LiDAR device

A light detection and ranging (LiDAR) device for determining distance information of an object, the LiDAR device comprising:

• a laser emitting unit configured to emit a laser to the object aperiodically at a controlled emitting time;
• a detecting unit configured to detect a reflected laser which is reflected by the object aperiodically during at a controlled detecting window and generate detecting signals;
• and
• a processor configured to:
• control the laser emitting unit to emit at least a first laser at a first emitting time, a second laser at a second emitting time and a third laser at a third emitting time such that:
• a first time gap between the first emitting time and the second emitting time is different from a second time gap between the second emitting time and the third emitting time, and
• control the detecting unit to:
• detect a first set of photons during a first detecting time window and generate a first set of signals having a start time synchronized with a first reference time point,
• detect a second set of photons during a second detecting time window and generate a second set of signals having a start time synchronized with a second reference time point, and
• detect a third set of photons during a third detecting time window and generate a third set of signals having a start time synchronized with a third reference time point,
• wherein a third time gap between the first reference time point and the second reference time point is different from, and precedes, a fourth time gap between the second reference point and the third reference point,
• the processor further configured to control the detecting unit to cause that:
• a start time of the first detecting time window is synchronized with the first emitting time such that a time gap between the start time of the first detecting time window and the first emitting time, having a predetermined value, has an end point synchronized with the first reference time point,
• the first detecting time window ends before the second emitting time,
• a start time of the second detecting time window is synchronized with the second emitting time such that a time gap between the start time of the second detecting time window and the second emitting time, having the predetermined value, has an end point synchronized with the second reference time point,
• the second detecting time window ends before the third emitting time, and
• a start time of the third detecting time window is synchronized with the third emitting time such that a time gap between the start time of the third detecting time window and the third emitting time, having the predetermined value, has an end point synchronized with the third reference time point,
• the processor further configured to determine the distance information of the object based on at least the first set of signals, the second set of signals and the third set of signals.