KR101883180B1 - Lidar apparatus for Vehicle - Google Patents

Abstract

The present invention provides a steering apparatus comprising: a transmitter for outputting a steered beam; A receiving unit for obtaining reflected light formed by reflecting the beam on an object; And a processor for setting a plurality of radiation ranges based on a radiation angle obtained by dividing an angle of view and controlling an interval between a plurality of beams output in each of the plurality of radiation ranges.

Description

[0001] Lidar apparatus for Vehicle [0002]

BACKGROUND OF THE INVENTION 1. Field of the Invention [0002] The present invention relates to an apparatus for use in a vehicle.

A vehicle is a device that moves a user in a desired direction by a boarding user. Typically, automobiles are examples.

On the other hand, for the convenience of users who use the vehicle, various sensors and electronic devices are provided. Particularly, for the convenience of the user, research on the ADAS (Advanced Driver Assistance System) is being actively carried out. Furthermore, development of an autonomous vehicle is being actively carried out.

In order to implement a vehicle driving assist system and an autonomous vehicle, various sensors are indispensable. Such sensors include radar, lidar, and camera.

Particularly, in the case of Lida, a technique for processing light generated in the light generating unit is required. It is required to develop optical processing technology considering optical loss, integration, and degree of design freedom.

On the other hand, in the case of the ladder which is not rotationally driven by the motor, when the number of output beams is constant, the resolution becomes low at a long distance and it is difficult to detect an object located at a long distance.

An object of the present invention is to provide an apparatus for a vehicle that controls an interval between a plurality of beams output in each of a plurality of radiation ranges based on a plurality of radiation ranges in order to solve the above problems.

The problems of the present invention are not limited to the above-mentioned problems, and other problems not mentioned can be clearly understood by those skilled in the art from the following description.

According to an aspect of the present invention, there is provided an apparatus for driving a ladder for a vehicle, comprising: a transmitter for outputting a steered beam; A receiving unit for obtaining reflected light formed by reflecting the beam on an object; And a processor for setting a plurality of radiation ranges based on a radiation angle obtained by dividing an angle of view and controlling an interval between the plurality of beams output in each of the plurality of radiation ranges.

The details of other embodiments are included in the detailed description and drawings.

According to an embodiment of the present invention, there is one or more of the following effects.

First, even in the case of an apparatus for a vehicle using a beam steering system that outputs a beam in a radial manner, it is possible to have a near and far resolution, and an object can be detected constantly both at near and at a distance.

Second, it has the effect of adaptively using the Lada device according to the ADAS being driven.

Third, the implementation of the non-motorized Lydia device has the effect that the device system becomes robust and can be used in a harsh environment such as a high-speed vehicle.

The effects of the present invention are not limited to the effects mentioned above, and other effects not mentioned can be clearly understood by those skilled in the art from the description of the claims.

BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1A is a view showing the appearance of a vehicle according to an embodiment of the present invention; Fig.
1B to 1C are views referred to explain the utilization of the LIDAR device for a vehicle according to the embodiment of the present invention.
2 is a block diagram for explaining a vehicle according to an embodiment of the present invention.
FIG. 3 is a block diagram referred to for describing the Rada apparatus for a vehicle according to the embodiment of the present invention.
Fig. 4 is a detailed block diagram referred to for describing a vehicular laddering apparatus according to an embodiment of the present invention.
5 is a diagram referred to explain transmission light and reception light according to an embodiment of the present invention.
FIG. 6A is a diagram referred to explain a wave guide unit according to an embodiment of the present invention. FIG.
6B is a diagram referred to explain the effect of the waveguide unit according to the embodiment of the present invention.
7 is a diagram referred to explain an example of an FMCW signal according to an embodiment of the present invention.
8A to 8C are views showing a transmission frequency and a reception frequency according to an embodiment of the present invention.
9A to 9B are diagrams for explaining bit frequencies according to an embodiment of the present invention.
10 is a diagram referred to explain a beam steering unit according to an embodiment of the present invention.
11A to 11D are diagrams for explaining a first beam steering unit according to an embodiment of the present invention.
FIG. 11E is a diagram referred to explain the outgoing angle changed by the heat applied to the wave guide according to the embodiment of the present invention. FIG.
12A and 12B are diagrams for explaining a second beam steering unit according to an embodiment of the present invention.
13A to 13C are diagrams referred to explain a grating coupler according to an embodiment of the present invention.
13D to 13F are drawings referred to explain the relationship between the duty cycle and the beam intensity according to the embodiment of the present invention.
FIG. 14 is a diagram for explaining a beam steering unit according to an embodiment of the present invention.
15A to 15B are views referred to explain a lens system according to an embodiment of the present invention.
Figs. 16A to 16B are diagrams for explaining an operation of outputting a steered beam at regular intervals. Fig.
FIG. 16C is a diagram referred to in describing an operation of setting a radiation range and controlling an interval between a plurality of beams in a horizontal direction, according to an embodiment of the present invention. FIG.
17 is an enlarged view of a part of the radiation range of FIG. 16C according to the embodiment of the present invention.
18A to 18F are diagrams referred to for explaining the operation of setting the radiation range and controlling the interval between the plurality of beams in the vertical direction according to the embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings, wherein like reference numerals are used to designate identical or similar elements, and redundant description thereof will be omitted. The suffix "module" and " part "for the components used in the following description are given or mixed in consideration of ease of specification, and do not have their own meaning or role. In the following description of the embodiments of the present invention, a detailed description of related arts will be omitted when it is determined that the gist of the embodiments disclosed herein may be blurred. It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory and are intended to provide further explanation of the invention as claimed. , ≪ / RTI > equivalents, and alternatives.

Terms including ordinals, such as first, second, etc., may be used to describe various elements, but the elements are not limited to these terms. The terms are used only for the purpose of distinguishing one component from another.

It is to be understood that when an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, . On the other hand, when an element is referred to as being "directly connected" or "directly connected" to another element, it should be understood that there are no other elements in between.

The singular expressions include plural expressions unless the context clearly dictates otherwise.

In the present application, the terms "comprises", "having", and the like are used to specify that a feature, a number, a step, an operation, an element, a component, But do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof.

The vehicle described herein may be a concept including a car, a motorcycle. Hereinafter, the vehicle will be described mainly with respect to the vehicle.

The vehicle described in the present specification may be a concept including both an internal combustion engine vehicle having an engine as a power source, a hybrid vehicle having an engine and an electric motor as a power source, and an electric vehicle having an electric motor as a power source.

In the following description, the left side of the vehicle means the left side in the running direction of the vehicle, and the right side of the vehicle means the right side in the running direction of the vehicle.

BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1A is a view showing the appearance of a vehicle according to an embodiment of the present invention; Fig.

Referring to FIG. 1A, the vehicle 100 may include a wheel rotated by a power source, and a steering input device for adjusting the traveling direction of the vehicle 100. [

According to the embodiment, the vehicle 100 may be an autonomous vehicle. In the case of an autonomous vehicle, it may be switched to an autonomous running mode or a manual mode according to user input. When the mode is switched to the manual mode, the autonomous vehicle 100 can receive the steering input via the steering input device.

The vehicle 100 may include a vehicle driving assistance system 200. [ The vehicle driving assist system (200) is a system that assists the driver based on information obtained from various sensors.

BACKGROUND ART Advanced Driver Assistance System (ADAS) is a system in which an automatic emergency braking (AEB), an adaptive cruise control (ACC) Lane Change Assistant (LCA), Forward Collision Warning (FCW), Lane Departure Warning (LDW), Lane Departure Warning A Lane Keeping Assist (LKA), a Speed Assist System (SAS), a Traffic Sign Recognition (TSR), an Adaptive Up Light Control (HBA) Beam Assist, Blind Spot Detection (BSD), Autonomous Emergency Steering (AES), Curve Speed Warning System (CSWS) a Smart Parking Assist System (SPAS), a Traffic Jam Assist (TJA), and an Around View Monitor (AVM) .

Vehicle 100 may include a Lydia device 400.

On the other hand, the lidar device 400 can be classified as a subcomponent of the vehicle driving assist system 200. In this case, the vehicle driving assist system 200 can be operated based on information generated from the Lydia device 400. [

1, the Lada apparatus 400 is illustrated as being disposed in front of the vehicle. However, the present invention is not limited thereto. The Lada apparatus 400 may be disposed behind the vehicle, on the side, or on the roof. According to an embodiment, the vehicle 100 may include a plurality of Lydia devices 400.

The overall length means the length from the front portion to the rear portion of the vehicle 100 and the width is the width of the vehicle 100 and the height means the length from the bottom of the wheel to the roof. In the following description, it is assumed that the total length direction L is a direction in which the full length direction of the vehicle 100 is measured, the full width direction W is a reference for the full width measurement of the vehicle 100, Which is a reference for the measurement of the height of the object 100.

1B to 1C are views referred to explain a RIDI apparatus for a vehicle according to an embodiment of the present invention.

The vehicle 100 may include at least one LR device 400 for a vehicle. The vehicular lidar apparatus 400 may be mounted outside the vehicle that forms the appearance of the vehicle 100. [ For example, the ladder 400 for a vehicle may be mounted on a front bumper, a radiator grille, a hood, a roof, a door, a side mirror, a tailgate, a trunk lid or a fender.

According to the embodiment, a plurality of vehicle ladder devices 400 may be provided. For example, the vehicular laddering apparatus 400 includes a first vehicular laddering apparatus for detecting an object located in front of the vehicle 100 and a second vehicle laddering apparatus for detecting an object located behind the vehicle 100 Which may include a device. According to the embodiment, the vehicular ladder apparatus 400 includes a third Lada apparatus for detecting an object located in the left room of the vehicle 100 and a third Lada apparatus for detecting an object located in the right room of the vehicle 100, Lt; / RTI > device.

The vehicular lidar apparatus 400 can perform optical beam steering. To this end, the vehicular laddering apparatus 400 may include a beam steering unit 530.

The vehicular laddering device 400 can adjust the angle of beam steering of the transmission light based on the traveling state information. By adjusting the angle of beam steering of the transmission light, the angle of view or the measurement distance of the vehicular laddering unit 400 can be adjusted.

On the other hand, when the angle of view of the vehicular laddering apparatus 400 becomes large, the measurement distance becomes small. When the angle of view of the vehicular lidar apparatus 400 becomes small, the measurement distance becomes large.

As illustrated in Fig. 1B, the in-vehicle Lydia device 400 can set the detection area of the object by adjusting the angle of beam steering of the transmission light under the control of the processor 470. [ For example, the processor 470 can adjust the left and right angles of the beam steering of the transmission light in the horizontal direction. For example, the processor 470 can adjust the vertical angle of the beam steering of the transmission light in the vertical direction.

For example, the vehicular laddering apparatus 400 may be arranged in the first direction, the first region 11, the second region 12, the third region 13, or the fourth region 4 in the first direction, under the control of the processor 470. [ The sensing area can be set to the area 14. The first direction may be a horizontal direction.

The first beam steering part 600 may perform beam steering in a first direction. The first beam steering unit 600 may perform beam steering in the first direction corresponding to the set sensing area under the control of the processor 470. [ Here, the first direction may be a horizontal direction.

