The ranging principle of lidar can be divided into ToF and FMCW. The former is more advanced in the maturity of the industry chain and has become the main method used in the current market. ToF: Time of flight method, which directly measures the time difference between the emitted laser and the echo signal. FMCW: Coherent ranging method, which linearly modulates the optical frequency of the emitted laser and obtains the frequency difference through coherent frequency rejection of the echo signal and the reference light, thereby indirectly obtaining the flight time to reverse the target distance. Aiming at the ToF…