Lidar sensor

A lidar sensor comprising:

• a light source;
• and
• a fly-eye lens arrangement including a first microlens arrangement and a second microlens arrangement, the first microlens arrangement including a plurality of identical first microlenses stacked along a first axis, and the second microlens arrangement includes a plurality of identical second microlenses stacked along a second axis, wherein the fly-eye lens arrangement is configured to generate, based on a light generated by the light source, a scanning beam for scanning an environment of the lidar sensor, which is composed of a first sub-beam generated by the first microlens arrangement and a second sub-beam generated by the second microlens arrangement, and wherein optical properties of the first microlens arrangement and optical properties of the second microlens arrangement differ from one another to generate the scanning beam having a predefined light intensity distribution;
• wherein the optical properties of the first microlens arrangement and the optical properties of the second microlens arrangement that differ from one another include at least one of:
• (i) diameters of the first microlenses and diameters of the second microlenses,
• (ii) thicknesses of the first microlenses and thicknesses of the second microlenses,
• (iii) curvatures of the first microlenses and curvatures of the second microlenses, or
• (iv) main direction of emission of the first microlens arrangement and main direction of emission of the second microlens arrangement.