For example, the vehicular Lydia device 400 can set the detection area to the fifth area 21 and the sixth area 21 in the second direction under the control of the processor 470. [ Here, the second direction may be a vertical direction.

The second beam steering part 700 can perform beam steering in the second direction. The second beam steering unit 700 can perform beam steering in the second direction corresponding to the set sensing area under the control of the processor 470. [ Here, the second direction may be a vertical direction.

The vehicular laddering device 400 can adjust the angle of beam steering based on the running situation information. The driving situation information can be sensed by the vehicular lading apparatus 400. [ Alternatively, the traveling situation information may be sensed from the internal sensing portion 125 of Fig. 2 or the external sensing portion 126 of Fig. 2 of the vehicle 100. [

On the other hand, the processor 470 of the lading apparatus 400 for a vehicle can set FPS (frames per second) based on the running situation information or the angle of view setting.

On the other hand, the processor 470 of the in-vehicle Lydia device 400 can set the resolution based on the running situation information or the angle of view setting.

For example, when the vehicle 100 is in the first running state, the vehicular laddering apparatus 400 can set the angle of view so as to have an angle of view of 140 degrees in the horizontal direction. Further, the vehicular laddering apparatus 400 can set the angle of view to have an angle of view of 20 degrees in the vertical direction. In this case, the detection distance may be a distance of 0 m to 30 m from the center of the vehicle ladder 400. In this case, the in-vehicle lidar device 400 can set the FPS at 20 Hz. In this case, the vehicular laddering apparatus 400 can set the range resolution in the range of 5 cm to 10 cm.

For example, when the vehicle 100 is in a second running state, the vehicular laddering apparatus 400 can set the angle of view so as to have an angle of view of 80 degrees in the horizontal direction. Further, the vehicular laddering apparatus 400 can set the angle of view to have an angle of view of 20 degrees in the vertical direction. In this case, the detection distance may be a distance of 30 m to 50 m around the ladder 400 for a vehicle. In this case, the in-vehicle lidar device 400 can set the FPS at 20 Hz. In this case, the vehicular lidar apparatus 400 can set the range resolution to 10 cm.

For example, when the vehicle 100 is in the third running state, the vehicular laddering apparatus 400 can set the angle of view to have an angle of view of 60 degrees in the horizontal direction. Further, the vehicular laddering apparatus 400 can set the angle of view so as to have an angle of view of 10 degrees in the vertical direction. In this case, the detection distance may be a distance of 50 m to 100 m from the center of the vehicle ladder 400. In this case, the charger 400 for the charger can set the FPS at 40 Hz. In this case, the vehicular lidar apparatus 400 can set the range resolution to 10 cm.

For example, when the vehicle 100 is in the fourth running state, the vehicular laddering apparatus 400 can set the angle of view to have an angle of view of 30 degrees in the horizontal direction. Further, the vehicular laddering apparatus 400 can set the angle of view so as to have an angle of view of 10 degrees in the vertical direction. In this case, the detection distance may be a distance between a radius of 100 m and a distance of 200 m around the ladder 400 for a vehicle. In this case, the vehicular radar apparatus 400 can set the range resolution in the range of 10 cm to 15 cm.

On the other hand, the running situation can be determined based on the speed information of the vehicle. For example, the first running situation may correspond to a case where the speed of the vehicle 100 is less than 30 km / h. The second running situation may be applicable when the speed of the vehicle 100 is 30 km / h or more and less than 50 km / h. The third running state can be applied when the speed of the vehicle 100 is 50 km / h or more and less than 100 km / h. The fourth running situation may be applicable when the speed of the vehicle 100 is 100 km / h or more and less than 200 km / h.

On the other hand, the vehicular ladder apparatus 400 includes, in addition to the speed information of the vehicle 100 described with reference to Fig. 1B, vehicle position information, vehicle direction information, vehicle position information, vehicle angle information, vehicle acceleration information, , The vehicle forward / backward information, the steering wheel angle information, the pressure information applied to the accelerator pedal, or the pressure information applied to the brake pedal.

As illustrated in Fig. 1C, the in-vehicle Lydia apparatus 400 can adjust the angle of beam steering of the transmitted light based on the distance 31 to the object, under the control of the processor 470. [ Here, the distance 31 between the vehicle 100 and the object 30 may be one example of the running situation information.

On the other hand, the processor 470 of the lading apparatus 400 for a vehicle can set FPS (frames per second) based on the running situation information or the angle of view setting.

On the other hand, the processor 470 of the in-vehicle Lydia device 400 can set the resolution based on the running situation information or the angle of view setting.

For example, when the distance 100 between the vehicle 100 and the object 30 falls within the first range, the vehicular laddering apparatus 400 can set the angle of view to have an angle of view of 140 degrees in the horizontal direction. Further, the vehicular laddering apparatus 400 can set the angle of view to have an angle of view of 20 degrees in the vertical direction. In this case, the detection distance may be a distance of 0 m to 30 m from the center of the vehicle ladder 400. In this case, the in-vehicle lidar device 400 can set the FPS at 20 Hz. In this case, the vehicular laddering apparatus 400 can set the range resolution in the range of 5 cm to 10 cm.

For example, when the distance 100 from the object 30 to the object 30 falls within the second range, the vehicular laddering apparatus 400 can set the angle of view to have an angle of view of 80 degrees in the horizontal direction. Further, the vehicular laddering apparatus 400 can set the angle of view to have an angle of view of 20 degrees in the vertical direction. In this case, the detection distance may be a distance of 30 m to 50 m around the ladder 400 for a vehicle. In this case, the in-vehicle lidar device 400 can set the FPS at 20 Hz. In this case, the vehicular lidar apparatus 400 can set the range resolution to 10 cm.

For example, when the distance 100 between the vehicle 100 and the object 30 falls within the third range, the vehicular laddering apparatus 400 can set the angle of view to have an angle of view of 60 degrees in the horizontal direction. Further, the vehicular laddering apparatus 400 can set the angle of view so as to have an angle of view of 10 degrees in the vertical direction. In this case, the detection distance may be a distance of 50 m to 100 m from the center of the vehicle ladder 400. In this case, the charger 400 for the charger can set the FPS at 40 Hz. In this case, the vehicular lidar apparatus 400 can set the range resolution to 10 cm.

For example, when the distance 100 between the vehicle 100 and the object 30 falls within the fourth range, the vehicular laddering apparatus 400 can set the angle of view to have an angle of view of 30 degrees in the horizontal direction. Further, the vehicular laddering apparatus 400 can set the angle of view so as to have an angle of view of 10 degrees in the vertical direction. In this case, the detection distance may be a distance between a radius of 100 m and a distance of 200 m around the ladder 400 for a vehicle. In this case, the vehicular radar apparatus 400 can set the range resolution in the range of 10 cm to 15 cm.

On the other hand, the vehicular radar apparatus 400 performs the beam steering angle adjustment based on the relative speed with the object 30 or the position of the object 30, in addition to the distance to the object 30 described with reference to Fig. 1C .

Meanwhile, the object may include at least one of a lane, another vehicle, a pedestrian, a light, a traffic signal, a road, a structure, a speed limiter, a terrain, and an animal.

2 is a block diagram for explaining a vehicle according to an embodiment of the present invention.

2, the vehicle 100 includes a communication unit 110, an input unit 120, a sensing unit 125, a memory 130, an output unit 140, a vehicle driving unit 150, A control unit 170, an interface unit 180, a power supply unit 490, a vehicle driving assist system 200, and a vehicle Lydia device 400.

The communication unit 110 may include a local area communication module 113, a location information module 114, an optical communication module 115, and a V2X communication module 116.

The communication unit 110 may include one or more RF (Radio Frequency) circuits or devices for performing communication with other devices.

The short-range communication module 113 is for short-range communication and may be a Bluetooth ™, a Radio Frequency Identification (RFID), an Infrared Data Association (IrDA), a UWB (Ultra Wideband) It is possible to support near-field communication using at least one of Near Field Communication (NFC), Wireless-Fidelity (Wi-Fi), Wi-Fi Direct and Wireless USB (Universal Serial Bus)

The short-range communication module 113 may form short-range wireless communication networks to perform short-range communication between the vehicle 100 and at least one external device. For example, the short-range communication module 113 can exchange data with the mobile terminal wirelessly. The short-range communication module 113 may receive weather information and road traffic condition information (e.g., TPEG (Transport Protocol Expert Group)) from the mobile terminal. For example, when the user has boarded the vehicle 100, the user's mobile terminal and the vehicle 100 can perform pairing with each other automatically or by execution of the user's application.

The position information module 114 is a module for obtaining the position of the vehicle 100, and a representative example thereof is a Global Positioning System (GPS) module. For example, when the vehicle utilizes a GPS module, it can acquire the position of the vehicle using a signal sent from the GPS satellite.

Meanwhile, according to the embodiment, the location information module 114 may be a component included in the sensing unit 125, not the components included in the communication unit 110. [

The optical communication module 115 may include a light emitting portion and a light receiving portion.

The light receiving section can convert the light signal into an electric signal and receive the information. The light receiving unit may include a photodiode (PD) for receiving light. The photodiode can convert light into an electrical signal. For example, the light receiving section can receive information of the front vehicle through light emitted from the light source included in the front vehicle.

The light emitting unit may include at least one light emitting element for converting an electric signal into an optical signal. Here, the light emitting element is preferably an LED (Light Emitting Diode) or an LD (Laser Diode). The optical transmitter converts the electrical signal into an optical signal and transmits it to the outside. For example, the optical transmitter can emit the optical signal to the outside through the blinking of the light emitting element corresponding to the predetermined frequency. According to an embodiment, the light emitting portion may include a plurality of light emitting element arrays. According to the embodiment, the light emitting portion can be integrated with the lamp provided in the vehicle 100. [ For example, the light emitting portion may be at least one of a headlight, a tail light, a brake light, a turn signal lamp, and a car light. For example, the optical communication module 115 can exchange data with other vehicles through optical communication.

The V2X communication module 116 is a module for performing wireless communication with a server or other vehicle. V2X module 116 includes modules that can implement inter-vehicle communication (V2V) or vehicle-to-infrastructure communication (V2I) protocols. The vehicle 100 can perform wireless communication with an external server and other vehicles via the V2X communication module 116. [

The input unit 120 may include a driving operation device 121, a microphone 123, and a user input unit 124.

The driving operation device 121 receives a user input for driving the vehicle 100. The driving operation unit 121 may include a steering input device, a shift input device, an acceleration input device, and a brake input device.

The steering input device receives a forward direction input of the vehicle 100 from the user. It is preferable that the steering input device is formed in a wheel shape so that steering input is possible by rotation. According to an embodiment, the steering input device may be formed of a touch screen, a touch pad, or a button.

The shift input device receives parking (P), forward (D), neutral (N), and reverse (R) inputs of the vehicle 100 from the user. The shift input device is preferably formed in a lever shape. According to an embodiment, the shift input device may be formed of a touch screen, a touch pad or a button.

The acceleration input device receives an input for acceleration of the vehicle 100 from the user. The brake input device receives an input for deceleration of the vehicle 100 from the user. The acceleration input device and the brake input device are preferably formed in the form of a pedal. According to an embodiment, the acceleration input device or the brake input device may be formed of a touch screen, a touch pad, or a button.

