LiDAR systems are an integral part of driving assistance systems, such as lane assist and emergency braking systems in autonomous or semi-autonomous vehicles. The propagation time of very short light pulses is used to determine the distance between the vehicle and objects in its vicinity. When a laser pulse hits a person or an object it is reflected and captured by a detector. From the time between the emission of the laser beam and its detection it is possible to calculate the distance to the object. The safety system can then decide whether, for example, the vehicle should brake or drive around the person or object.