关键词: 激光雷达；关键性能参数；计算方法；决定因素；智能汽车

Abstract: In recent years, the development of intelligent vehicles has greatly promoted the popularity of lidar industry. At present, there are more and more companies at home and abroad in the field of lidar. The lidar system is complex. The application scenarios are diverse, and a variety of technical routes coexist. So the evaluation of lidar performance is not simple. In particular, some parameters are easy to be confused, such as detection precision, detection accuracy and detection resolution, frame rate and point rate. In this paper, the key performance parameters of vehicle lidar were selected, and the definitions, calculation methods, interrelations and determinants of these parameters were sorted and summarized, which can help users better use lidar and guide the design of lidar.

Key words: Lidar; Key performance parameters; Calculation methods; Determinants; Intelligent vehicles