A beam steering apparatus comprising: a phase modulation device configured to modulate a phase of incident light and thereby emit at least first emitted light emitted in a first direction and second emitted light emitted in a second direction; and a beam reflection device configured to reflect, toward an object, at least one of the first emitted light and the second emitted light, wherein the phase modulation device comprises: a phase modulator comprising a plurality of channels (C1-CN), wherein each of the plurality of channels is configured to independently modulate a phase of light incident thereon, and wherein one of a first phase value φ1 and a second phase value φ2 is applied to each of the plurality of channels, thereby forming a binary phase profile; and characterized by a signal input unit configured to apply an input signal for phase modulation to each of the plurality of channels; a binary setter configured to set the binary phase profile by arranging the first phase value φ1 and the second phase value φ2 among the plurality of channels; and a controller configured to control the signal input unit according to the binary phase profile; wherein the binary setter is further configured to repeatedly perform a process of setting the first phase value φ1 for one or more first adjacent channels of the plurality of channels and setting the second phase value φ2 for one or more second adjacent channels of the plurality of channels such that the first phase values and the second phase values are quasi-periodically arranged, and is configured to control the phase modulator to steer the first emitted light and the second emitted light by an angle θ according to sin θ = λ 〈 T k 〉 where λ is a wavelength of the incident light, T k is a k th cycle in which an arrangement pattern of the first phase value φ1 and the second phase value φ2 is repeated, wherein a value of each of the cycles Tk is a size d of the channels of the cycle, and <Tk> is an average value of the cycles. a phase modulation device configured to modulate a phase of incident light and thereby emit at least first emitted light emitted in a first direction and second emitted light emitted in a second direction; and a beam reflection device configured to reflect, toward an object, at least one of the first emitted light and the second emitted light, wherein the phase modulation device comprises: a phase modulator comprising a plurality of channels (C1-CN), wherein each of the plurality of channels is configured to independently modulate a phase of light incident thereon, and wherein one of a first phase value φ1 and a second phase value φ2 is applied to each of the plurality of channels, thereby forming a binary phase profile; and characterized by a signal input unit configured to apply an input signal for phase modulation to each of the plurality of channels; a binary setter configured to set the binary phase profile by arranging the first phase value φ1 and the second phase value φ2 among the plurality of channels; and a controller configured to control the signal input unit according to the binary phase profile; a phase modulator comprising a plurality of channels (C1-CN), wherein each of the plurality of channels is configured to independently modulate a phase of light incident thereon, and wherein one of a first phase value φ1 and a second phase value φ2 is applied to each of the plurality of channels, thereby forming a binary phase profile; and characterized by a signal input unit configured to apply an input signal for phase modulation to each of the plurality of channels; a binary setter configured to set the binary phase profile by arranging the first phase value φ1 and the second phase value φ2 among the plurality of channels; and a controller configured to control the signal input unit according to the binary phase profile; wherein the binary setter is further configured to repeatedly perform a process of setting the first phase value φ1 for one or more first adjacent channels of the plurality of channels and setting the second phase value φ2 for one or more second adjacent channels of the plurality of channels such that the first phase values and the second phase values are quasi-periodically arranged, and is configured to control the phase modulator to steer the first emitted light and the second emitted light by an angle θ according to sin θ = λ 〈 T k 〉 where λ is a wavelength of the incident light, T k is a k th cycle in which an arrangement pattern of the first phase value φ1 and the second phase value φ2 is repeated, wherein a value of each of the cycles Tk is a size d of the channels of the cycle, and <Tk> is an average value of the cycles.