit (130) shown in FIG. 1.

[0016] FIG. 3 is a schematic plan view of a VCSEL array, which is an example of the laser array (1110) shown in FIG. 2.

[0017] FIG. 4 is a diagram for explaining the principle in which laser light is output from the transmitter (110') shown in FIG. 2 and point cloud data is generated.

[0018] FIGS. 5 (a) to (d) is a diagram for schematically explaining the driving method of a driving circuit that drives a laser array (1110) shown in FIGS. 2 to 3.

[0019] FIG. 6 is a diagram visualizing multiple point cloud data generated through a LiDAR device including a transmitter (110') and a receiver (130') shown in FIG. 2.

[0020] FIG. 7 is a diagram schematically illustrating another embodiment of the transmitter (110) shown in FIG. 1.

[0021] FIG. 8 is a diagram schematically illustrating another embodiment of the transmitter (110) shown in FIG. 1.

[0022] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the attached drawings. However, the technical concept of the present invention is not limited to some of the described embodiments but can be implemented in various different forms, and within the scope of the technical concept of the present invention, one or more of the components among the embodiments may be selectively combined or substituted.

[0023] In addition, terms used in the embodiments of the present invention (including technical and scientific terms) may be interpreted in a sense that is generally understood by those skilled in the art to which the present invention belongs, unless explicitly and specifically defined otherwise. Terms that are commonly used, such as terms defined in advance, may be interpreted in consideration of their meaning in the context of the relevant technology.

[0024] Furthermore, the terms used in the embodiments of the present invention are for the purpose of describing the embodiments and are not intended to limit the present invention.

[0025] In this specification, the singular form may include the plural form unless specifically stated otherwise in the text, and when described as "at least one of A and B and C (or more than one)," it may include one or more of all combinations that can be formed from A, B, and C.

[0026] Where it is stated that a component is 'connected', 'combined', or 'joined' to another component, this may include not only cases where the component is directly connected, combined, or joined to the other component, but also cases where it is 'connected', 'combined', or 'joined' due to another component located between the component and the other component.

[0027] Furthermore, when described as being formed or placed "above or below" each component, "above" or "below" includes not only cases where two components are in direct contact with each other, but also cases where one or more other components are formed or placed between the two components. Additionally, when expressed as "above or below," it may include the meaning of a downward direction as well as an upward direction relative to a single component.

[0028] FIG. 1 is a schematic block diagram of a lidar device according to an embodiment.

[0029] Referring to FIG. 1, a lidar device (100) according to an embodiment includes a transmitter (110) that generates and outputs a predetermined light signal, a receiver (130) that receives a light signal reflected from an object, and a control unit (150) that controls the overall operation of the transmitter (110) and the receiver (130) and processes the light signal received from the receiver (110) to detect an object.

[0030] Only the components related to the embodiments shown in the lidar device (100) are illustrated. Therefore, it is obvious to those skilled in the art that the lidar device (100) may include other general-purpose components in addition to the components illustrated in FIG. 1.

[0031] The transmitting unit (110) includes a light source.

[0032] The light source may include a laser diode (LD) and a vertical-cavity surface emitting laser (VCSEL). A VCSEL is one of the laser diodes that converts an electrical signal into an optical signal and can output a wavelength of about 800 to 1000 nm, for example, about 850 nm or about 940 nm. Additionally, the light source may include an edge emitting laser, a distributed feedback laser, a light emitting diode (LED), and a super luminescent diode (SLD).

[0033] The light generated by the light source may be infrared light with a wavelength of 770 to 3000 nm. Or the light generated by the light source may be visible light with a wavelength of 380 to 770 nm.

[0034] The light source can be a light-emitting diode (LED), and can have a form in which multiple light-emitting diodes are arranged according to a certain pattern. In addition, the light source can be an organic light-emitting diode (OLED).

