本文主要介绍了自动驾驶中激光雷达主流厂商的产品，参数，由于价格信息不全，待陆续补全。
激光雷达
激光雷达在自动驾驶中的两个核心功能：
- 3D的环境感知
- SLAM加强定位
单线的激光雷达已经被广泛应用，例如扫地机器人，单线可以获取事物的2D信息，但是无法获得高度信息。
而多线激光雷达，则可以获取事物3D数据。
激光雷达目前给大家的第一印象就是贵，想在无人车上普及首先应该降低价格。目前两种解决办法：其一是采用低线数雷达配合其他传感器，但需搭配拥有极高计算能力系统的无人车；其二是采用固态激光雷达。现今有旋转部件的激光雷达技术较为成熟，激光雷达最贵的就是机械旋转部件，固态激光雷达无须旋转部件，采用电子设备替代，因而体积更小，方便集成在车身内部，系统可靠性提高，成本也可大幅降低。由于缺乏旋转部件，水平视角小于180，所以需要多个固态雷达组合一起配合使用才行。
国外激光雷达研发厂商比较有代表性的有 Velodyne、 Ibeo和 Quanergy，而在国内主要有速腾聚创、禾赛科技、镭神智能、北醒光子、思岚科技等，下面是对这些厂商产品的一些总结。
厂商产品
Velodyne
关于价格，HDL-64E在8万美金，HDL-32E在4万美金，VLP16在8000美金。不过在18年初Velodyne表示将VLP16的价格降为一半，约为4000美元。
Happy new year from Velodyne Lidar, which is now offering the VLP-16 lidar Puck to customers around the world “for up to a 50 percent cost reduction.” This puts the price floor of the 600-gram lidar sensor at a lowly $4,000.
Velodyne在美国时间2017年11月29日又推出了新产品VLS-128，顾名思义，是Velodyne的128线激光雷达，它被称为是Velodyne开发过的最强大的激光雷达，其探测距离是上一代产品HDL-64的3倍，达到300米，分辨率则是10倍。 
Velodyne称，VLS-128对自动驾驶有三方面的提升：
- VLS-128的高分辨率数据可以直接用于物体检测，无需额外的传感器融合，这可以提高车辆计算的安全性和冗余度，降低了总体计算复杂度。
- 由于检测距离远，分辨率高，VLS-128可以适应高速及低速场景，可以应对全自动驾驶会面临的所有的Corner Case。
- 基于可大规模量产的半导体技术，VLS-128能在Velodyne的Megafactory中使用专有的激光对准和制造系统来自动组装，解决产能不足的问题。
Ibeo
Ibeo目前的产品是类似mobileye的传感器+解算芯片整套的解决方案ibeo.HAD，
ibeo.HAD is a combination of LIDAR sensor systems and the corresponding algorithms for the development for your ADAS (Advanced Driver Assistance Systems) and HAD (Highly Automated Driving) applications. The ibeo.HAD LIDAR technology delivers a detailed and reliable high-level description even in complex traffic environments to fulfill the needs of car manufacturers, automotive suppliers and research institutes.
其中激光雷达使用的是ScaLa LIDAR， 
This compact LIDAR sensor system can be fully integrated in the vehicle – without disturbing the car’s design or other relevant attributes in terms of weight or other economical reasons.
ScaLa has multi-plane long range and imbedded object tracking and classification. This LIDAR sensor is one big step in the redefinition of further highly automated driving and autonomous driving mobility.
Technical facts:
- Embedded Feature-Based Object Tracking and Classification
- Wave length (905 nm) which ensures eye safety (Laser Class 1)
- Horizontal Field of View of 145°
- Horizontal Resolution of 0.25°
- Vertical Field of View of 3.2°
- 4 Vertical Layers of 0.8° each
- Data Refresh Time of 40/80 ms
- Distance Resolution
- Typical Ranges: 150 m for other vehicles or up to 50 m for
pedestrians - Low Power Consumption
- CAN Interface for vehicle data and Ethernet interface
Quanergy
S3 
The World’s First Affordable Solid State LiDAR Sensor
The S3 solid state sensor’s housing fits in the palm of your hand for seamless integration into the design of any vehicle. The elimination of all moving parts improves performance and reliability over mechanical models. Through the interaction of three major components, the S3 generates half a million data points per second. Lasers emit collimated light pulses in a 120° arc. Light receivers detect the reflected light pulses. Signal processors calculate the Time-of-Flight (TOF) of each light pulse. With the ability to scan in every direction, the unit creates a live 3D view around a vehicle to detect, classify, and track objects in the scene.
M8 
A Proven LiDAR Powerhouse
The M8 is the first cost-effective long range LiDAR sensor enabling ubiquitous use of smart sensing in dynamic situations— made and tested for 3D mapping, security, harsh industrial environments and the most demanding applications. The M8 sensor’s small design sees by day or night, with no IR signature needed, and works in any weather. Multiple laser beams and Time-of-Flight (TOF) depth perception result in 3D point clouds for spatial sensing. With a 360° field of view, 420,000 points per second, long measurement range, high accuracy, and fine resolution, this sensor is now available at a breakthrough price.
The M8 features Multi-LiDAR Fusion™, Quanergy’s proprietary smart technology that combines multiple LiDARs into a single unified point cloud, for tracking unique objects in complex environments.
速腾聚创
在2018的CES展上，速腾发布了最新激光雷达技术新品MEMS激光雷达RS-LiDAR-M1Pre，该产品采用MEMS技术方案，替代了传统的机械旋转方式，可以机器更加紧凑的嵌入任何车体，其优势为低成本、易量产、车规级。
据悉，速腾聚创16线的价格在3万元，32线13万元，固态M1的价格在200美元左右。
禾赛科技
禾赛科技40线混合固态激光雷达
Pandora-环境感知套件
Pandora是一套为自动驾驶量身定做的集激光雷达，摄像头以及识别算法为一体的环境感知软硬件解决方案。
镭神智能
取的产品型号很有特点，分别对应测量范围是10m,30m,50m。
北醒光子
CE30固态激光雷达
其中，CE30-A，5000元，CE30-C，7000元。
思岚科技
SLAMTEC思岚激光雷达LIDAR RPLIDAR-A3，
性能参数，
价格为4095元。
小结
目前激光雷达的价格较以前已经有了一个量级的减小，但是依然还是十分昂贵的，主要原因还是自动驾驶产业还未落地，需求量没达到一个质的提高。正如Velodyne亚太区总监翁炜所说，如果能接到10万台的订单，VLS 128线产品的价格能够做到1000美金以内，VLS 32线的产品在650美金左右。而32线的Velarry固态激光雷达在量产时则能做到500美金，8线产品则能做到150美金。
