Lidar apparatus and control method thereof

A lidar apparatus comprising:

• a transmission and reception module transmitting a laser signal and receiving a reflected signal reflected from an object;
• an output module;
• a memory storing a limit peak value of the histogram;
• and
• a processor operatively coupled to the transmission and reception module, the output module, and the memory,
• wherein the processor is configured to repeat a process of generating the histogram by accumulating the reflected signals received through the transmission and reception module, and in response that a peak value of the histogram is greater than or equal to the limit peak value of the histogram, the processor is further configured to determine an object distance based on the peak value of the histogram and output the determined object distance through the output module.

A control method of a lidar apparatus, the control method comprising:

• generating a histogram, by a processor, by accumulating reflected signals received through a transmission and reception module operatively connected to the processor;
• repeating, by the processor, a process of the generating of the histogram for a set measurement count;
• and
• after repeating, by the processor, the generating of the histogram for a set number of measurement, determining, by the processor, an object distance based on a peak value of the histogram and outputting, by the processor, the determined object distance through the output module.