The microphone 123 can process an external acoustic signal into electrical data. The processed data can be utilized variously according to functions performed in the vehicle 100. The microphone 123 can convert the voice command of the user into electrical data. The converted electrical data may be transmitted to the control unit 170.

The camera 122 or the microphone 123 may be a component included in the sensing unit 125 and not a component included in the input unit 120. [

The user input unit 124 is for receiving information from a user. When information is input through the user input unit 124, the controller 170 may control the operation of the vehicle 100 to correspond to the input information. The user input unit 124 may include a touch input means or a mechanical input means. According to an embodiment, the user input 124 may be located in one area of the steering wheel. In this case, the driver can operate the user input unit 124 with his / her finger while holding the steering wheel.

The sensing unit 135 can sense the state of the vehicle 100 and the external situation of the vehicle. The sensing unit 135 may include an internal sensing unit 125 and an external sensing unit 126.

The internal sensing unit 125 senses the state of the vehicle 100. The internal sensing unit 125 may include an orientation sensor such as a yaw sensor, a roll sensor, a pitch sensor, a collision sensor, a wheel sensor, a velocity sensor, A tilt sensor, a weight sensor, a heading sensor, a yaw sensor, a gyro sensor, a position module, a vehicle forward / backward sensor, a battery sensor, a fuel sensor, A vehicle interior temperature sensor, an in-vehicle humidity sensor, an ultrasonic sensor, an illuminance sensor, an accelerator pedal position sensor, a brake pedal position sensor, and the like.

The internal sensing unit 125 is configured to receive the vehicle position information, the vehicle collision information, the vehicle direction information, the vehicle position information (GPS information), the vehicle angle information, the vehicle speed information, the vehicle acceleration information, Sensing information about the battery information, fuel information, tire information, vehicle lamp information, vehicle interior temperature information, vehicle interior humidity information, steering wheel rotation angle, vehicle exterior illumination, pressure applied to the accelerator pedal, pressure applied to the brake pedal, Can be obtained.

The internal sensing unit 125 further includes an accelerator pedal sensor, a pressure sensor, an engine speed sensor, an air flow sensor AFS, an intake air temperature sensor ATS, a water temperature sensor WTS, A sensor (TPS), a TDC sensor, a crank angle sensor (CAS), and the like.

The external sensing unit 126 can sense the external situation of the vehicle. The external sensing unit 126 can sense an object located outside the vehicle. Here, the object may include a lane, another vehicle, a pedestrian, a light, a traffic signal, a road, a structure, a speed limiter, a terrain, an animal,

The lane may be a driving lane, or a side lane of the driving lane. The lane may be a concept including left and right lines (Line) forming a lane.

The other vehicle may be a vehicle traveling in the vicinity of the vehicle 100. [ The other vehicle may be a vehicle located within a predetermined distance from the vehicle 100. The other vehicle may be a vehicle preceding or following the vehicle 100. [ The other vehicle may be a vehicle traveling in a side lane of the driving lane. The other vehicle may be a vehicle that is traveling in a direction intersecting the running direction of the vehicle 100 at an intersection.

The pedestrian may be a person located on the road or on the driveway.

The light may be light generated from lamps provided in other vehicles. Light can be light generated from a street light. Light can be solar light.

Traffic signals may include traffic lights, traffic signs, patterns drawn on the road surface, or text.

The road may include a slope such as a road surface, a curve, an uphill, a downhill, and the like.

The structure may be an object located around the road and fixed to the ground. For example, the structure may include street lamps, street lamps, buildings, electric poles, and traffic lights.

The terrain may include mountains, hills, and the like.

On the other hand, an object can be classified into a moving object and a fixed object. For example, the moving object may be a concept including an other vehicle, a pedestrian. For example, the fixed object may be a concept including a traffic signal, a road, and a structure.

The external sensing unit 126 may include a camera 127, a radar 201, a rider 202, and an ultrasonic sensor 203.

The camera 127 may be referred to as a vehicle camera device. The camera 127 may include a mono camera and a stereo camera.

The camera 127 may be located at an appropriate location outside the vehicle to obtain the vehicle exterior image.

For example, the camera 127 may be disposed close to the front windshield 10, in the interior of the vehicle, to obtain an image of the front of the vehicle. Alternatively, the camera 127 may be disposed around a front bumper or radiator grille.

For example, the camera 127 may be disposed in the interior of the vehicle, close to the rear glass, to acquire images of the rear of the vehicle. Alternatively, the camera 127 may be disposed around the rear bumper, trunk, or tailgate.

For example, the camera 127 may be disposed close to at least any one of the side windows in the interior of the vehicle, in order to acquire images of the side of the vehicle. Alternatively, the camera 127 may be disposed around a side mirror, a fender, or a door.

The radar 201 may include an electromagnetic wave transmitting unit, a receiving unit, and a processor. The radar 201 may be implemented by a pulse radar system or a continuous wave radar system in terms of the radio wave emission principle. Also, the radar 201 may be implemented by a Frequency Modulated Continuous Wave (FMCW) method or a Frequency Shift Keying (FSK) method according to a signal waveform in a continuous wave radar system.

The radar 201 can detect an object based on the transmitted electromagnetic waves, and can detect the distance to the detected object and the relative speed.

The radar 201 may provide the obtained object information to the control unit 170, the vehicle driving assist device 400, or the vehicle lighting device 600. [ Here, the object information may include distance information with respect to the object.

The radar 201 may be located at an appropriate location outside the vehicle to sense objects located at the front, rear, or side of the vehicle.

The ultrasonic sensor 203 may include an ultrasonic transmitter, a receiver, and a processor. The ultrasonic sensor 203 can detect an object on the basis of the transmitted ultrasonic wave, and can detect the distance to the detected object and the relative speed.

The ultrasonic sensor 203 may provide the obtained object information to the control unit 170, the vehicle driving assistant device 400, or the vehicle lighting device 600. [ Here, the object information may include distance information with respect to the object.

The ultrasonic sensor 203 may be located at an appropriate position outside the vehicle for sensing an object located at the front, rear, or side of the vehicle.

On the other hand, according to the embodiment, the vehicular laddering apparatus 400 may be classified as a subordinate component of the external sensing unit 126. [

The memory 130 is electrically connected to the control unit 170. The memory 130 may store basic data for the unit, control data for controlling the operation of the unit, and input / output data. The memory 130 may be, in hardware, various storage devices such as ROM, RAM, EPROM, flash drive, hard drive, and the like. The memory 130 may store various data for operation of the vehicle 100, such as a program for processing or controlling the controller 170. [

The output unit 140 may include a display device 141, an acoustic output unit 142, and a haptic output unit 143 for outputting information processed by the control unit 170. [

The display device 141 may display various graphic objects. For example, the display device 141 can display the vehicle-related information. Here, the vehicle-related information may include vehicle control information for direct control of the vehicle, or vehicle driving assistance information for a driving guide to the vehicle driver. Further, the vehicle-related information may include vehicle state information indicating the current state of the vehicle or vehicle driving information related to the driving of the vehicle.

The display device 141 may be a liquid crystal display (LCD), a thin film transistor-liquid crystal display (TFT LCD), an organic light-emitting diode (OLED), a flexible display display, a 3D display, and an e-ink display.

The display device 141 may have a mutual layer structure with the touch sensor or may be integrally formed to realize a touch screen. This touch screen may function as a user input 724 that provides an input interface between the vehicle 100 and the user and may provide an output interface between the vehicle 100 and the user. In this case, the display device 141 may include a touch sensor for sensing a touch to the display device 141 so that a control command can be received by a touch method. When a touch is made to the display device 141, the touch sensor senses the touch, and the control unit 170 generates a control command corresponding to the touch based on the touch. The content input by the touch method may be a letter or a number, an instruction in various modes, a menu item which can be designated, and the like.

Meanwhile, the display device 141 may include a cluster so that the driver can check the vehicle state information or the vehicle driving information while driving. Clusters can be located on the dashboard. In this case, the driver can confirm the information displayed in the cluster while keeping the line of sight ahead of the vehicle.

Meanwhile, according to the embodiment, the display device 141 may be implemented as a Head Up Display (HUD). When the display device 141 is implemented as a HUD, information can be output through a transparent display provided on the front windshield 10. Alternatively, the display device 141 may include a projection module to output information through the image projected on the front windshield 10. [

On the other hand, according to the embodiment, the display device 141 may include a transparent display. In this case, the transparent display may be attached to the front windshield 10.

The transparent display can display a predetermined screen while having a predetermined transparency. Transparent displays can be made of transparent TFEL (Thin Film Elecroluminescent), transparent OLED (Organic Light-Emitting Diode), transparent LCD (Liquid Crystal Display), transmissive transparent display, transparent LED (Light Emitting Diode) Or the like. The transparency of the transparent display can be adjusted.

According to an embodiment, the display device 141 may function as a navigation device.

The sound output unit 142 converts an electric signal from the control unit 170 into an audio signal and outputs the audio signal. For this purpose, the sound output unit 142 may include a speaker or the like. It is also possible for the sound output section 142 to output a sound corresponding to the operation of the user input section 724. [

The haptic output unit 143 generates a tactile output. For example, the haptic output section 143 may operate to vibrate the steering wheel, the seat belt, and the seat so that the user can recognize the output.

The vehicle drive unit 150 can control the operation of various devices of the vehicle. The vehicle driving unit 150 includes a power source driving unit 151, a steering driving unit 152, a brake driving unit 153, a lamp driving unit 154, an air conditioning driving unit 155, a window driving unit 156, an airbag driving unit 157, A driving unit 158 and a suspension driving unit 159.

The power source drive unit 151 can perform electronic control of the power source in the vehicle 100. [

For example, when the fossil fuel-based engine (not shown) is a power source, the power source drive unit 151 can perform electronic control of the engine. Thus, the output torque of the engine and the like can be controlled. When the power source drive unit 151 is an engine, the speed of the vehicle can be limited by limiting the engine output torque under the control of the control unit 170. [

As another example, when the electric-based motor (not shown) is a power source, the power source drive unit 151 can perform control on the motor. Thus, the rotation speed, torque, etc. of the motor can be controlled.

The steering driver 152 may perform electronic control of the steering apparatus in the vehicle 100. [ Thus, the traveling direction of the vehicle can be changed.

The brake driver 153 can perform electronic control of a brake apparatus (not shown) in the vehicle 100. [ For example, it is possible to reduce the speed of the vehicle 100 by controlling the operation of the brakes disposed on the wheels. As another example, it is possible to adjust the traveling direction of the vehicle 100 to the left or right by differently operating the brakes respectively disposed on the left wheel and the right wheel.

The lamp driving unit 154 can control the turn-on / turn-off of the lamp disposed inside or outside the vehicle. Further, the intensity, direction, etc. of the light of the lamp can be controlled. For example, it is possible to perform control on a direction indicating lamp, a brake lamp, and the like.

The air conditioning driving unit 155 can perform electronic control on an air conditioner (not shown) in the vehicle 100. [ For example, when the temperature inside the vehicle is high, the air conditioner can be operated to control the cool air to be supplied to the inside of the vehicle.

The window driving unit 156 may perform electronic control of a window apparatus in the vehicle 100. [ For example, it is possible to control the opening or closing of the side of the vehicle with respect to the left and right windows.

