Lidar ranging methods can be divided into Time of Flight (ToF) and FMCW ranging methods based on coherent detection, and triangulation ranging methods. ToF and FMCW can achieve remote measurement under outdoor sunlight. Range (100~250 meters) is the preferred solution for vehicle-mounted lidar. ToF is the mainstream solution for vehicle-mounted mid- and long-range lidar in the current market. In the future, as the FMCW lidar machine and the upstream…