[0035] The light source can generate pulsed light or continuous light. The continuous light may be in the form of a sinusoid wave or a squared wave. By generating the emitted light signal in the form of pulsed light or continuous light, the lidar device (100) can detect a time difference or phase difference between the light signal emitted from the transmitter (110) and the reflected signal input to the receiver (130) after being reflected from an object.

[0036] A light source may also generate and emit optical signals of multiple different wavelength bands.

[0037] The transmitting unit (110) may include a lens system positioned on a light source. The lens system may collect light output from the light source and output the collected light to the outside. The lens system may be positioned above the light source and spaced apart from the light source. Here, the above of the light source may refer to the side from which light is output from the light source. The lens system may include at least one lens. If the lens system includes multiple lenses, each lens may be aligned with respect to a central axis to form an optical system. Here, the central axis may be the same as the optical axis (Z) of the optical system.

[0038] The lens system can direct a light signal from a light source to a predetermined horizontal / vertical angle of view. The lens system can direct light signals emitted from multiple light sources to different angles of view that are predetermined. The lens system can direct a light signal from a light source to a horizontal angle of view of up to 170 to 180 degrees and a vertical angle of view of up to 70 to 80 degrees.

[0039] The transmitting unit (110) may further include a diffuser (not shown) disposed on a lens system. The diffuser (not shown) can receive light output from a light source and a lens system, and then refract or diffract the received light to output it.

[0040] The light signal emitted by the transmitter (110) can be controlled by the control unit (150). The transmitter (110) can control the output of the light signal by receiving a control signal from the control unit (150) to control the output of the light signal.

[0041] The transmitter (110) can generate and emit optical signals with different intensities, periods, frequencies, etc. The transmitter (110) can generate and emit optical signals in which the frequency is modulated according to a certain period. The distance and speed of an object can be measured simultaneously using the Doppler effect through the optical signal in which the frequency is modulated.

[0042] The receiver (130) can receive a light signal emitted from the transmitter (110) and reflected from an object. The receiver (130) may also be referred to as a scanner.

[0043] The receiver (130) includes a light detector. The light detector can receive a light signal and generate and output a corresponding electrical signal. The light detector can detect light of a wavelength corresponding to the wavelength of light output by the light source of the transmitter (100). For example, it can detect light in the infrared band.

[0044] The receiver (130) includes a first light detector and a second light detector having an acute angle of view, and may be configured to have a wider field of view in the horizontal direction than the field of view of the first light detector or the second light detector.

[0045] The photodetector includes an image sensor, and the image sensor may consist of a single pixel and have a single channel. The image sensor may include a Time of Flight (ToF) sensor that receives IR light reflected from an object and measures distance using a time difference or phase difference.

[0046] The photodetector may include an avalanche photodiode (APD) or a single photon avalanche diode (SPAD).

[0047] The receiver (130) may further include a protective cover configured to be placed on the photodetector and to protect the photodetector.

[0048] The receiver (130) may further include a filter placed on a photodetector. The filter may be placed on the optical path between the object and the photodetector. The filter may filter light having a predetermined wavelength range. The filter may transmit a specific wavelength band of light. The filter may pass light of a specific wavelength. For example, the filter may pass light in the infrared band and block light outside the infrared band.

[0049] The control unit (150) is configured to control the transmitting unit (110) and the receiving unit (130). In addition, it is configured to control other omitted components of the lidar device (100) according to the embodiment.

[0050] The control unit (150) may be configured to control the pulse pattern, output power, duty cycle, and timing of the optical signal generated and emitted by the transmitter (110).

[0051] The control unit (150) receives an electrical signal output through the receiver (130) and can output data corresponding to the electrical signal based on the received electrical signal. For example, the control unit (150) can calculate the Time of Flight (ToF) from the LiDAR device (100) to an object based on the received electrical signal and output distance data to the object. Alternatively, the control unit (150) can generate and output point cloud data based on the electrical signal received from the receiver (130).

[0052] The control unit (150) may also control the generated point cloud data to be visualized through 2D or 3D modeling software.

