Abstract: With the development of intelligent driving technology, vehicles have put forward high precision requirement for the perception of driving environment, and in the multi-sensor cross-fusion scheme, light detection and ranging (LiDAR) is the key sensor to provide real time, high precision, full scene environment perception for vehicles. To figure out the trends in LiDAR technology, based on the architecture of LiDAR optoelectronic system and the basic principles of electrical detection, this paper expounds the key technologies of forward long range vehicle LiDAR, and systematically introduces the design principles and technical difficulties of LiDAR transceiver control system, scanning and optical system, photoelectric detection and signal processing system and other modules, and meanwhile analyzes the technical route selection of LiDAR. From the perspective of application, the basic performance requirements of vehicle-mounted LiDAR are put forward, and the latest development trend of vehicle-mounted LiDAR is summarized.

Key words: LiDAR; Scanning mode; Performance requirements; Advanced assisted driving

摘要： 随着智能驾驶技术的发展，车辆对行驶环境的感知提出了高精度的要求，在多传感器 交叉融合方案中，激光雷达（LiDAR）是其中的关键传感器，为车辆提供实时、高精度、全 场景的环境感知。为了理解 LiDAR 发展趋势，文章从 LiDAR 光电系统架构和电探测基本原 理出发，对前向长距车载 LiDAR 的关键技术进行阐述，系统性地介绍 LiDAR 收发控制系统、 扫描与光学系统、光电探测与信号处理系统等模块的设计原理和技术难点，对 LiDAR 的技术 路线选择进行定性分析。从应用的角度对车载 LiDAR 的技术指标提出了基础性能要求，并对 车载 LiDAR 最新的技术发展趋势做归纳总结。

关键词: LiDAR；扫描方式；性能要求；高级辅助驾驶