System and method for adjusting a LiDAR system
In some examples, a system comprises a laser light source and a rotatable mirror assembly comprising a plurality of mirror segments, the rotatable mirror assembly aligned to reflect light transmitted by the laser light source, wherein the plurality of mirror segments comprise a first segment that reflects a first light beam from the laser light source in a first direction, and a second mirror segment that reflects the first light beam from the laser light source in a second direction, different from the first direction. In some examples, the system comprises a light sensor positioned to receive light reflected from the rotatable mirror assembly. In some examples, the system comprises a motor for rotating the mirror assembly about a rotation axis. In some examples, the system comprises a controller for controlling a sampling phase of sampling the light sensor.
1. A system comprising:
a laser light source;
a rotatable mirror assembly comprising a plurality of mirror segments, the rotatable mirror assembly aligned to reflect light transmitted by the laser light source, wherein the plurality of mirror segments comprise:
a first mirror segment with a first shape, the first shape of the first mirror segment having a plurality of facets, including a first facet that reflects a first light beam from the laser light source in a first direction and a second facet that reflects a second light beam from the laser light source in a third direction simultaneous with the first facet reflecting the first light beam, and
a second mirror segment having a second shape that reflects the first light beam from the laser light source in a second direction, different from the first direction;
a light sensor positioned to receive light reflected from the rotatable mirror assembly;
a motor for rotating the mirror assembly about a rotation axis;
a position encoder for determining a rotational position of the rotatable mirror assembly; and
a controller for controlling a timing of sampling the light sensor.
2. The system of claim 1 , wherein rotation of the mirror assembly causes light from the laser light source to reflect from the first mirror segment during a first scan phase and from the second mirror segment during a second scan phase.
3. The system of claim 2 , wherein:
the first light beam is one of a plurality of light beams from the laser light source; and
the controller controls the timing of sampling the light sensor to:
sample the first light beam of the plurality of light beams during the first scan period while not sampling a second light beam of the plurality of light beams; and
sample the second light beam of the plurality of light beams during the second scan period while not sampling the first light beam of the plurality of light beams.
4. The system of claim 1 , wherein the first mirror segment is disposed on the rotatable mirror assembly at a first angle relative to the rotation axis and the second mirror segment is disposed on the rotatable mirror assembly at a second angle relative to the rotation axis, and the first and second angles are different.
5. The system of claim 4 , further comprising a third mirror segment disposed on the rotatable mirror assembly at a third angle relative to the rotation axis, wherein the third angle is different from the first and second angles.
6. The system of claim 1 , wherein the second and third directions are the same.
7. The system of claim 1 , wherein controlling the timing of sampling the light sensor is based on an orientation of the vehicle relative to a slope of a road.
8. The system of claim 1 , wherein the first mirror segment and the second segment are each positioned tangential to a circumference about the rotation axis and at different positions along the circumference about the rotation axis.
9. The system of claim 8 , wherein the first and second facet of the first mirror segment are adjacent to one another in a direction perpendicular to the circumference about the rotation axis.
10. The system of claim 9 , wherein the second shape of the second mirror has a second plurality of facets, including a third facet that reflects the first light beam from the laser light source in the second direction and a fourth facet that reflects the second light beam from the laser light source in a fourth direction different from the first and second directions.
11. A method comprising:
directing a plurality of laser light beams toward a rotatable mirror assembly;
rotating the rotatable mirror assembly about a rotation axis;
sensing received at a light sensor positioned to receive light reflected from the rotatable mirror assembly;
determining a rotational position of the rotatable mirror assembly comprising a plurality of mirror segments; and
determining a location of an object based on the sensing of the received light at the light sensor and the rotational position of the rotatable mirror assembly, wherein the plurality of mirror segments comprise:
a first mirror segment with a first shape, the first shape of the first mirror segment having a plurality of facets, including a first facet that reflects a first light beam from the laser light source in a first direction and a second facet that reflects a second light beam from the laser light source in a third direction simultaneous with the first facet reflecting the first light beam, and
a second mirror segment having a second shape that reflects the first light beam from the laser light source in a second direction, different from the first direction.
12. A vehicle comprising:
one or more processors; and
a memory including instructions, which when executed by the one or more processors, cause the one or more processors to perform a method comprising:
directing a plurality of laser light beams toward a rotatable mirror assembly;
rotating the rotatable mirror assembly about a rotation axis;
sensing received at a light sensor positioned to receive light reflected from the rotatable mirror assembly;
determining a rotational position of the rotatable mirror assembly comprising a plurality of mirror segments; and
determining a location of an object based on the sensing of the received light at the light sensor and the rotational position of the rotatable mirror assembly, wherein the plurality of mirror segments comprise:
a first mirror segment with a first shape, the first shape of the first mirror segment having a plurality of facets, including a first facet that reflects a first light beam from the laser light source in a first direction and a second facet that reflects a second light beam from the laser light source in a third direction simultaneous with the first facet reflecting the first light beam, and
a second mirror segment having a second shape that reflects the first light beam from the laser light source in a second direction, different from the first direction.