Hesai Pandar 128E3X User Manual
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Hesai Pandar 128E3X User Manual

128-channel mechanical lidar
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Pandar128E3X
128-Channel
Mechanical Lidar
User Manual
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  • Page 1 Pandar128E3X 128-Channel Mechanical Lidar User Manual HESAI Wechat...

  • Page 2: Table Of Contents

    Contents About This Manual ..................1 Settings ..................54 Azimuth FOV ................. 65 Safety Notice ....................3 High Resolution ................68 1 Introduction ..................10 Operation Statistics ..............69 Operating Principle ..............10 Monitor ..................70 Lidar Structure ................11 Upgrade ..................

  • Page 3: About This Manual

    · This lidar product is intended as a component of an end product. It shall be evaluated in end product according to relevant standards. ■ Access to This Manual To obtain the latest version: · Visit the Download page of Hesai's official website: https://www.hesaitech.com/en/download · Or contact your sales representative at Hesai ·...
  • Page 4 ■ Legends Warnings: instructions that must be followed to ensure safe and proper use of the product. Notes: additional information that may be helpful.

  • Page 5: Safety Notice

    Safety Notice ■ Special Warnings Laser Safety Hot Surface Hot parts! Burned fingers when handling the parts. Wait one-half hour after switching off before handling parts.
  • Page 6 Vibration · If significant mechanical shocks and vibration may exist in the product's operating environment, please contact Hesai's technical support team to obtain the shock and vibration limits of this product model. Exposure to over-the-limit shocks or vibration may damage the product.
  • Page 7 Explosive Atmosphere and Other Air Conditions · Do NOT use the product in any area where potentially explosive atmospheres are present, such as high concentrations of flammable chemicals, vapors, or particulates (including particles, dust, and metal powder) in the air. ·...
  • Page 8 · Please check the section in the product's user manual and strictly follow the instructions on plugging/unplugging the connector. If abnormalities already exist (such as bent pins, broken cables, and loose screws), stop using the product and contact Hesai technical support.
  • Page 9 Hesai technical support. · Do NOT squeeze or pierce the product. If the product enclosure is broken, stop using it immediately and contact Hesai technical support. · The product contains high-speed rotating parts. To avoid potential injuries, do NOT operate the product if the enclosure is loose.
  • Page 10 Using off-spec or unsuitable devices may result in product damage or even personal injuries. Firmware and Software Upgrading Make sure to use only the upgrade files provided by Hesai Technology. Make sure to observe all the instructions provided for that upgrade file. Custom Firmware and Software ·...
  • Page 11 Repair Unless expressly agreed to in writing by Hesai Technology, do NOT by yourself or entrust any third party to disassemble, repair, modify, or retrofit the product. Such a breach: · can result in product damage (including but not limited to water resistance failure), property loss, and/or personal injuries;...

  • Page 12: Introduction

    1 Introduction This manual describes the specifications, installation, and data format of Pandar128E3X. Operating Principle Distance Measurement: Time of Flight (ToF) 1) A laser diode emits a beam of ultrashort laser pulses onto the target object. 2) The laser pulses are reflected after hitting the target object. The returning beam is detected by an optical sensor. 3) Distance to the object can be accurately measured by calculating the time between laser emission and receipt.

  • Page 13: Lidar Structure

    Lidar Structure The basic structure is shown in Figure 1.2. Multiple pairs of laser emitters and receivers are attached to a motor that rotates horizontally. Figure 1.3 Coordinate System Figure 1.4 Default Rotation Direction Figure 1.2 Partial Cross-Sectional Diagram (Isometric View) (Top View) The lidar's coordinate system is illustrated in Figure 1.3.

  • Page 14: Channel Distribution

    The offsetted angles are recorded in this lidar unit's angle correction file, which is provided when shipping the unit. In case you need to obtain the file again: · send PTC command 0x05, as described in Hesai TCP API Protocol (Chapter 5); · or export the file using PandarView, see the PandarView user manual;...

