US Patent 10267899 Pulse timing based on angle of view

To compensate for the uneven distribution of data points around the periphery of a vehicle in a lidar system, a light source transmits light pulses at a variable pulse rate according to the orientation of the light pulses with respect to the lidar system. A controller may communicate with a scanner in the lidar system that provides the orientations of the light pulses to the controller. The controller may then provide a control signal to the light source adjusting the pulse rate based on the orientations of the light pulses. For example, the pulse rate may be slower near the front of the lidar system and faster near the periphery. In another example, the pulse rate may be faster near the front of the lidar system and slower near the periphery.