[0053] FIG. 2 is a schematic diagram illustrating an embodiment of the transmitting unit (110) and receiving unit (130) shown in FIG. 1.

[0054] Referring to FIG. 2, the transmitter (100') does not simply perform the role of an illuminator that spreads light as much as possible, as in the transmitter of a conventional lidar device, but is configured to perform a beam forming role that creates the horizontal / vertical angle of view and spatial resolution that a short-range lidar device must satisfy.

[0055] The transmitting unit (100') includes a laser array (1110) that emits laser light. The laser array (1110) includes a substrate (1113) and a plurality of laser pixels (1111) arranged in a matrix on the upper surface of the substrate (1113).

[0056] The laser pixels (1111) can be arranged in an array with a number corresponding to the pixel resolution required by the receiver (130').

[0057] The laser array (1110) may be a VCSEL array. For example, when the laser array (1110) is configured as a VCSEL array, in order to satisfy the requirements of a horizontal angle of view of 170 to 180 degrees, a vertical angle of view of 70 to 80 degrees, and an angular resolution of 0.5 degrees, the laser array (1110) may have 47,600 (=340 x 140) VCSELs arranged in a matrix form, as shown in FIG. 3.

[0058] The transmitter (100') includes a lens system (1130) disposed on a laser array (1110). The lens system (1130) includes one or more lenses. The lens system (1130) refracts laser light received from each laser pixel (1111) at a predetermined angle of view set for each laser pixel (1111) and outputs it. This will be explained in detail with reference to FIG. 4.

[0059] Referring to FIG. 4, laser light emitted from the first laser pixel (1111-1) is refracted as it passes through the lens system (1130) and outputs at a first horizontal field of view (Horizontal FOV). Here, the first horizontal field of view can be set to 170 to 180 degrees. When the laser light is output at the first horizontal field of view, the receiver outputs an electrical signal corresponding to the received light signal, and the control unit can generate first point cloud data (point cloud 1) corresponding to the output electrical signal.

[0060] The laser light emitted from the second pixel (1111-2) is refracted as it passes through the lens system (1130) and outputs at a second horizontal angle of view. Here, the second horizontal angle of view may be an angle greater than 90 degrees and smaller than the first horizontal angle of view. When the laser light is output at the second horizontal angle of view, the receiver outputs an electrical signal corresponding to the received light signal, and the control unit can generate second point cloud data (point cloud 2) corresponding to the output electrical signal.

[0061] The laser light emitted from the third pixel (1111-3) is refracted as it passes through the lens system (1130) and outputs at a third horizontal angle of view. Here, the third horizontal angle of view may be approximately 90 degrees. When the laser light is output at the third horizontal angle of view, the receiver outputs an electrical signal corresponding to the received light signal, and the control unit can generate third point cloud data (point cloud 3) corresponding to the output electrical signal.

[0062] In this way, the lens system (1130) is configured so that laser light emitted from each pixel (1111-1, 1111-2, 1111-3) passes through the lens system (1130) and is refracted and output at a preset horizontal or vertical angle of view for each pixel (1111-1, 1111-2, 1111-3).

[0063] Again, referring to FIG. 2, a plurality of laser pixels (1111) are controlled individually or independently by the control unit (150) shown in FIG. 1. A driving circuit for controlling a plurality of laser pixels (1111) individually or independently is described with reference to FIG. 5 (a) to (d).

[0064] The driving circuit of the laser pixels illustrated in FIG. 5 (a) to (d) enables a plurality of laser pixels arranged in the matrix form of FIG. 3 to be driven in an addressable manner. For example, as illustrated in FIG. 5 (d), a plurality of laser pixels (1111) are arranged in a matrix form, and one end of each laser pixel (1111) is connected to the row electrode to which it belongs, and the other end is connected to the column electrode to which it belongs. When driving only the pixel located at (3, D) among the plurality of pixels (1111) arranged in such a matrix form, the control unit controls the application of a predetermined voltage (or current) to row 3 and column D simultaneously, thereby enabling only the pixel of matrix (3, D) to be driven.

