LIDAR systems and methods

1 . A method for managing scanning by a LIDAR system, the method being performed by a controller of the LIDAR system, the method comprising:

controlling a light source of the LIDAR system to create a plurality of light beams;

controlling a scanning mirror of the LIDAR system to scan the plurality of light beams outward from the LIDAR system, controlling the scanning mirror to scan including causing the scanning mirror to rotate at a first rate in a first rotational direction;

sensing, while the scanning mirror is rotating in the first rotational direction, by a sensor array of the LIDAR system, incident light on the scanning mirror reflected to the sensor array;

determining a distance-information point cloud based on light collected by the sensor array while the scanning mirror is rotating at the first rate in the first rotational direction;

controlling the scanning mirror, subsequent to sensing the incident light while the scanning mirror is rotating in the first rotational direction, the controlling including causing the scanning mirror to rotate at a second rate in a second rotational direction, the second rate being greater than the first rate, the second rotational direction being opposite the first rotational direction;

controlling the light source to stop producing light beams while the scanning mirror is rotating in the second rotational direction;

sensing, by the sensor array, while the scanning mirror is rotating in the second rotational direction, incident light on the scanning mirror reflected to the sensor array; and

determining an image of a scanned area surrounding the LIDAR system based on light collected by the sensor array while the scanning mirror is rotating at the second rate in the second rotational direction.

2 . The method of claim 1 , wherein determining the distance-information point cloud based on light collected by the sensor array comprises determining the distance-information point cloud based on light collected by a selected sensor of the sensor array.

3 . The method of claim 1 , wherein causing the scanning mirror to rotate at the second rate includes causing the scanning mirror to rotate at a rate at least twice the first rate.

4 . The method of claim 1 , wherein causing the scanning mirror to rotate at the second rate includes causing the scanning mirror to rotate at a rate at approximately ten times the first rate.

5 . The method of claim 1 , wherein determining the image of the scanned area includes:

retrieving light information from each of a plurality of detectors forming the sensor array; and

constructing the image based on an image reconstruction method based on at least the light information retrieved.

6 . The method of claim 1 , wherein controlling the scanning mirror to scan includes:

causing the scanning mirror to rotate at the first rate for at least 90 % of operation time, and

causing the scanning mirror to rotate at the second rate for no more than 10 % of operation time.

7 . The method of claim 1 , wherein:

the scanning mirror rotates about a first axis; and

further comprising:

controlling a scanning element to rotate about a second axis, the second axis being perpendicular to the first axis.

8 . The method of claim 7 , wherein controlling the scanning element comprises controlling the scanning element to rotate about a rotation rate of approximately ten times faster than the first rate of the scanning mirror.

9 . A LIDAR system, comprising:

a controller;

a light source operatively connected to the controller;

a sensor array operatively connected to the controller, the sensor array comprising a plurality of detectors; and

a scanning system operatively connected to the controller, the scanning system comprising:

a scanning mirror configured to oscillate about a first axis, and

a scanning element configured to rotate about a second axis, the second axis being perpendicular to the first axis,

the controller being configured to

control the light source to create a plurality of light beams;

control the scanning mirror to scan the plurality of light beams outward from the LIDAR system, controlling the scanning mirror including causing the scanning mirror to rotate at a first rate in a first rotational direction;

sense, while the scanning mirror is rotating in the first rotational direction, by the sensor array, incident light on the scanning mirror reflected to the sensor array;

determine a distance-information point cloud based on light collected by the sensor array, while the scanning mirror is rotating at the first rate in the first rotational direction;

control the scanning mirror, subsequent to sensing the incident light while the scanning mirror is rotating in the first rotational direction, the controlling including causing the scanning mirror to rotate at a second rate in a second rotational direction, the second rate being greater than the first rate, the second rotational direction being opposite the first rotational direction;

control the light source to stop producing light beams while the scanning mirror is rotating in the second rotational direction;

sense, by the sensor array, while the scanning mirror is rotating in the second rotational direction, incident light on the scanning mirror reflected to the sensor array; and

determine an image of a scanned area surrounding the LIDAR system based on light collected by the sensor array while the scanning mirror is rotating at the second rate in the second rotational direction.

10 . The LIDAR system of claim 9 , wherein the second rate of rotation of the scanning mirror is greater than the first rate of rotation of the scanning mirror.

11 . The LIDAR system of claim 10 , wherein the second rate of rotation is approximately ten times faster than the first rate of rotation.

12 . The LIDAR system of claim 9 , wherein the LIDAR system is arranged and configured to determine the distance-information point cloud based on time of flight (ToF) determined using at least one of the plurality of detectors.

13 . The LIDAR system of claim 9 , wherein the plurality of detectors comprises at least sixteen detectors arranged in a plane.

14 . The LIDAR system of claim 9 , wherein the scanning element is a rotating prism spinning about the second axis.

15 . The LIDAR system of claim 14 , wherein the rotating prism is configured to rotate about the second axis at a rate of approximately ten times faster than the first rate of the scanning mirror.

16 . The LIDAR system of claim 9 , wherein the scanning mirror is configured:

to rotate at the first rate for at least 90% of operation time of the LIDAR system; and

to rotate at the second rate for no more than 10% of operation time of the LIDAR system.