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 |
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.
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