Abstract: Disclosed are a laser scanning device, a radar device, and a scanning method thereof. The laser scanning device comprises a scanning prism comprising a plurality of scanning mirror surfaces, wherein the plurality of scanning mirror surfaces rotates about a scanning axis, a normal of each of the scanning mirror surfaces forms a certain angle with respect to the scanning axis, and the angles thereof are not all the same; a transceiving component comprising a laser transmitting unit and a laser receiving unit, wherein the laser transmitting unit generates a scanning line by rotation of the scanning mirror surfaces, and the same laser transmitting unit generates a plurality of scanning lines by rotation of the scanning prism.