Lidar device

A LIDAR device for measuring a distance to an object in a predetermined scanning zone, the device comprising:

• a light source configured to emit a light beam having a predetermined light beam width for scanning the scanning zone;
• a mirror that has a reflective surface and a back surface opposite to the reflective surface, the mirror configured to reflect, with the reflective surface, the light beam emitted from the light source toward the scanning zone;
• a rotatable shaft having a center axis parallel to the reflective surface of the mirror, the shaft being connected to the back surface of the mirror;
• and
• a motor configured to rotate the shaft to cause the mirror to swing between a first position corresponding to one end of the predetermined scanning zone and a second position corresponding to another end of the predetermined scanning zone, an angle of incidence of the light beam to the reflective surface being greater when the mirror is at the first position than when the mirror is at the second position, wherein
• when a light beam center is defined as a center of the light beam width of the light beam from the light source to the reflective surface, then a motion area is defined as one side of the light beam center that includes the center axis of the shaft, and
• the light source and the mirror are arranged to have a positional relationship such that, when viewed in a direction along the center axis of the shaft, a mirror center, which is defined as a point on the reflective surface closest to the center axis of the shaft, is aligned with the light beam center when the mirror is at the first position, and the mirror center shifts within the motion area when the mirror is swinging between the first position, non-inclusive, and the second position, inclusive.