[0065] Again, referring to FIG. 2, each of the plurality of laser pixels (1111) emits a predetermined laser light at a predetermined time by the control unit (150).

[0066] The control unit (150) can drive a plurality of laser pixels (1111) sequentially, at least one by one. This sequential driving can satisfy eye-safety conditions that protect the eyes of people located around the lidar device (100) from laser light.

[0067] When the laser array (1110) is composed of 47,600 (=340x140) VCSELs and drives them sequentially one by one at 20Hz, the control unit (150) can drive each laser pixel (1111) at 1.05μs. However, it is assumed that the laser pulse is 3 (ns) and has a duty cycle of 0.1%.

[0068] Meanwhile, the control unit (150) may drive a plurality of laser pixels (1111) sequentially, but may also control two or more pixels to be driven simultaneously. For example, if the laser array (1110) is composed of 47,600 (=340x140) VCSELs and drives them in groups of three at 20 Hz, the control unit (150) may drive three pixels (1111) at 3.15 μs. However, it is assumed that the laser pulse is 3 (ns) and has a duty cycle of 0.1%.

[0069] The receiver (130') includes two or more photodetectors (1300a, 1300b). The two or more photodetectors (1300a, 1300b) include a first photodetector (1300a) and a second photodetector (1300b).

[0070] The first light detector (1300a) and the second light detector (1300b) may have an acute angle of view, and the receiver (130') may be configured to have a wider field of view in the horizontal direction than the field of view of the first light detector (1300a) or the second light detector (1300b).

[0071] Each of the first and second photodetectors (1300a, 1300b) is composed of a single pixel and has a single channel. Since each of the first and second photodetectors (1300a, 1300b) has a single channel, material costs can be reduced compared to conventional photodetectors that use photodetectors with multiple channels.

[0072] Each of the first and second photodetectors (1300a, 1300b) may be a silicon photomultiplier (SiPM). A silicon photomultiplier is a high-sensitivity, high-efficiency semiconductor photodetector based on a single photon avalanche diode (SPAD) and implemented on a general silicon substrate.

[0073] The receiver (130') may include two photodetectors (1300a, 1300b) having an acute angle of view to satisfy a field of view (θ) of 170 to 180 degrees in the horizontal direction.

[0074] The first photodetector (1300a) has a first field of view (θ1). The first field of view (θ1) may be an acute angle. As a specific example, the first field of view (θ1) may be approximately 85 degrees.

[0075] The second photodetector (1300b) has a second field of view (θ2). The second field of view (θ2) may be an acute angle. As a specific example, the second field of view (θ2) may be approximately 85 degrees. The second field of view (θ2) of the second photodetector (1300b) is the same as the first field of view (θ1) of the first photodetector (1300a), but in some cases, the second field of view (θ2) of the second photodetector (1300b) may be different from the first field of view (θ1) of the first photodetector (1300a).

[0076] In order to satisfy a field of view (θ) of 170 to 180 degrees using a first light detector (1300a) and a second light detector (1300b), each having an acute field of view (θ1, θ2), the first light detector (1300a) and the second light detector (1300b) are arranged adjacent to each other, and the first light detector (1300a) and the second light detector (1300b) are arranged to be tilted at a predetermined angle with respect to a reference plane (Ref), and can be arranged symmetrically with respect to an axis (Z) perpendicular to the reference plane (Ref).

[0077] The receiving unit (130') does not have a mechanical driving unit or moving part. Therefore, the material cost of the lidar device (100) can be reduced.

[0078] The receiver (130') can receive a reflected signal emitted from the transmitter (110') and reflected from an object through at least two or more photodetectors (1300a, 1300b). Here, since a plurality of laser pixels constituting the laser array (1110) of the transmitter (110') are driven sequentially one by one, the receiver (130') does not require a precision lens to distinguish the plurality of laser pixels, thereby reducing material costs.

