Abstract: A lidar sensor comprises a sensing area unit configured to set a sensing area in a maximum scan angle range and manage the set sensing area, a light output unit configured to output a light with a specific angle so that the light is outputted to a specific sensing area, and a sensing unit configured to sense an object in the specific sensing area by using a reflection light of the outputted light. The outputted light forms a trigger line, the sensing unit obtains a measured angle and a light arrival time of the sensed object based on the trigger line, and a minimum distance and a maximum distance from the lidar sensor to the specific sensing area are set based on the trigger line.

Abstract: A lidar device comprises a light emitting unit configured to radiate at least one light; a reflection mirror configured to reflect the light and have an asymmetrical polygonal shape in which angles of two or more reflection surfaces differ; a rotation unit configured to rotate the reflection mirror; and a controller configured to control the rotation unit. The controller controls the rotation speed to scan an interested area of a scanned area with a resolution higher than other area.