The airbag drive unit 157 may perform electronic control of an airbag apparatus in the vehicle 100. [ For example, in case of danger, the airbag can be controlled to fire.

The sunroof driving unit 158 may perform electronic control of a sunroof apparatus (not shown) in the vehicle 100. [ For example, the opening or closing of the sunroof can be controlled.

The suspension driving unit 159 can perform electronic control on a suspension apparatus (not shown) in the vehicle 100. [ For example, when there is a curvature on the road surface, it is possible to control the suspension device so as to reduce the vibration of the vehicle 100. [

Meanwhile, according to the embodiment, the vehicle driving unit 150 may include a chassis driving unit. Here, the chassis driving unit may be a concept including the steering driving unit 152, the brake driving unit 153, and the suspension driving unit 159.

The control unit 170 can control the overall operation of each unit in the vehicle 100. [ The control unit 170 may be referred to as an ECU (Electronic Control Unit).

The controller 170 may be implemented in hardware as application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs) processors, controllers, micro-controllers, microprocessors, and other electronic units for performing other functions.

The interface unit 180 may serve as a pathway to various kinds of external devices connected to the vehicle 100. For example, the interface unit 180 may include a port connectable to the mobile terminal, and may be connected to the mobile terminal through the port. In this case, the interface unit 180 can exchange data with the mobile terminal.

Meanwhile, the interface unit 180 may serve as a channel for supplying electrical energy to the connected mobile terminal. When the mobile terminal is electrically connected to the interface unit 180, the interface unit 180 may provide the mobile terminal with electric energy supplied from the power unit 190, under the control of the controller 170.

The power supply unit 490 can supply power necessary for the operation of each component under the control of the control unit 170. [ In particular, the power supply unit 170 can receive power from a battery (not shown) or the like inside the vehicle.

The vehicle driving assist system (200) can assist the driver in driving the vehicle. The vehicle driving assist system 200 may include a Lydia device 400.

The vehicular lading apparatus 400 can detect an object located outside the vehicle 100. [

The vehicular laddering apparatus 400 can detect an object based on a TOF (Time of Flight) of a transmission signal and a reception signal or a phase difference between a transmission signal and a reception signal via light.

The laddering apparatus 400 for a vehicle can detect the distance to the object, the relative speed with the object, and the position of the object.

FIG. 3 is a block diagram referred to for describing the Rada apparatus for a vehicle according to the embodiment of the present invention.

3, the vehicle Ridor device 400 may include a transmitter 410, a receiver 420, a memory 440, an interface 430, a processor 470, and a power supply 490 . According to the embodiment, the in-vehicle Lydia device 400 may omit each component or further include other components.

The transmitting unit 410 can generate and output a transmission signal. The transmitting unit 410 can be under the control of the processor 470.

The transmitting unit 410 can output a beam. For example, the transmitting unit 410 can output the steered beam. The transmitting unit 410 may include a light generating unit 417 (FIG. 4) and a beam steering unit 530 (FIG. 4). The transmitting unit 410 can beam-steer the light generated by the light generating unit 417 by the beam steering unit 530 and output it to the outside.

The transmitter 410 can output a transmission signal in the form of a Frequency Modulated Continuous Wave (FMCW). That is, the transmitted light can be implemented by FMCW.

The transmitting unit 410 can perform the scanning through the light to be steered.

The transmitting unit 410 may include a light generating unit 417, an optical splitter 510, a waveguide unit 520, and a beam steering unit 530 of FIG.

According to the embodiment, the optical splitter 510 and the waveguide unit 520 can be classified as subcomponents of the beam steering unit 530. In particular, the optical splitter 510 and the waveguide unit 520 may be classified as sub components of the first beam steering unit 600.

The light generation unit 417 can generate light corresponding to the transmission signal and output an optical signal. The light generating unit 417 can generate and output transmission light.

The light generating unit 417 can generate and output the transmission light as the basis of the beam.

The light generated by the light generating unit 417 may be a laser.

The optical splitter 510 can spectroscope the transmission light generated by the light generation unit 417. [

The wave guide 520 can guide the incoming light. The waveguide unit 520 can guide the light beam split by the optical splitter 510 to the beam steering unit 530. For example, the waveguide unit 520 can guide the light beam split by the optical splitter 510 to the first beam steering unit 600.

The beam-steering unit 530 may perform beam-streaming of the light generated by the light-generating unit 417. The beam steering unit 530 can continuously change the path of the incoming light. The beam steering unit 530 can perform scanning through the light to be steered.

The beam steering portion 530 may include a first beam steering portion 600 and a second beam steering portion 700.

The first beam steering portion 600 can steer the beam in the first direction. The first beam steering part 600 may include an arrayed waveguide grating (AWG).

The second beam steering portion 700 can steer the beam in the second direction. The second beam steering part 700 may include a grating coupler. The second beam steering part 700 may include an arrayed waveguide grating (AWG).

When the first beam steering portion 600 includes arrayed waveguide gratings, the second steering portion 600 includes a plurality of grating couplers arranged corresponding to the plurality of output optical paths of the arrayed waveguide grating, .

The first beam steering portion 600 and the second beam steering portion 700 will be described in more detail with reference to FIGS. 11 to 14. FIG.

Meanwhile, according to the embodiment, the transmitting unit 410 may include an optical coupler (not shown) instead of the optical splitter 510 (FIG. 5). The optocoupler can perform spectroscopy or summing. Here, the optical coupler may be a star coupler.

According to the embodiment, the transmitting unit 410 may further include a heater 482 and a piezo 484 selectively or in combination.

The heater 482 can provide heat to the wave guide portion (520 in Figs. 4 to 5). For example, the heater 482 may provide heat to the waveguide section 520 to change the individual phase of the light that is spectrally separated based on the received electrical signal.

The heater 482 may include an element that converts electrical energy to thermal energy. For example, the heater 482 can convert electric energy into thermal energy using the Peltier effect to provide heat to the waveguide unit 520. [

The refractive index of the core 521 included in the waveguide portion 520 can be changed by providing heat to the waveguide portion 520 by the heater 482. [ In this case, the phase of light guided by the waveguide unit 520 can be changed. Using the phase of the light thus changed, the vehicular laddering apparatus 400 can perform optical steering.

Such a heater 482 may be operated under the control of the processor 470.

The piezo 484 may provide pressure in the waveguide section (520 in Figures 4-5). For example, the piezo may provide a waveguide portion 520 with a pressure to change the individual phase of the light that has been spectrally separated based on the received electrical signal.

The piezo 484 may include a piezoelectric element. For example, the piezo 484 may provide pressure to the waveguide section 520 using an inverse piezoelectric effect.

The refractive index of the core 521 included in the waveguide portion 520 can be changed by providing the pressure to the waveguide portion 520 by the piezo 484. In this case, the phase of light guided by the waveguide unit 520 can be changed. Using the phase of the light thus changed, the vehicular laddering apparatus 400 can perform optical steering.

Such a piezo 484 may be operated under the control of the processor 470.

The receiving unit 420 can acquire the received signal. Here, the received signal is a signal in which the transmitted signal is reflected back to the object. The receiving unit 420 may be under the control of the processor 470.

The receiving unit 420 can obtain the reflected light that the beam reflects back to the object. The reflected light may be light corresponding to the beam output from the transmitting unit.

If a transmission signal corresponding to the FMCW is output, the reception section 420 can acquire the reception signal corresponding to the FMCW.

When an object is detected through an optical signal, the receiving unit 420 may include a photodetector (421 in Fig. 4). The photodetector 421 can convert light into electricity. For example, the photodetector 421 may include a photodiode PD.

The receiving unit 420 may include a photodiode (PD) array. In this case, one photodiode can form one pixel. The processor 470 may generate an image based on information sensed at each photodiode of the photodiode array.

The receiving unit 420 can receive the reflected light at each point of the transmission light to be scanned.

For example, when the transmission light is output toward the first point, the reception unit 420 can receive the reflected light returning from the first point. Further, when the transmission light is output toward the second point, the reception unit can receive the reflected light returning from the second point. As described above, the receiving unit 420 can receive the reflected light so as to be continuous at a plurality of points, and can sense the reflected light at each point. At this time, each point can be defined as one pixel. The processor 470 may generate an image based on the information sensed at each point.

The memory 440 may store various data for the operation of the entire vehicle Lydia device 400, such as a program for processing or controlling the processor 470. [ The memory 440 can be, in hardware, various storage devices such as ROM, RAM, EPROM, flash drive, hard drive, and the like.

The interface unit 430 may serve as a path for exchanging data with a device connected to the in-vehicle Lydi unit 400. [ The interface unit 430 may receive data from an electrically connected unit and may transmit signals processed or generated by the processor 470 to an electrically connected unit. The interface unit 430 may serve as a path for exchanging data with the control unit 270 of the vehicle driving assist system 200 or the ECU 770 of the vehicle 700.

The interface unit 430 can receive information or data from the control unit 270 of the vehicle driving assist system 200. [ For example, the interface unit 430 can receive the expected collision time information from the control unit 270. [ For example, the interface unit 430 can receive the distance information held by the object from the control unit 270. [

The interface unit 430 can transmit signals, data or information to other devices in the vehicle 100. [

For example, the interface unit 430 may provide signals, data, or information generated by the processor 470 to other object sensing devices in the vehicle 100. [

The interface unit 430 can receive the running situation information from the internal sensing unit 125 of the vehicle 100 (125 of FIG. 2) or the external sensing unit (126 of FIG. 2).

The running situation information may include at least one of internal vehicle sensing information and vehicle external sensing information. Here, the in-vehicle sensing information may be information generated by sensing the internal sensing unit 125. The vehicle external sensing information may be information generated by sensing by the external sensing unit 126.

The processor 470 may be electrically connected to each unit in the in-vehicle ladder 400 to control the overall operation of each unit.

The processor 470 can obtain the object information by comparing the transmission signal and the reflection signal. For example, the processor 470 can obtain the object information by comparing the transmitted light and the reflected light.

Specifically, the processor 470 can acquire object information by performing a TOF (Time of Flight) or phase shift operation of the transmission light and the reflected light.

Here, the object information may include the presence / absence information of the object, the distance information to the object, the relative speed information with the object, and the position information of the object.

The processor 470 may generate an image of the object based on the transmitted light and the received light. Specifically, the processor 470 can generate an image of the object by comparing the transmitted light and the received light corresponding to each pixel with each other. For example, the processor 470 may compare the transmission light and the reflected light corresponding to each pixel, and generate an image of the object by calculating a TOF or a phase change per pixel.

The processor 470 can receive the running situation information from the internal sensing unit 125 or the external sensing unit 126 via the interface unit 430. [ The processor 470 can control the transmitting unit 410 based on the traveling state information. For example, the processor 470 may steer the beam in the first direction or the second direction based on the running situation information.

The running situation information may include at least one of in-vehicle sensing information and in-vehicle sensing information.

The vehicle internal sensing information may be information generated by sensing through the internal sensing unit 125. For example, the in-vehicle sensing information may include vehicle position information, vehicle direction information, vehicle position information, vehicle angle information, vehicle speed information, vehicle acceleration information, vehicle tilt information, vehicle forward / backward information, Pressure information applied to the accelerator pedal, and pressure information applied to the brake pedal.