[0079] To explain the reason in more detail, the transmitter of conventional lidar devices merely served as an illumination source, while the receiver satisfied the field of view (FOV) and spatial resolution. Therefore, the performance of the photodetector in the receiver was a critical factor, and because relatively high-performance and expensive photodetectors had to be adopted, the overall cost of the lidar device was inevitably high.

[0080] In particular, because the transmitter of a conventional lidar device operated in a line-driven manner where multiple laser sources located on a single line operated simultaneously rather than operating individually and sequentially, the receiver of a conventional lidar device had to be equipped with a precise and expensive lens. This is because multiple laser beams from a single line hit an object and are received by the receiver simultaneously, and without a precise lens, it is impossible to determine which laser beam among the multiple laser beams was emitted from which laser source. Therefore, the receiver of a conventional lidar device required a CMOS-type sensor array and a precise lens to distinguish between multiple laser beams.

[0081] However, in the receiver (130') of the lidar device according to an embodiment of the present invention, each laser pixel of the transmitter (110') is driven sequentially and individually, and the laser light emitted from each laser pixel in the lens system of the transmitter (110') is directed and output to a preset angle of view, so the receiver (130') does not receive multiple laser lights simultaneously. Therefore, a precise lens for distinguishing multiple laser lights is not required.

[0082] In addition, the lidar device according to an embodiment of the present invention, unlike conventional short-range lidar devices, is configured such that the transmitting unit satisfies the requirements for horizontal / vertical field of view and spatial resolution, and the receiving unit can be composed of one or two single-channel photodetectors that simply collect reflected light signals that are reflected back without requiring a precision lens to distinguish multiple laser pixels, thereby significantly reducing the material cost of the receiving unit. The inventors expect that a reduction in material cost of approximately 20 to 30 percent compared to the material cost of conventional lidar devices can be achieved.

[0083] FIG. 6 is a diagram visualizing multiple point cloud data generated through a LiDAR device including a transmitter (110') and a receiver (130') shown in FIG. 2.

[0084] The top-left diagram in Fig. 6 visualizes each point of the point cloud on the XY plane, the bottom-right diagram correlates the color at each point in the top-left diagram with the intensity, and the graphs in the bottom-left and top-right represent the intensity (W / mm²) on the X and Y axes of the top-left diagram. 2 It represents ).

[0085] Meanwhile, in the lens system (1130) shown in FIG. 2, since the maximum horizontal angle of view of the laser light emitted from the outermost lens is 170 to 180 degrees, there is a limit to reducing the size of the outermost lens.

[0086] FIG. 7 is a diagram schematically illustrating another embodiment of the transmitter (110) shown in FIG. 1.

[0087] Referring to FIG. 7, the transmitting unit (110'') according to another embodiment has a lens system (1130') that differs from the lens system (1130) shown in FIG. 2. Specifically, compared to the lens system (1130) of FIG. 2, the lens system (1130') of FIG. 7 has a relatively smaller outermost lens size and fewer lenses constituting the lens system. Therefore, the transmitting unit (110'') having the lens system (1130') of FIG. 7 has the advantage of being compactly configured.

[0088] However, since the outermost lens of the lens system (1130') of FIG. 7 is relatively small, the angle of view is inevitably narrower than that of the lens system (1130) of FIG. 2. A narrow angle of view makes it difficult to satisfy the requirements for the horizontal angle of view of a short-range LiDAR device. A method to widen the horizontal angle of view using the transmitter (110'') of FIG. 7 is explained with reference to FIG. 8.

[0089] FIG. 8 is a diagram schematically illustrating another embodiment of the transmitter (110) shown in FIG. 1.

[0090] Referring to FIG. 8, a transmitter (110''') according to another embodiment uses at least two transmitters (110'') illustrated in FIG. 7. For convenience of explanation, the two transmitters (110'') are respectively referred to as a first transmitter (1110a, 1130a') and a second transmitter (1110b, 1130b').

