Multi-channel LiDAR sensor module
The present invention relates to a multi-channel lidar sensor module capable of measuring at least two target objects using one image sensor. The multi-channel lidar sensor module according to an embodiment of the present invention includes at least one pair of light emitting units configured to emit laser beams and a light receiving unit formed between the at least one pair of emitting units and configured to receive at least one pair of reflected laser beams which are emitted from the at least one pair of light emitting units and reflected by target objects.
1. An object information acquiring apparatus configured to acquire object information including type information and distance information related to an object, the object information acquiring apparatus comprising:
a light receiving module configured to capture first light reflected from a first object and second light reflected from a second object different from the first object;
a laser module configured to generate a-laser during an emission time window and not to generate laser during a non-emission time window; and
a controller configured to:
acquire a first image based on the first light captured during the emission time window by the light receiving module,
acquire a second image based on the second light captured during the non-emission time window by the light receiving module,
acquire distance information related to the first object represented in the first image based on a signal generated by the light receiving module, and
acquire type information related to the second object represented in the second image based on pixel values of the second image.
2. The object information acquiring apparatus of claim 1 , wherein during the emission time window, the laser module is configured to emit the laser toward the first object, and the light receiving module is configured to capture at least a portion of the laser reflected from the first object as the first light.
3. The object information acquiring apparatus of claim 1 , wherein a first power consumption of the object information acquiring apparatus during the emission time window is greater than a second power consumption of the object information acquiring apparatus during the non-emission time window.
4. The object information acquiring apparatus of claim 1 , further comprising a light emitting diode (LED) module configured to generate LED light and emit the LED light toward the second object during the non-emission time window,
wherein the laser module is configured to emit the laser toward the first object during the emission time window, and
wherein the light receiving module is configured to:
capture, during the emission time window, at least a portion of the laser reflected from the first object as the first light, and
capture, during the non-emission time window, at least a portion of the LED light reflected from the second object as the second light.
5. The object information acquiring apparatus of claim 4 , wherein a power of the laser emitted during the emission time window is greater than a power of the LED light emitted during the non-emission time window.
6. The object information acquiring apparatus of claim 1 , wherein the controller is configured to acquire the distance information based on a generation time of the signal generated by the light receiving module, and wherein the light receiving module is configured to generate the signal based on at least a portion of the laser generated by the laser module and reflected by from the first object.
7. The object information acquiring apparatus of claim 1 , wherein the light receiving module includes a plurality of sensing units, and
wherein the laser module includes a plurality of laser emitting units.
8. The object information acquiring apparatus of claim 7 , wherein the plurality of sensing units include a plurality of single photon avalanche diodes (SPADs), and wherein the plurality of laser emitting units include a plurality of vertical cavity surface emitting lasers (VCSELs).
9. The object information acquiring apparatus of claim 1 , wherein the controller is configured to acquire distance information related to the second object represented in the second image based on the distance information related to the first object represented in the first image and a pixel position of the first object represented in the first image.
10. The object information acquiring apparatus of claim 1 , wherein the controller includes a distance calculation unit configured to acquire the distance information related to the first object represented in the first image and an object recognition unit configured to acquire the type information related to the second object represented in the second image.
11. The object information acquiring apparatus of claim 10 , wherein the object recognition unit includes an artificial neural network.
12. An autonomous driving vehicle, the vehicle comprising:
a body; and
the object information acquiring apparatus of claim 1 installed on the body.
13. The vehicle of claim 12 , wherein the controller is configured to generate a traveling control signal of the body based on the distance information related to the first object and the type information related to the second object.