  • Page 15: Specifications

    Specifications SENSOR MECHANICAL/ELECTRICAL/OPERATIONAL Scanning Method Mechanical Rotation Wavelength 905 nm Channel Laser Class Class 1 Eye Safe Range Capability ①③ 0.3 to 200 m (at 10% reflectivity) Ingress Protection IP6K7 & IP6K9K Range Accuracy ② ±8 cm (0.3 to 0.5 m, each channel) Dimensions Height: 123.7 mm...
  • Page 16 (Continued) ① Range Capability · Measured under 100 klux ambient illuminance. ② Range Accuracy · May vary with range, temperature, and target reflectivity. ③ The range capability and horizontal resolution of each channel is shown in Appendix I (Channel Distribution). ④...

  • Page 17: Setup

    2 Setup Mechanical Installation Figure 2.1 Front View (Unit: mm) -15-...
  • Page 18 Figure 2.2 Bottom View (Unit: mm) -16-...
  • Page 19 2.1.1 Quick Installation Figure 2.3 Quick Installation -17-...
  • Page 20 2.1.2 Stable Installation Figure 2.4 Stable Installation -18-...
  • Page 21 2.1.3 Notes on Screw Installation ■ Screw Type SEMS screws (with pre-attached flat washers and lock washers) are recommended. Property class should be at least 4.8. ■ Threadlocker Before fastening a screw, apply 1 or 2 dots of threadlocker in the thread fit area. LOCTITE® 263 Threadlocker is recommended. To ensure curing in place, wait for at least 12 hours before operating the lidar.

  • Page 22: Interfaces

    Interfaces Lemo part number: EEG.2T.316.CLN (female socket, on the lidar) Looking from the bottom of the lidar Figure 2.5 Lemo Connector (Female Socket) -20-...
  • Page 23 2.2.1 Pin Description ■ 1000Base-T Signal Voltage Signal Voltage Ground (Return) GPS Serial Data -13 to +13 V Ground (Return) Power 9 to 48 V Ethernet BI_DC- -1 to 1 V Power 9 to 48 V Ethernet BI_DC+ -1 to 1 V GPS PPS 3.3 / 5 V Ethernet BI_DB-...
  • Page 24 · In case a connector's shell is accidentally pulled off, stop using the connector and contact Hesai technical support. · DO NOT attempt to assemble the connector's shell and cable collet; DO NOT connect a connector without its shell. Doing so may damage the lidar's circuits.
  • Page 25 Before disconnection: Pull the release sleeve to its outermost Before connection: position and hold there Align the red dots Figure 2.6 Lemo Connection/Disconnection -23-...

  • Page 26: Connection Box (Optional)

    Connection Box (Optional) Users may connect the lidar directly or using the connection box. The connection box has a power port, a GPS port, and a standard Ethernet port. Lemo part number: FSG.2T.316.CLAC80Z (male plug, on the connection box) Figure 2.7 Connection Box (Unit: mm) -24-...
  • Page 27 ■ 1000Base-T Signal Voltage Wire Color Signal Voltage Wire Color Ground (Return) Black GPS Serial Data -13 to +13 V Yellow Ground (Return) White Power 9 to 48 V Ethernet BI_DC- -1 to 1 V Blue Power 9 to 48 V Green Ethernet BI_DC+ -1 to 1 V...
  • Page 28 2.3.1 Connection Box Interfaces Figure 2.8 Connection Box (Front) Port # Port Name Description Standard Ethernet Port RJ45, 1000 Mbps Ethernet Power Port Connects to a DC-005 DC power adapter. External power supply: 9 to 48 V, 27 W GPS Port Connector part number: JST, SM06B-SRSS-TB Recommended connector for the external GPS module: JST, SHR-06V-S-B Voltage standard: RS232...
  • Page 29 Figure 2.9 Connecting Box (Back) Port # Port Name Description Trigger Port Outputs external trigger signals for multi-sensor synchronization. Connector (socket): Molex, LLC 5023520300 Recommended wire connector (plug): Molex, LLC 5023510300 Voltage: 0 to 3.3 V Signal type: pulse Max. current output level: 12 mA Pin Description for the trigger port: Pin # Direction...
  • Page 30 2.3.2 Connection Figure 2.10 Connection with GPS -28-...
  • Page 31 Figure 2.11 Connection with PTP -29-...