[0091] In order to satisfy a field of view of 170 to 180 degrees for a short-range LiDAR device using a first transmitter (1110a, 1130a') and a second transmitter (1110b, 1130b'), each of the first transmitter (1110a, 1130a') and the second transmitter (1110b, 1130b') is positioned so as to be tilted at a predetermined angle with respect to a reference plane (Ref), and the first transmitter (1110a, 1130a') and the second transmitter (1110b, 1130b') are positioned symmetrically with respect to an axis (Z) perpendicular to the reference plane (Ref).

[0092] According to the transmitter (110''') of FIG. 8, the first transmitter (1110a, 1130a') and the second transmitter (1110b, 1130b') each do not satisfy a horizontal angle of view of 170 to 180 degrees, but through the unique arrangement structure of the first transmitter (1110a, 1130a') and the second transmitter (1110b, 1130b'), a horizontal angle of view of 170 to 180 degrees can be satisfied.

[0093] Although not shown in a separate drawing, three or more transmitters (110') of FIG. 7 can be used to form a horizontal field of view wider than 180 degrees.

[0094] Although the invention has been described above with reference to embodiments, this is merely illustrative and does not limit the invention. Those skilled in the art will understand that various modifications and applications not exemplified above are possible within the scope of the essential characteristics of the embodiments. For example, each component specifically shown in the embodiments may be modified and implemented. Furthermore, differences related to such modifications and applications should be interpreted as being included within the scope of the invention as defined in the appended claims.

Claims

1. A transmitter comprising a laser array including a plurality of laser pixels, and a lens system disposed on the laser array and configured to direct laser light incident from the plurality of laser pixels at different preset angles; A receiver comprising a first photodetector and a second photodetector having an acute angle of view, configured to have a field of view wider in the horizontal direction than the field of view of the first photodetector or the second photodetector; and A control unit configured to control the plurality of laser pixels to be driven sequentially, at least one by one, and to receive electrical signals output from the first photodetector and the second photodetector to generate point cloud data; A lidar device in which the first photodetector and the second photodetector are each positioned to be tilted at a predetermined angle with respect to a reference plane, and are positioned symmetrically with respect to an axis perpendicular to the reference plane.

2. In Paragraph 1, A lidar device having a horizontal angle of view of laser light emitted from the above lens system that corresponds to the field of view of the above receiver.

3. In Paragraph 1, A lidar device in which the above laser pixel is a VCSEL (Vertical-Cavity Surface Emitting Laser).

4. In Paragraph 1, The laser array includes a driving circuit for driving the plurality of laser pixels, and The above driving circuit includes a plurality of row electrodes and a plurality of column electrodes, and The above-mentioned plurality of laser pixels are arranged in a plurality of rows and a plurality of columns, one end of each laser pixel is connected to a row electrode of any one of the plurality of row electrodes, and the other end is connected to a column electrode of any one of the plurality of column electrodes, and The above control unit is configured to drive at least one laser pixel among the plurality of laser pixels by controlling the application of voltage to one row electrode among the plurality of row electrodes and one column electrode among the plurality of column electrodes. Lidar device.

5. In Paragraph 1, The above first photodetector and the above second photodetector are a lidar device composed of a single channel.

6. In Paragraph 1, The above receiver is a lidar device without a mechanical drive unit.

7. In Paragraph 1, The above receiver is a lensless lidar device.

8. In Paragraph 1, A lidar device in which the first and second photodetectors are silicon photomultipliers (SiPM).

9. In Paragraph 1, The maximum horizontal angle of view of the laser light emitted from the above transmitter is 80 to 90 degrees, and The above-mentioned transmitter includes a first transmitter and a second transmitter, and A lidar device wherein the first transmitter and the second transmitter are each positioned to be inclined at a predetermined angle with respect to a reference plane, and are positioned symmetrically with respect to an axis perpendicular to the reference plane.

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