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

摘要： 近年来，智能汽车的发展极大地推动了激光雷达产业的热度，目前国内外在激光雷达 领域布局的公司越来越多。激光雷达系统复杂，应用场景多样，多种技术路线并存，因此， 对激光雷达性能的评价不是一个简单的问题，尤其是一些参数容易混淆，如探测精度、探测 准确度、探测分辨率、帧频和点频等。论文选择车载激光雷达的关键性能参数，对这些参数 的定义、计算方法、相互关系、决定因素等进行了梳理和归纳，可以帮助用户更好地使用激 光雷达，对激光雷达的设计也有指导意义。

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