The disclosed subject matter relates to a method and distance measurement apparatus for measuring a distance to an object, which can include a light source, a solid state camera, a controller and a distance data generator. The light source can be configured to emit a modulated light towards an object, and the solid state camera can convert the light reflected from the object into charges. The distance data generator can be configured to calculate the distance based on the charges, and the controller can be configured to adjust the modulated light to be more favorable under various circumstances. Thus, the method of the disclosed subject matter can accurately measure distance under various circumstances and can result in providing a distance measurement apparatus with a simple configuration and at low cost, and can be used as a sensor for distance measurement of an obstacle and the like in a vehicle, security system, robot, etc.