A LIDAR device includes a light source, a mirror, a rotatable shaft, and a motor. The light source configured to emit a light beam having a predetermined light beam width for scanning a scanning zone. The rotatable shaft has a center axis parallel to a reflective surface of the mirror and is connected to a back surface of the mirror. The motor is configured to rotate the shaft to cause the mirror to swing between a first position and a second position. The light source and the mirror are arranged to have a positional relationship such that a mirror center is aligned with the light beam center when the mirror is at the first position, and the mirror center shifts within a motion area when the mirror is swinging between the first position, non-inclusive, and the second position, inclusive.