The vehicle external sensing information may be information generated by sensing through the external sensing unit 126. For example, the vehicle exterior sensing information may include object information located outside the vehicle. The object information may include presence / absence information of the object, distance information to the object, relative speed information with the object, and position information of the object.

Meanwhile, the object may include at least one of a lane, another vehicle, a pedestrian, a light, a traffic signal, a road, a structure, a speed limiter, a terrain, and an animal.

The running situation information may be object information located in the vicinity. Here, the object information may be information generated on the basis of the reflected light in the processor 470.

The processor 470 can generate object information based on the reflected light and adjust the angle of beam steering of the transmitted light based on the generated object information.

The processor 470 can adjust the angle of view of the transmission light by adjusting the angle of beam steering of the transmission light based on the traveling state information.

The processor 470 can adjust the field of view (FOV) of the transmission light by adjusting the angle of beam steering of the transmission light.

Here, the angle of view may be defined as an angle at which the steered beam is output in the horizontal direction or the vertical direction. For example, the horizontal angle of view may be defined as an output angle of a beam formed from the left end to the right end with respect to the transmitting unit 410. [ For example, the vertical angle of view may be defined as an output angle of a beam formed from the upper end to the lower end with respect to the transmitting unit 410.

The processor 470 can set the detection area of the object by adjusting the angle of beam steering of the transmission light.

Specifically, the processor 470 can adjust the left and right angles of the beam steering of the transmission light in the horizontal direction. The processor 470 can adjust the vertical angle of the beam steering of the transmission light in the vertical direction.

The processor 470 may control the heater 482 to change the individual phase of the light split by the optical splitter 510.

The processor 470 may control the piezo 484 to change the individual phase of the light split by the optical splitter 510. [

The processor 470 can generate a depth map based on the transmitted light and the reflected light. Specifically, the processor 470 can compute the TOF or the phase change per pixel by comparing the transmission light and the reflected light corresponding to each pixel, and generate a depth map.

The processor 470 may determine whether a disturbance has occurred based on a depth value of a region of interest (ROI) predetermined on the depth map. Specifically, the processor 470 may accumulate the depth values of the ROIs in the memory 440. The processor 470 can determine whether disturbance has occurred based on the difference between the average value of the cumulative stored depth values and the newly obtained depth value of the ROI.

The processor 470 can control the beam steering unit 530 of the transmission unit 410 so that the beam is output in the radial range of the sector shape having the radiation angle in the horizontal direction or the vertical direction.

The processor 470 can set a plurality of radiation ranges based on the radiation angle obtained by dividing the angle of view.

The processor 470 can set a plurality of radiation ranges by dividing the entire view angle into a plurality of areas. For example, the processor 470 can divide the horizontal angle of view into a plurality of angles and set a plurality of radial ranges in the horizontal direction. For example, the processor 470 can divide the vertical angle of view into a plurality of angles and set a plurality of radial ranges in the vertical direction.

The processor 470 can control the spacing between a plurality of beams output in each of a plurality of radiation ranges.

The processor 470 can control the transmitter 410 such that as the plurality of steered beams approach the center of the transmitter 410 reference in the horizontal direction, the spacing between the plurality of steered beams becomes smaller .

Here, the center of the reference of the transmitting unit 410 may refer to a reference beam that is output perpendicularly to the direction in which the transmitting unit 410 is directed by the transmitting unit 410.

The processor 470 can control the transmitter 410 to output more as the steering beam approaches the center of the transmitter 410 reference.

Specifically, the processor 470 can output a steered beam in a plurality of emission ranges, dividing the time.

The processor 470 can distinguish a plurality of radiation ranges based on a radiation angle obtained by dividing the horizontal angle of view. For example, the plurality of radiation ranges may include a first radiation range, a second radiation range, and a third radiation range. The second radiation range may be a radiation range set closer to the center of the transmitter 410 reference than the first radiation range and the third radiation range.

The processor 470 can control the transmitting unit 410 so that the beam is steered to a plurality of emission ranges by time division.

The processor 470 may control the transmitter 410 to output a steered beam in the first emission range for a first time span.

The processor 470 may control the logo transmitter 410 to output a steered beam in the second emission range for a second time span.

Processor 470 may control transmitter 410 to output a steered beam in a third emission range for a third time span.

The processor 470 may control the transmitter 410 to output a steered beam in the second emission range for a fourth time span. The processor 470 may control the transmitter 410 to output a steered beam different from the steering beam output during the second time range when outputting the steered beam during the fourth time span.

The processor 470 can control the transmitter 410 such that as the plurality of steered beams approach the center of the transmitter 410 reference in the vertical direction, the spacing between the plurality of steered beams becomes smaller.

Here, the center of the reference of the transmitting unit 410 may refer to a reference beam that is output perpendicularly to the direction in which the transmitting unit 410 is directed by the transmitting unit 410.

The processor 470 can control the transmitter 410 to output more steering beams as they approach the center of the transmitter 410 reference.

Specifically, the processor 470 can output a steered beam in a plurality of emission ranges, dividing the time.

The processor 470 can distinguish a plurality of radiation ranges based on a radiation angle obtained by dividing the vertical angle of view. For example, the plurality of radiation ranges may include a first radiation range, a second radiation range, and a third radiation range. The second radiation range may be a radiation range set closer to the center of the transmitter 410 reference than the first radiation range and the third radiation range.

The processor 470 may control the transmitter 410 to output a steered beam in the first emission range for a first time span.

The processor 470 may control the logo transmitter 410 to output a steered beam in the second emission range for a second time span.

Processor 470 may control transmitter 410 to output a steered beam in a third emission range for a third time span.

The processor 470 may control the transmitter 410 to output a steered beam in the second emission range for a fourth time span. The processor 470 may control the transmitter 410 to output a steered beam different from the steering beam output during the second time range when outputting the steered beam during the fourth time span.

The processor 470 may be implemented in hardware as application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs) processors, controllers, micro-controllers, microprocessors, and other electronic units for performing other functions.

In the meantime, according to the embodiment, the vehicular laddering apparatus 400 may further include a posture sensing unit 450 and an attitude adjusting unit 460.

The posture sensing unit 470 can sense the posture of the vehicle laddering apparatus 400. [ The vehicular lidar apparatus 400 has to take a proper attitude in order to transmit a transmission signal toward an object positioned at the front, rear, or side of the vehicle and obtain a reception signal reflected on the object. When the posture of the ladder 400 for a vehicle is changed due to an external impact or the like, the posture sensing unit 470 senses a change in the posture of the ladder 400 for a vehicle.

The attitude sensing unit 470 may include at least one of an infrared sensor, a bolt tightening sensor (e.g., Bolt Magnet sensor), and a gyro sensor to sense the attitude of the vehicular laddering apparatus 400. [

The posture adjusting unit 460 adjusts the posture of the in-vehicle laddering unit 400 based on the posture sensed by the posture sensing unit 470. [ The posture adjusting unit 460 includes driving means such as a motor and adjusts the posture of the in-vehicle ladder 400 according to the control of the processor 470 so as to be suitable for sending out a transmission signal and acquiring a reception signal.

The processor 470 receives the attitude information detected from the attitude sensing unit 470. [ The processor 470 controls the posture adjusting unit 460 based on the received posture information.

According to an embodiment, the processor 470 can control the direction and magnitude of the beam in the transmitted signal while maintaining the attitude of the in-vehicle Lydia device 400.

The processor 470 provides the controller 170 with related information through the interface 430 when the posture sensing unit 470 senses a change in the posture of the apparatus 400 for a vehicle can do. In this case, the control unit 170 can output the posture change information of the vehicular laddering apparatus 400 through the output unit 1500 so that the user can recognize the posture change information.

Fig. 4 is a detailed block diagram referred to for describing a vehicular laddering apparatus according to an embodiment of the present invention.

4, the transmitter 410 may include a waveform generator 411, a modulator 414, and a light generator 417. [

The waveform generator 411 can generate a transmission signal. To this end, the waveform generator 411 may include a oscillation element such as a VCO (Voltage Control Oscillator). Meanwhile, according to the embodiment, a plurality of oscillators may be provided.

For example, the waveform generator 411 can generate an FMCW signal.

The FMCW signal will be described with reference to Fig.

7 is a diagram referred to explain an example of an FMCW signal according to an embodiment of the present invention.

Referring to FIG. 7, the waveform generator 411 can generate a frequency-modulated continuous wave of triangular waveform as shown. The transmission unit 410 can output a transmission signal corresponding to the FMCW signal.

(Hereinafter, referred to as a "beat frequency") of a beat signal (for example, a time-domain signal indicating the difference between the frequency of the received signal and the frequency of the transmitted signal) obtained by the received signal and the transmitted signal, By analyzing the spectrum, distance information and velocity information with respect to the object can be obtained. Here, fc is the center frequency, f0 is the start frequency, B is the modulation bandwidth, and Tm is the modulation period.

The FMCW signal may be divided into an up-chirp signal and a down-chirp signal.

4, the modulator 414 loads the transmission signal generated by the waveform generator 411 into the light generated in the light generator. For example, the modulator 414 loads the FMCW signal on the light.

The light generating unit 417 can generate light corresponding to the transmission signal and output the light signal to the outside. The light generation unit 417 can generate transmission light and output it to the outside.

For example, the light generating unit 417 can output light corresponding to the FMCW signal. In this case, the transmission light can be implemented by FMCW.

The light generated by the light generating unit 417 may be a laser.

The transmitting unit 410 may further include an amplifying unit (not shown). The amplifying unit (not shown), including the amplifying circuit, can amplify the signal generated by the waveform generator 411 and provide it to the modulator 414. [

The receiving unit 420 may include a photo detector 421 and a mixer 424. [

The photodetector 421 can convert the received light into an electrical signal. The photodetector 421 can receive the reflected light signal reflected from the object by the optical signal output from the transmitting unit 410 and convert it into an electrical signal.

The mixer 424 can output the difference between the signals generated by the waveform generator 411 and the signals received by the photodetector 421 by correlating them.

For example, the mixer 424 can generate TOF information corresponding to a time difference between a transmission signal output from the transmission unit 410 and a reception signal received from the reception unit 420.

For example, the mixer 424 mixes the transmission signal generated by the waveform generator 411 and the reception signal received by the photodetector 421, and outputs a signal corresponding to the frequency difference between the transmission signal and the reception signal Lt; / RTI >

The frequency of the signal obtained from the reception signal and the transmission signal can be named as a bit frequency. The frequency output from the mixer 424 may be a bit frequency.

The processor 470 can acquire the object information based on the signal corresponding to the frequency difference between the transmission signal and the reception signal.

Meanwhile, the receiving unit 420 may further include a filter (not shown) and an amplifier (not shown).

A filter (not shown) may filter the signal generated by the mixer 424.

An amplifier (not shown) may amplify the signal generated by the mixer 424 or the signal generated by the mixer 424 and passed through a filter (not shown), and provide the amplified signal to the processor 470.

The processor 470 may include a Fast Fourier Transform (FFT) unit 471, a processing unit 474, and a digital to analog converter (DAC) unit 477.

