Pulse energy planning for light detection and ranging (LIDAR) devices based on region of interest and thermal budget

Example embodiments relate to pulse energy planning for a light detection and ranging (lidar) device based on a region of interest and a thermal budget. An example light detection and ranging device includes a plurality of light emitters configured to emit light pulses into an environment in a plurality of different emission directions. The light detection and ranging device also includes circuitry configured to power the plurality of light emitters. Further, the light detection and ranging device includes a plurality of detectors configured to detect reflections of the light pulses emitted by the plurality of light emitters. Further, the light detection and ranging device includes a controller configured to (i) determine a pulse energy plan based on the one or more regions of interest in the environment and the thermal budget, and (ii) control the circuitry based on the pulse energy plan. The pulse energy plan specifies a pulse energy level for each light pulse emitted by each of the plurality of light emitt