Light detection and range (LIDAR) device with a single spinning mirror for autonomous driving vehicles

An autonomous driving vehicle (ADV), comprising:

• a light detection and range (LIDAR) device, where in the LIDAR device comprises
• an array of light emitters to emit a plurality of light beams to sense a physical range associated with a target,
• a slope mirror having a slope surface and a flat surface, wherein the slope surface is tilted upwardly from the flat surface according to a predetermined slope angle, wherein the flat surface is a part of slope mirror disposed on a rotatable platform, wherein when the slope mirror is positioned in a zero degree orientation, a first light beam of the plurality of light beams is scanning in a horizontal direction, and a second beam of the plurality of light beams is scanning in a vertical direction, wherein when the slope mirror is rotated and positioned in 90 degrees, the first light beam is scanning in the vertical direction, and the second beam is scanning in the horizontal direction,
• the rotatable platform supporting the flat surface of the slope mirror, the rotatable platform capable of rotating with respect to a vertical axis perpendicular to the flat surface, wherein the light emitters project the light beams onto the slope surface, which are deflected towards the target, and wherein the slope mirror rotates along with the rotatable platform while the array of light emitters remain steady, and
• one or more light detectors to receive at least a portion of the light beams reflected from the target;
• and
• a perception and planning system coupled to the LIDAR device to perceive a driving environment surrounding the (ADV) based on LIDAR sensor data provided by the LIDAR device and to control the (ADV) to navigate the driving environment.

A machine-implemented method for operating a LIDAR device of an autonomous driving vehicle (ADV), the method comprising:

• emitting using an array of light emitters a plurality of light beams to sense a physical range associated with a target;
• providing a slope mirror having a slope surface and a flat surface, wherein the slope surface is tilted upwardly from the flat surface according to a predetermined slope angle, wherein the flat surface is a part of slope mirror disposed on a rotatable platform, wherein when the slope mirror is positioned in a zero degree orientation, a first light beam of the plurality of light beams is scanning in a horizontal direction, and a second beam of the plurality of light beams is scanning in a vertical direction, wherein when the slope mirror is rotated and positioned in 90 degrees, the first light beam is scanning in the vertical direction, and the second beam is scanning in the horizontal direction;
• rotating the rotatable platform supporting the flat surface of the slope mirror, the rotatable platform capable of rotating with respect to a vertical axis perpendicular to the flat surface, wherein the slope mirror rotates along with the rotatable platform while the array of light emitters remain steady;
• projecting the light beams onto the slope surface of the slope mirror, wherein the light beams are deflected by the slope surface towards the target;
• and
• receiving using one or more light detectors at least a portion of the light beams reflected from the target.