The FFT unit 471 can measure the frequency of the signal output from the mixer 424 through the fast Fourier transform when the transmission signal and the reception signal are implemented in the FMCW form. The FFT unit 471 can perform fast Fourier transform on a signal corresponding to a frequency difference between a transmission signal and a reception signal to generate PS (Phase Shift) information.

According to the embodiment, the FFT unit 471 may be omitted.

The processing unit 474 can acquire the object information. The object information can be obtained on the basis of the difference between the transmission signal and the reception signal provided by the mixer 424.

The processing unit 474 can acquire the object information based on the TOF or the phase change.

The processing unit 474 can acquire the object information based on the TOF information provided by the mixer 424. [

The processing unit 474 can acquire the object information based on the PS information.

The object information may include information on the presence or absence of the object, distance information with the object, relative speed information with the object, and position information of the object.

8A to 8C, an operation of acquiring object information when a transmission signal and a reception signal are implemented by FMCW will be described.

8A to 8C are views showing a transmission frequency and a reception frequency according to an embodiment of the present invention.

9A to 9B are diagrams for explaining bit frequencies according to an embodiment of the present invention.

8A to 9, an operation for acquiring object information will be described.

8A to 8C show the relationship between the frequency of a transmission signal (hereinafter referred to as a transmission frequency) and the frequency of a reception signal (hereinafter referred to as reception frequency) on the time axis. When the object approaches the radar device, Figure 8c shows when the object is away from the radar device.

Here, td is a delay time between the transmission signal and the reception signal, and is determined by the distance between the object and the radar device.

9A and 9B are diagrams showing a relation between a frequency of a transmission signal and a frequency of a reception signal and a bit frequency according to the frequency, on a time axis. FIG. 9A shows a static situation as shown in FIG. 8A, It corresponds to a dynamic situation. Here, the bit frequency fb is obtained as a difference between the transmission frequency and the reception frequency.

In the static situation shown in FIG. 9A, the bit frequency can be determined by the delay time according to the distance between the object and the radar device.

In the dynamic situation shown in FIG. 9B, since the relative speed between the object and the radar device changes, a Doppler frequency shift phenomenon occurs, so that the bit frequency is a combination of the distance bit frequency fr and the Doppler frequency fd.

The beat frequency includes an up-beat frequency corresponding to an up chirp and a down-beat frequency corresponding to a down chirp.

The up beat frequency and the down beat frequency include frequency shifts by the distance of the moving target and the relative speed. These components are called Range Beat Frequency and Doppler Frequency, respectively.

On the other hand, the up-bit frequency is represented by the sum of the distance bit frequency and the Doppler frequency, and the down-bit frequency can be expressed by the difference between the distance bit frequency and the Doppler frequency.

On the other hand, a negative Doppler frequency indicates that the object is approaching the vehicle ladder 400, and a positive Doppler frequency indicates that the object is moving away from the vehicle 400 .

The processing unit 474 of the processor 470 can calculate the distance to the object and the relative speed using the distance bit frequency and the Doppler frequency, respectively.

Referring again to FIG. 4, the DAC unit 477 can convert the digital signal into an analog signal. The converted analog signal can be input to the waveform generator 411.

The vehicular laddering apparatus 400 may further include an optical splitter 510, a wave guide unit 520, a beam steering unit 530, and a lens system 540.

The optical splitter 510 can spectroscope the transmitted light.

The waveguide section 520 may be disposed between the light generating section 417 and the beam steering section 530. The waveguide unit 520 can guide the transmission light output from the light generator 417 to the beam steering unit 530. [

The waveguide section 520 may include a core formed of a cladding structure of silicon nitride (Si 3 N 4) and silicon dioxide (SiO 2).

The wave guide portion 520 may include a plurality of cores. Here, the core may be formed of a cladding structure of silicon nitride (Si 3 N 4) and silicon dioxide (SiO 2). The wave guide unit 520 can guide each of the spectrally separated beams to the beam steering unit 530 through a plurality of cores through the optical splitter 510. [

The waveguide unit 520 can guide the reflected light to the photodetector 421.

The beam steering portion 530 can steer the light. The beam steering part 530 can perform optical steering by outputting light whose optical phase is changed by the heater 482 or the piezo 484 in the wave guide part 520. [

The lens system 540 can change the path of the light that is steered by the beam steering unit 530. The lens system 540 can form a field of view (FOV) of the vehicular laddering apparatus 400 according to the refractive index.

5 is a diagram referred to explain transmission light and reception light according to an embodiment of the present invention.

Referring to FIG. 5, the laser light generated by the light generating unit 417 may be introduced into the optical splitter 510.

The optical splitter 510 is capable of splitting the laser light into a plurality of lights. The plurality of spectrally separated laser beams are guided by the waveguide unit 520 and can be introduced into the beam steering unit 530.

According to the embodiment, the optical splitter 510 can change the phases of a plurality of spectroscopic laser beams. The laser light whose phase is changed can be provided to the beam steering part 530.

The wave guide portion 520 may include a plurality of cores. Each of the plurality of cores may be formed of a cladding structure of silicon nitride (Si 3 N 4) and silicon dioxide (SiO 2).

On the other hand, the heater (482 in FIG. 3) can provide heat to the wave guide portion 520. By the heat provided from the heater 482, the optical phase of each of the plurality of lights guided by the waveguide portion 520 can be changed. Specifically, the heat from the heater 482 changes the refractive index of the waveguide portion 520, and the optical phase of the light guided through the waveguide portion 520 can be changed by the changed refractive index.

The processor 470 controls the heater 482 to control the optical phase of each of the plurality of lights guided by the waveguide unit 520 to be changed.

On the other hand, the piezo (484 in FIG. 3) can provide pressure to the waveguide portion 520. By the heat provided from the piezo 484, each of the plurality of lights guided in the waveguide portion 520 can be changed in optical phase. Specifically, the refractive index of the waveguide portion 520 is changed by the pressure provided from the piezo 484, and the optical phase of the light guided through the waveguide portion 520 can be changed by the changed refractive index.

The processor 470 controls the piezo 484 to control the optical phase of each of the plurality of lights guided by the waveguide unit 520 to change.

On the other hand, the optical phases of the plurality of lights may be different from each other. A plurality of lights whose optical phases are changed can be introduced into the beam steering unit 530. The beam steering unit 530 can condense a plurality of incoming lights. Since each of the plurality of lights has a different optical phase, the condensed light can be steered based on the optical phase of each of the plurality of lights.

Steered light from the beam steering portion 530 may be output to the lens system 540. [

The light output through the lens system 540 is reflected on the object O. [

The reflected light reflected by the object O can be introduced into the photodetector 421 through the beam steering part 530 and the wave guide part 520. [

On the other hand, the processor 470 can steer the light output from the beam steering section 530 through the heater 482 or the piezo 484.

FIG. 6A is a diagram referred to explain a wave guide unit according to an embodiment of the present invention. FIG.

6B is a diagram referred to explain the effect of the waveguide unit according to the embodiment of the present invention.

6A illustrates one core 525 formed in the waveguide unit 520. However, as described above, the cores may be formed in plural numbers.

6A, the waveguide unit 520 includes a substrate 521, a first silicon dioxide layer 522 formed on the substrate 521, a second silicon dioxide layer 522 formed on the first silicon dioxide layer 522, A core 525 formed in the second silicon dioxide layer 523, a third silicon dioxide layer 524 formed on the second silicon dioxide layer 523, and the like.

The substrate 521 may be a silicon substrate.

The first silicon dioxide layer 522 may be a heat-treated silicon dioxide layer (Thermal SiO2).

The second silicon dioxide layer 523 may be a low pressure chemical vapor deposition (LPCVD) SiO2 layer.

The core 525 may be formed in the second silicon dioxide layer 523. The core 525 may be formed of a cladding structure of silicon nitride (Si 3 N 4) and silicon dioxide (SiO 2).

The third silicon dioxide layer 525 may be a plasma enhanced chemical vapor deposition (PECVD) SiO2 layer.

FIG. 6B shows the bending diameter, the degree of attenuation, the applicable beam wavelength, and the results of the fiber chip coupling experiment when forming the core with various materials.

Referring to FIG. 6B, when the core (525 of FIG. 6A) is formed of a cladding structure of silicon nitride (Si 3 N 4) and silicon dioxide (SiO 2), a bending radius of up to 0.05 mm is possible. The smaller the bending diameter is, the more advantageous to downsizing and integrating the waveguide unit. When the core 525 is formed of a cladding structure of silicon nitride (Si 3 N 4) and silicon dioxide (SiO 2), the core 525 is more advantageous in downsizing and integration than the cores of other materials.

When the core 525 is formed of a cladding structure of silicon nitride (Si 3 N 4) and silicon dioxide (SiO 2), the loss rate per unit length (cm) is 0.05 dB. In the case where the core 525 is formed of a cladding structure of silicon nitride (Si 3 N 4) and silicon dioxide (SiO 2), since the loss ratio is small, the light generating portion can be constituted by a light source with a small output. There is also a high energy efficiency advantage.

When the core 525 is formed of a cladding structure of silicon nitride (Si 3 N 4) and silicon dioxide (SiO 2), it can be used as transmission light from the visible light to the infrared light wavelength region. Since the visible light should not flow into the view of the driver of the pedestrian and the other vehicle in the case of the lidar apparatus, the core 525 formed of the cladding structure of silicon nitride (Si 3 N 4) and silicon dioxide (SiO 2) There is an effect that light can be utilized.

When the core 525 is formed of a cladding structure of silicon nitride (Si 3 N 4) and silicon dioxide (SiO 2), the bonding characteristics between the chip and the fiber array are excellent.

10 is a diagram referred to explain a beam steering unit according to an embodiment of the present invention.

Referring to FIG. 10, the beam steering unit 530 may include a first beam steering unit 600 and a second beam steering unit 700.

The first beam steering portion 600 can steer the beam in the first direction. Here, the first direction may be a horizontal direction. For example, the first direction may be the full width direction or the full length direction with respect to the vehicle 100. [

The first beam steering part 600 may include an arrayed waveguide grating (AWG). In this case, the first beam steering part 600 can perform the first direction steering of the beam through the array waveguide grating.

The second beam steering portion 700 can steer the beam in the second direction. Here, the second direction may be a vertical direction. For example, the second direction may be the vertical direction with respect to the vehicle 100. [

The second beam steering part 600 may include a grating coupler. The grating coupler may be referred to as lambda grating. The second beam steering portion 700 can perform the second direction steering of the beam through the grating coupler.

The second beam steering portion 700 may include an arrayed waveguide grating. In this case, the second beam steering portion 700 can perform the second direction steering of the beam through the array waveguide grating.

11A to 11D are diagrams for explaining a first beam steering unit according to an embodiment of the present invention.

11A is a conceptual diagram of a first beam steering unit 600 according to an embodiment of the present invention.

11A, the first beam steering unit 600 may include an optical splitter 510, a waveguide unit 520, and a free propagation region (FPR) 1110.

The optical splitter 510 is capable of splitting the incoming light. The optical splitter 510 may be a star coupler.

The waveguide section 520 can guide the light that has been split by the optical splitter 510. The waveguide section 520 can guide the spectrally separated light to the free-propagation region 1110. [

The heater 482 can provide heat to the waveguide portion 520 to change the individual phase of the light that has been spectrally separated based on the received electrical signal.

