A lidar device disclosed in the present invention comprises: a light emitting unit comprising a light emitting element emitting a laser beam, a driving device controlling the operation of the light emitting element, a collimating lens collimating the laser beam emitted from the light emitting element, and a first reflecting unit continuously scanning a predetermined region of a target by continuously changing the reflection direction of the collimated laser beam within a predetermined angular range; a light collecting unit comprising a second reflecting unit which reflects the laser beam reflected from the predetermined region of the target by continuously changing same within the predetermined angular range, a light detector which detects the laser beam reflected by the second reflecting unit, and a read-out member which reads out the laser beam detected by the light detector; and a control device configured to control the operation of each of the light emitting unit and the light collecting unit, wherein the control device controls the operation of each of the first reflecting unit and the second reflecting unit, which are continuously changing the reflection direction of the laser beam, in a synchronous manner such that the laser beam reflected by the second reflecting unit is perpendicularly incident on the light detector.
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