Light detection and ranging (LIDAR) system having rotatable prism disk for beam steering of lasers

An autonomous vehicle comprising:

• a light detection and ranging (LIDAR) system coupled to a vehicle body of the autonomous vehicle, the LIDAR system comprising:
• a plurality of LIDAR units respectively comprising a plurality of emitters, the plurality of emitters respectively configured to emit a laser beam;
• a prism disk rotatable about a first axis at a first rotational speed, configured to refract laser beams emitted from respective LIDAR units among the plurality of LIDAR units, wherein:
• a first LIDAR unit from among the plurality of LIDAR units includes a first plurality of emitters to emit a first plurality of laser beams which pass through a first portion of the prism disk to produce a first plurality of refracted laser beams, wherein the first plurality of laser beams emitted by the first plurality of emitters are spaced apart from one another b a first angular distance and the first plurality of refracted laser beams are spaced apart from one another by a second angular distance, the first angular distance being about two times to about four times greater than the second angular distance, and
• a second LIDAR unit from among the plurality of LIDAR units includes a second plurality of emitters to emit a second plurality of laser beams which pass through a second portion of the prism disk to produce a second plurality of refracted laser beams;
• and
• a mirror rotatable about a second axis at a second rotational speed that is faster than the first rotational speed, wherein the mirror is configured to reflect the first plurality of refracted laser beams and reflect the second plurality of refracted laser beams.

An autonomous vehicle control system comprising:

• a light detection and ranging (LIDAR) system comprising:
• a plurality of LIDAR units respectively comprising a plurality of emitters, the plurality of emitters respectively configured to emit a laser beam;
• a first optic comprising a prism disk rotatable about a first axis at a first rotational speed, the prism disk being configured to refract laser beams emitted from respective LIDAR units among the plurality of LIDAR units, wherein:
• a first LIDAR unit from among the plurality of LIDAR units includes a first plurality of emitters to emit a first plurality of laser beams which pass through a first portion of the prism disk to produce a first plurality of refracted laser beams, wherein the first plurality of laser beams emitted by the first plurality of emitters are spaced apart from one another by a first angular distance and the first plurality of refracted laser beams are spaced apart from one another by a second angular distance, the first angular distance being about two times to about four times greater than the second angular distance, and
• a second LIDAR unit from among the plurality of LIDAR units includes a second plurality of emitters to emit a second plurality of laser beams which pass through a second portion of the prism disk to produce a second plurality of refracted laser beams;
• and
• a second optic rotatable about a second axis at a second rotational speed that is faster than the first rotational speed, wherein the second optic is configured to reflect the first plurality of refracted laser beams and reflect the second plurality of refracted laser beams.