By the heat provided by the heater 482, the individual phases of the spectrally guided light guided through the waveguide portion 520 can be changed. The degree of individual phase of the spectrally separated light can be changed depending on the degree of the column provided. The path of the light output through the free propagation region 610 can be changed in accordance with the change of the individual phases of the spectrally separated light. Beam steering can be performed in accordance with the change in the path of the outputted light.

The free-propagating region 610 can collect the spectrally separated light and output it to the outside. The free-propagating region 610 may be a star coupler.

On the other hand, the indicator 611 indicates various paths of light output from the free-propagation region 610.

On the other hand, the first beam steering unit 600 may be named as an optical switch.

The configuration including the optical splitter 510, the waveguide unit 520 and the free propagation region FPR 610 may be referred to as an arrayed waveguide grating (AWG) .

Referring to FIG. 11B, the vehicular radar apparatus 400 may further include a lens system 540.

The beam steering portion 530 may include an optical switch 1110. [ For example, the optical switch 1110 may be an arrayed waveguide grating (AWG).

The optical switch 1110 is an optical element capable of selecting a path of light traveling in accordance with an electrical signal applied by the processor 470.

The processor 470 controls the optical switch 1110 to adjust the path of the light. The processor 470 may provide an electrical signal to the optical switch 1110. At this time, the optical switch 1110 may cause the light to emit light at predetermined points (1110a to 1110g) in front of the lens system 540 according to the provided electrical signal. Since the light emission position is changed by the electrical signal applied to the optical switch 1110, the path of the beam output through the lens system 540 is changed. The processor 470 can change the electrical signal applied to the optical switch 1110 to steer the output beam. The entire angle of view can be changed by changing the range of the steering variation value. On the other hand, the output beam can be named transmission light.

Referring to FIG. 11C, the emission angle by the optical switch 1110 can be found by the following equation (1).

Here,? X is the positional change of the light emitting point along the optical switch 1110, f is the focal length of the lens system 540, and?

Referring to FIG. 11D, in the case where the focal length f of the lens system 540 is 5.0 mm, the change of the outgoing angle? According to the position change? X of the light emitting point is the same as the graph.

FIG. 11E is a diagram that is referred to explain the outgoing angle changed by the heat applied to the waveguide according to the embodiment of the present invention. FIG.

Referring to FIG. 11E, the transmitted light is split into Na wavelengths by the optical splitter 510. In this case, the waveguide section 520 may include Na light paths.

The emission angle can be obtained by the following equation (2).

? Is the phase difference between the adjacent individual optical paths of the waveguide unit 520, and d is the waveguide unit (wavelength? Lt; RTI ID = 0.0 > 520 &

12A and 12B are diagrams for explaining a second beam steering unit according to an embodiment of the present invention.

The second beam steering portion 700 may include a grating coupler 700a. The second beam steering part 700 may include a plurality of grating couplers arranged corresponding to the plurality of output optical paths of the first beam steering part 700, respectively.

12A illustrates one grating coupler 700a according to an embodiment of the present invention.

Referring to FIG. 12A, a grating coupler 700a may include a transition region 710 and a grating region 720.

The transition region 710 may be tapered in the grating region 720. The transition region 710 may be formed to be narrower as it moves away from the grating region 720.

One end of the transition region 710 may be connected to the first beam steering unit 600. The other end of the transition region 720 may be connected to the grating region 720.

The grating region 720 may include a plurality of grooves 730 that define a plurality of lines 740 and a plurality of lines 740.

The line 740 may have a convex shape in the traveling direction of the transmission light. The line 740 may have a concave shape in the traveling direction of the reflected light.

The transition region 710 and the grating region 720 may be disposed on the substrate 701.

The transition region 710 and the grating region 720 may be made of a material having a refractive index higher than that of the substrate 701.

On the other hand, the substrate 710 may be formed integrally with the substrate 521 of the waveguide unit 520.

12B is a diagram referred to explain the outgoing angle of the beam by the grating coupler according to the embodiment of the present invention.

Referring to Fig. 12B, the grating coupler 700a can change the emission angle of the beam according to the wavelength of transmission light.

The processor 470 can adjust the wavelength of the light generated by the light generating unit 417. [ When the wavelength of the light generated by the light generating unit 417 is changed, the outgoing angle of the beam output to the outside via the grating coupler 700a can be changed.

For example, according to the control of the processor 470, when the light of the first wavelength is output from the light generating unit 417, the grating coupler 700a can output the beam 751 of the first output angle have.

For example, according to the control of the processor 470, when the light of the second wavelength is output from the light generating unit 417, the grating coupler 700a can output the beam 752 of the second output angle have.

For example, according to the control of the processor 470, when the light of the third wavelength is outputted from the light generating unit 417, the grating coupler 700a can output the beam 753 of the third outgoing angle have.

13A to 13C are diagrams referred to explain a grating coupler according to an embodiment of the present invention.

13A-13C are side views of a grating coupler 700a in accordance with an embodiment of the present invention.

Referring to FIG. 13A, the grating area 720 of the grating coupler 700a may include a plurality of lines 740 and grooves 730 that define a plurality of lines 740.

The grating coupler 700a may include a plurality of periods (P). The pyridoide (P) comprises one line (740) and one groove (730).

Each of the plurality of the pyroids may have a duty cycle that is a ratio of the line 740 and the groove 730. Specifically, the duty cycle is a value obtained by dividing the length of the line 740 by the length of the period P.

As illustrated in FIG. 13A, when the duty cycles of a plurality of the plurality of pulleys are constant, the light amount of the output beam becomes larger the closer to the transition region 710. That is, as the distance from the transition region 710 increases, the light amount of the output beam decreases. As the light progresses, it is continuously output. In this case, the intensities of the beams steered in the second direction are not constant. If an inconsistent beam is output, accurate object detection can not be achieved.

According to an embodiment of the present invention, the grating coupler 700a may include a plurality of pyroids having different duty cycles.

As illustrated in Fig. 13B, the grating coupler 700a can be formed such that the steered beam has a constant intensity.

Specifically, the duty cycle of the period P may be smaller the closer to the transition region 710. Further, the farther from the transition region 710, the larger the duty cycle of the period P can be.

For example, the plurality of pyridoes may include a first pyrido (P1) and a second pyrido (P2). At this time, the second pyridone P2 may be arranged farther than the first pyridon P1 with respect to the light output portion 410. [ Alternatively, the second pyridone P2 may be disposed more distantly than the first pyridon P1, with respect to the transition region 710. In this case, the duty cycle of the first pyridon P1 may be smaller than the duty cycle of the second pyridon P2.

By forming a pyridoid with such a duty cycle, the grating coupler 700a can cause the steered beam to have a constant intensity.

As illustrated in Figure 13C, the grating coupler 700a may receive the reflected light 1365 as well as output 1360 the beam. In this case, the grating coupler 700a may be classified into a lower configuration of the transmission unit 410 and a lower configuration of the reception unit 420. [

The reflected light 1365 can be transmitted to the photodetector 417 via the grating coupler 700a and the arrayed waveguide grating 600. [ In this case, the grating coupler 700a and the arrayed waveguide grating 600 can be classified into a sub-configuration of the transmitter 410 and a sub-configuration of the receiver 420. [

13D to 13F are drawings referred to explain the relationship between the duty cycle and the beam intensity according to the embodiment of the present invention.

13A to 13F are the results derived by computer simulation.

13D shows the light decay rate P (x) according to the individual grating position x of the grating coupler 700a when B is a constant. The light extinction ratio is an exponential function. In order that the beam intensity per grating position (x) is constant, the function of the light amount extinction ratio (P (x)) should be a function that linearly decreases.

13E shows the light decay rate P (x) according to the individual grating position x of the grating coupler 700a when B varies according to the individual grating position x. In this case, since the light amount extinction ratio P (x) becomes a linearly decreasing function, the intensity of the beam becomes constant.

B is determined by Equation (3).

13F shows the value of B according to the duty cycle. When the duty cycle corresponding to the value of B is changed according to the individual grating position, the light amount disappearance ratio P (x) linearly decreases.

The etch depth is the z-axis distance between the line and the groove.

FIG. 14 is a diagram for explaining a beam steering unit according to an embodiment of the present invention.

Referring to Fig. 14, the second beam steering 700 may include arrayed waveguide grating.

When the first beam steering portion 600 includes arrayed waveguide gratings, the second beam steering portion 700 includes a plurality of output waveguides (not shown) arranged in a plurality of output optical paths of the arrayed waveguide grating of the first beam steering portion 600 And may include a plurality of arrayed waveguide gratings disposed correspondingly.

15A to 15B are views referred to explain a lens system according to an embodiment of the present invention.

15A is a top view of the lens system 540, and FIG. 15B is a side view of the lens system 540. FIG.

The in-vehicle lidar apparatus 400 may include a lens system 540. The lens system 540 may change the path of the steered beam in the first and second directions.

The lens system 540 can change the path in the first direction of the beam and maintain the path in the second direction of the beam. For example, lens system 540 may include a lens in the form of a cylinder. By the cylindrical lens, the path in the horizontal direction of the beam is changed, and the path in the vertical direction of the beam can be maintained.

15A and 15B, the lens system 540 may include a first lens 540a and a second lens 540b.

The first lens 540a may be formed in a concave shape in the first direction. Here, the first direction may be a horizontal direction. Alternatively, the first direction may be the full width direction or the full length direction. For example, the first lens 540a may be formed in a concave shape when viewed from above. The first lens 540a may have a flat shape when viewed from the side.

The second lens 540b may be formed in a bulky shape in the first direction. Here, the first direction may be a horizontal direction. Alternatively, the first direction may be the full width direction or the full length direction. For example, the second lens 540b may be formed in a convex shape as viewed from above. The second lens 540b may have a flat shape when viewed from the side.

Figs. 16A to 16B are diagrams for explaining an operation of outputting a steered beam at regular intervals. Fig.

As illustrated in FIG. 16A, the processor 470 may control the transmitter 410 to output a plurality of steered beams at a first interval.

The first interval may be an interval set as an object detection reference located at a close range. On the other hand, the near distance may be a distance corresponding to about 25-75 m on the basis of the vehicle 100 or the Rada apparatus 400.

For example, the first interval may be an interval set so that the interval of the beams reaching 50 m is 35 cm.

In this way, when the beam is output at the first interval of the near reference, the beam interval is not enough for the object detection at a long distance, so that it is not suitable for detecting an object having a small size at a long distance.

As illustrated in FIG. 16B, the processor 470 may control the transmitter 410 to output a plurality of steered beams at a second interval.

The second interval may be an interval set to an object detection reference located at a remote location. On the other hand, the distance may be a distance corresponding to approximately 150 to 250 m, based on the vehicle 100 or the Rada apparatus 400.

The second spacing may be more closely spaced than the first spacing.

For example, the second interval may be an interval set so that the interval of the beams reaching 200 m is 35 cm.

As described above, when the beam is output at the second distance on the basis of the distance, since the beam spot is excessively tight at a short distance, the burden on the processor 470 becomes large, and the time required for beam emission and processing increases .