  • Page 32: Get Ready To Use

    To set parameters, check device info, or upgrade firmware/software, see Chapter 4 (Web Control) To obtain the SDKs (Software Development Kits) for your product model, · please find the download link at: www.hesaitech.com/en/download (Product Documentation → select product model) · or visit Hesai's official GitHub page: https://github.com/HesaiTechnology -30-...

  • Page 33: Data Structure

    3 Data Structure The lidar outputs two types of UDP packets: Point Cloud Data Packets and GPS Data Packets. Unless otherwise specified, all the multi-byte fields are unsigned values in little endian format. The Cyber Security field (32 bytes) in Point Cloud UDP Data is present only when point cloud signature is enabled. Figure 3.1 Data Structure -31-...

  • Page 34: Point Cloud Data Packet

    Point Cloud Data Packet 3.1.1 Ethernet Header Each lidar has a unique MAC address. The source IP is 192.168.1.201 by default, and the destination IP is 255.255.255.255 (broadcast). Point Cloud Ethernet Header: 42 bytes Field Bytes Description Ethernet II MAC Destination: broadcast (0xFF: 0xFF: 0xFF: 0xFF: 0xFF: 0xFF) Source: (xx:xx:xx:xx:xx:xx) Ethernet Data Packet Type...
  • Page 35 3.1.2 UDP Data ■ Pre-Header: 6 bytes Field Bytes Description 0xEE SOP (start of packet) 0xFF SOP (start of packet) Protocol Version Major Main class of the point cloud UDP packet structure Currently 0x01 Protocol Version Minor Subclass of the point cloud UDP packet structure Currently 0x04 Reserved ■...
  • Page 36 ■ Body: 776 bytes (2 blocks) Field Bytes Description Azimuth 1 For Block 1: current reference angle of the rotor Unit: 0.01° Block 1 For Block 1: measurements made by each channel, starting form Channel 1 See table below Azimuth 2 For Block 2 Block 2 CRC 1...
  • Page 37 Three single-return modes and three dual-return modes are available, see the Return Mode field in the Tail of Point Cloud UDP Data. In a dual-return mode, · the measurements from each round of firing are stored in two adjacent blocks (see table below); ·...
  • Page 38 The Distance field is defined below: Up-Close Blockage Detection = OFF Description Distance≥75 Distance Value = Distance * Dis Unit ≥ 0.3 m (See "Header" in this section) Distance = 0 No valid point cloud output Up-Close Blockage Detection = ON Description Distance≥75 Distance Value = Distance * Dis Unit ≥...
  • Page 39 Fault code sent by this data packet Reserved CRC 2 CRC-32/MPEG-2 checksum of Functional Safety (from the Lidar State field to the Reserved field) The lidar states and fault codes are described in the Safety Manual. Please contact Hesai technical support for more information. -37-...
  • Page 40 ■ Tail: 56 bytes Field Bytes Description Reserved Azimuth State Azimuth states are used to determine the laser firing time of a channel, see Appendix II. [15:14] is the azimuth state of Block 1, and [13:12] the azimuth state of Block 2. Range: 0 to 3 (High Resolution mode), 0 to 1 (Standard mode, Energy Saving mode) [11:0] is reserved Operational State...
  • Page 41 Field Bytes Description Date & Time The absolute UTC time of this data packet (defined in Appendix II – Absolute time of Point Cloud Data), accurate to the second. Each Byte Range (Decimal) Year (current year minus 1900) ≥70 Month 1 to 12 1 to 31 Hour...
  • Page 42 Field Bytes Description IMU Timestamp Timestamp of the IMU data Counting from 0 after powering on the lidar or after an overflow Unit: 25 μs Range: 0 to approx. 1.24 days IMU X Axis Acceleration Acceleration of the X-axis, measured by the IMU as a signed integer Measurement range: ±8 Unit of acceleration: currently 0.244 , see the IMU Acceleration Unit field...
  • Page 43 ■ Cyber Security (Optional): 32 bytes Field Bytes Description Signature Point cloud signature Calculated using Point Cloud UDP Data (from Pre-Header to Tail, appended with UDP Sequence) Algorithm: HMAC-SHA256 This field is added after specifying a Shared Secret Key and starting a session, see Section 4.1.4 (Web Control - Cybersecurity Config - Point Cloud Signature).
  • Page 44 3.1.3 Point Cloud Data Analysis Take Channel 5 in Block 2 as an example: ■ Analyze the vertical angle of a data point The designed vertical angle of Channel 5 is 12.165°, according to Appendix I (Channel Distribution) Notes · The accurate vertical angle is recorded in this LiDAR's unit's angle correction file, see Section 1.3 (Channel Distribution). ·...
  • Page 45 ④ Firing time offset of the channel Look up the table in Appendix II (Absolute Time of Point Cloud Data). ⑤ Spin rate of the motor See Section 4.1 (Web Control – Home). ■ Analyze the distance of a data point Actual distance in real world millimeters = distance measurement * Distance Unit Distance measurement: Distance field of Channel 5 in Block 2 Distance Unit: 4 mm...

