US 11,740,332 B2
Lidar sensor and control method thereof
Kyung Rin Kim, Yongin-si (KR); Sung Eun Jo, Yongin-si (KR); Won Gyum Kim, Yongin-si (KR); and Young Shin Kim, Yongin-si (KR)
Assigned to Hyundai Mobis Co., Ltd., Seoul (KR)
Filed by Hyundai Mobis Co., Ltd., Seoul (KR)
Filed on Jul. 1, 2021, as Appl. No. 17/365,969.
Application 17/365,969 is a continuation of application No. 16/440,368, filed on Jun. 13, 2019.
Claims priority of application No. 10-2018-0067980 (KR), filed on Jun. 14, 2018.
Prior Publication US 2021/0325518 A1, Oct. 21, 2021
Int. Cl. G02B 26/10 (2006.01); G02B 26/08 (2006.01); G01S 7/481 (2006.01); G01D 5/14 (2006.01); G01S 17/10 (2020.01)
CPC G01S 7/4817 (2013.01) [G01D 5/145 (2013.01); G02B 26/0816 (2013.01); G02B 26/10 (2013.01); G01S 17/10 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A control method of a lidar sensor, the method comprising:
obtaining, by a controller of the lidar sensor, a sensing signal generated through one or more magnets formed at one or more of an inclined surface of a scan mirror having an opened bottom surface, a backing surface connected to the inclined surface, and a support surface connected to another side of the backing surface, and a hall sensor formed on a bottom surface of the lidar sensor in association with positions of the magnets;
initializing, by the controller, position information of the scan mirror as a reference position, when the sensing signal is obtained;
performing, by the controller, a laser scan while rotating the scan mirror at a designated velocity;
calculating, by the controller, an angle, at which the scan mirror is rotated, from the reference position; and
ending, by the controller, the laser scan while continuously rotating the scan mirror, when the calculated angle at which the scan mirror is rotated reaches a predetermined scan angle.