In particular, in this case, there is a problem of inefficiency because the resolution of a side that is a non-interest area at a long distance is increased. In the case of the vehicle 100, it is only necessary to detect an object only in an area (for example, road, delivery) affecting the running of the vehicle 100, so it is inefficient to radiate the beam to other areas.

FIG. 16C is a diagram referred to in describing an operation of setting a radiation range and controlling an interval between a plurality of beams in a horizontal direction, according to an embodiment of the present invention. FIG.

Referring to the drawing, the processor 470 can set a plurality of radiation ranges RR1, RR2, RR3, RR4, and RR5 on the basis of a radiation angle obtained by dividing a horizontal angle of view (AV).

The processor 470 can control an interval between a plurality of beams output from each of a plurality of radiation ranges RR1, RR2, RR3, RR4, and RR5.

The processor 470 controls the transmitter 410 so that the more the steered beam approaches the center CL of the transmitter 410 reference in the horizontal direction, the smaller the spacing between the plurality of steered beams becomes. can do.

The center CL of the reference of the transmitter 410 may refer to a reference beam output perpendicularly to the direction in which the transmitter 410 is directed by the transmitter 410. [

For example, when the vehicular laddering apparatus 400 is disposed facing the front of the vehicle, the center CL may refer to a reference beam vertically output from the transmitting unit 410 toward the front of the vehicle.

The center CL may refer to a reference beam vertically output from the transmitting unit 410 toward the rear of the vehicle when the vehicular ladder 400 is disposed to face the rear of the vehicle.

The processor 470 can control the transmitting unit 410 such that the steering beam is output more toward the center CL of the transmitting unit 410 reference.

Specifically, the processor 470 can output a steered beam in a plurality of emission ranges, dividing the time.

The processor 470 can distinguish a plurality of radiation ranges based on a plurality of radiation angles obtained by dividing the horizontal angle of view.

For example, the plurality of radiation ranges may include a first radiation range RR1, a second radiation range RR2, and a third radiation range RR3. At this time, the second radiation range RR2 may be an emission range set closer to the center CL of the transmitter unit 410 than the first radiation range RR1 and the third radiation range RR3.

The second radiation range RR2 may include the center CL of the transmitter 410 reference and may have a sectoral shape with a predetermined angle to the left and right with respect to the center CL.

The first radiation range RR1 may be a sector shape range located on the left side of the second radiation range RR2.

The third radiation range RR3 may be a sector shape range located on the right side of the third radiation range RR3.

The processor 470 can control the transmitting unit 410 so that the beam is steered to a plurality of emission ranges by time division.

The processor 470 may control the transmitter 410 to output a steered beam in the first emission range for a first time span.

The processor 470 may control the logo transmitter 410 to output a steered beam in the second emission range for a second time span.

Processor 470 may control transmitter 410 to output a steered beam in a third emission range for a third time span.

The processor 470 may control the transmitter 410 to output a steered beam in the second emission range for a fourth time span. The processor 470 may control the transmitter 410 to output a steered beam different from the steering beam output during the second time range when outputting the steered beam during the fourth time span.

By controlling in this way, the closer the center CL is, the more number of the steered beams can be outputted. As a result, the steered beam can be output so that an object located at a distance can be detected without outputting an excessive number of beams.

17 is an enlarged view of a part of the radiation range of FIG. 16C according to the embodiment of the present invention.

Figure 17 is a diagram referenced to illustrate the number of beams output on a distance basis, in accordance with an embodiment of the present invention.

17 shows an example of a case in which the left side 20 m in the radial direction and the right side 20 m in the radial direction are set to be 200 m in the direction (for example, radial direction) 1 is a diagram illustrating a beam that is radiated to a distance.

Referring to the drawings, a steered beam may be output in the second region RR2 at a distance of 200 m from the radial direction at an interval of 35 cm. At this time, the second area RR2 can cover an area up to 20 m on the left side in the radial direction and up to 20 m on the right side in the radial direction.

On the other hand, in the second region RR2, a steered beam can be output at intervals of 18 cm at a distance of 100 m in the radial direction. At this time, the second region RR2 can cover an area up to 10 m on the left side in the radial direction and up to 10 m on the right side in the radial direction.

The first region RR1 can output a beam steered at intervals of 35 cm at a distance of 100 m in the radial direction. At this time, the first area RR1 can cover an area between 10 m and 20 m on the left side in the radial direction.

The third area RR3 can output a beam steered at intervals of 35 cm at a distance of 100 m in the radial direction. At this time, the third region RR3 can cover an area between 10 m and 20 m on the right side in the radial direction.

With reference to FIG. 17, the first to third regions are exemplarily described, but the fourth to seventh regions or other regions may be described in the same manner.

18A to 18F are diagrams referred to for explaining the operation of setting the radiation range and controlling the interval between the plurality of beams in the vertical direction according to the embodiment of the present invention.

18A is a conceptual diagram showing respective beams when beams are output in the horizontal direction H and the vertical direction V, according to the embodiment of the present invention.

For example, when the vehicular laddering device 400 is disposed in front of the vehicle, Fig. 18A shows a plurality of beams that are traveling in the full width direction and the full height direction in a situation where a beam is output to the front of the vehicle.

For example, when the vehicular laddering apparatus 400 is disposed at the rear of the vehicle, Fig. 18A shows a plurality of beams that are traveling in the full width direction and the frontward direction plane in a situation where a beam is output to the rear of the vehicle.

The processor 470 controls the transmitter 410 such that the plurality of steered beams approach the center CL of the transmitter 410 reference in the vertical direction so that the spacing between the plurality of steered beams becomes narrower .

The center CL of the reference of the transmitter 410 may refer to a reference beam output perpendicularly to the direction in which the transmitter 410 is directed by the transmitter 410. [

For example, when the vehicular laddering apparatus 400 is disposed facing the front of the vehicle, the center CL may refer to a reference beam vertically output from the transmitting unit 410 toward the front of the vehicle.

The center CL may refer to a reference beam vertically output from the transmitting unit 410 toward the rear of the vehicle when the vehicular ladder 400 is disposed to face the rear of the vehicle.

The processor 470 can control the transmitting unit 410 such that the steering beam is output more toward the center CL of the transmitting unit 410 reference.

Specifically, the processor 470 can output a steered beam in a plurality of emission ranges, dividing the time.

The processor 470 can distinguish a plurality of radiation ranges based on a radiation angle obtained by dividing the vertical angle of view. For example, the plurality of radiation ranges may include a first radiation range RG1, a second radiation range RG2, and a third radiation range RG3. The second radiation range RG2 may be a radiation range set closer to the center of the transmitter 410 reference than the first radiation range RG1 and the third radiation range RG3.

In the figure, the first radiation range RG1, the second radiation range RG2 and the third radiation range RG3 can be expressed by the lengths in the vertical direction V, respectively.

The processor 470 may control the transmitter 410 to output a steered beam in the first emission range for a first time span.

The processor 470 may control the logo transmitter 410 to output a steered beam in the second emission range for a second time span.

Processor 470 may control transmitter 410 to output a steered beam in a third emission range for a third time span.

The processor 470 may control the transmitter 410 to output a steered beam in the second emission range for a fourth time span. The processor 470 may control the transmitter 410 to output a steered beam different from the steering beam output during the second time range when outputting the steered beam during the fourth time span.

18B is a diagram illustrating a beam radiated on a plane at a distance of 200 meters in a direction (for example, a radial direction) in which the transmitting section 410 is oriented, with reference to the transmitting section 410. As shown in Fig.

18C is a view showing a beam radiated on a plane at a distance of 100 m in a direction in which the transmitting section 410 is oriented, with the transmitting section 410 as a reference.

18D is a diagram illustrating a beam radiated on a plane at a distance of 50 m in a direction in which the transmitting unit 410 is oriented, with the transmitting unit 410 as a reference.

18E is a diagram illustrating a beam radiated on a plane at a distance of 25 m in a direction in which the transmitting unit 410 is oriented, with the transmitting unit 410 as a reference.

18F is a diagram illustrating a beam radiated on a plane at 12.5 meters in the direction toward the transmitting section 410 with reference to the transmitting section 410. [

The present invention described above can be embodied as computer-readable codes on a medium on which a program is recorded. The computer readable medium includes all kinds of recording devices in which data that can be read by a computer system is stored. Examples of the computer readable medium include a hard disk drive (HDD), a solid state disk (SSD), a silicon disk drive (SDD), a ROM, a RAM, a CD-ROM, a magnetic tape, a floppy disk, , And may also be implemented in the form of a carrier wave (e.g., transmission over the Internet). In addition, the computer may include a processor or a control unit. Accordingly, the above description should not be construed in a limiting sense in all respects and should be considered illustrative. The scope of the present invention should be determined by rational interpretation of the appended claims, and all changes within the scope of equivalents of the present invention are included in the scope of the present invention.

100: vehicle
400:

Claims (10)

A transmitter for outputting a steered beam;
A receiving unit for obtaining reflected light formed by reflecting the beam on an object; And
A plurality of radiation ranges are set on the basis of a radiation angle obtained by dividing the angle of view,
And a processor for controlling an interval between the plurality of beams output in each of the plurality of radiation ranges,
The transmitter may further comprise:
A light generator for generating transmission light on which a beam is based;
A first beam steering unit for steering the beam in a first direction;
A second beam steering unit for steering the beam in a second direction;
An optical splitter for splitting the transmitted light; And
And a wave guide unit for guiding the spectrally separated light to the first beam steering unit. The method according to claim 1,
The processor comprising:
And controls the transmission unit such that a distance between the plurality of steered beams decreases in a horizontal direction toward a center of the transmission unit reference. 3. The method of claim 2,
The processor comprising:
Wherein the control unit controls the transmission unit such that the steered beam is outputted closer to the center. The method of claim 3,
Wherein the plurality of radiation ranges include:
A first radiation range;
A second radiation range; And
A third radiation range,
The processor comprising:
A beam steered in the first radiation range is output for a first time range,
A beam steered into the second radiation range is output for a second time range,
A beam steered into the third radiation range is output for a third time range,
And controls the transmitter to output a beam steered to the second radiation range during a fourth time range. 5. The method of claim 4,
Wherein the second radiation range comprises:
Wherein the first radiation range and the third radiation range are set closer to the center than the first radiation range and the third radiation range. 5. The method of claim 4,
The processor comprising:
And controls the transmitter to output a beam steered at an angle different from the steered beam output during the second time range when outputting the steered beam during the fourth time range. The method according to claim 1,
The processor comprising:
Wherein the transmitter is controlled such that a distance between the plurality of steered beams decreases in a vertical direction toward a center of the transmitter reference. 8. The method of claim 7,
The processor comprising:
And controls the transmission unit such that the steering beam is output more as the center of the steering beam approaches the center. 9. The method of claim 8,
Wherein the plurality of radiation ranges include:
A first radiation range;
A second radiation range; And
A third radiation range,
The processor comprising:
A beam steered in the first radiation range is output for a first time range,
A beam steered into the second radiation range is output during a second time range,
A beam steered into the third radiation range is output during a third time range,
And controls the transmitter to output a beam steered to the second radiation range during a fourth time range. 10. The method of claim 9,
Wherein the second radiation range comprises:
Wherein the first radiation range and the third radiation range are set closer to the center than the first radiation range and the third radiation range.

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