  • Page 46: Gps Data Packet

    GPS Data Packet When GPS is selected as the clock source (see Section 4.2 Web Control - Settings), GPS Data Packets are triggered every second. When PTP is selected as the clock source, the LiDAR does not output GPS Data Packet. All the multi-byte values are unsigned and in little endian format.
  • Page 47 3.2.1 Ethernet Header The source IP is 192.168.1.201 by default. The destination IP address is 255.255.255.255 and in broadcast form. GPS Ethernet Header: 42 bytes Field Bytes Description Ethernet II MAC Destination: broadcast (0xFF: 0xFF: 0xFF: 0xFF: 0xFF: 0xFF) Source: (xx:xx:xx:xx:xx:xx) Ethernet Data Packet Type 0x08, 0x00 Internet Protocol...
  • Page 48 3.2.2 UDP Data GPS UDP data: 512 bytes Field Bytes Description GPS Time Data Header 2 bytes 0xFFEE (0xFF first) Date 6 bytes Year, month, and day (2 bytes each, lower byte first) in ASCII Time 6 bytes Second, minute, and hour (2 bytes each, lower byte first) in ASCII Reserved 4 bytes GPRMC/GPGGA Data...
  • Page 49 ■ GPRMC Data Format $GPRMC, <01>, <02>, <03>, <04>, <05>, <06>, <07>, <08>, <09>, <10>, <11>, <12>*hh Field # Field Description <01> UTC Time Hour, minute, and second Typically in hhmmss (hour, minute, second) format <02> Location Status A (hex = 41) for Valid Position V (hex = 56) for Invalid Position NUL (hex = 0) for GPS being unlocked <09>...
  • Page 50 ■ GPGGA Data Format $GPGGA, <01>, <02>, <03>, <04>, <05>, <06>, <07>, <08>, <09>, <10>, <11>, <12>*hh Field # Field Description <01> UTC Time Hour, minute, and second Typically in hhmmss (hour, minute, second) format <06> GPS Fix Quality 0 = invalid 1 = GPS fix (SPS) 2 = DGPS fix 3 = PPS fix...
  • Page 51 3.2.3 GPS Data Analysis Figure 3.4 GPS Data Packet - UDP Data (Example) Date Field Data (ASCII Code) Characters Meaning Year 0x30 0x32 '0', '2' Month 0x34 0x30 '4', '0' 0x37 0x30 '7', '0' Time Field Data (ASCII Code) Characters Meaning Second 0x38 0x35...

  • Page 52: Web Control

    4 Web Control Web control is used for setting parameters, checking device info, and upgrading. To access web control 1) Connect the lidar to your PC using an Ethernet cable 2) Set the IP address according to Section 2.4 (Get Ready to Use) 3) Enter this URL into your web browser: 192.168.1.201 Google Chrome and Mozilla Firefox are recommended.

  • Page 53: Home

    Home Status Spin Rate 600 rpm Unlock NMEA (GPRMC/GPGGA) Unlock Free Run Device Info Device Log Model Pandar128E3X P128XXXXXXXXXXXXXX MAC Address XX:XX:XX:XX:XX:XX Pandar128E3X-A01 Customer P/N 12345678-9 Software Version 1.45.131 Sensor Firmware Version 1.45.124 Controller Firmware Version 1.45.119 -51-...
  • Page 54 Button Description Device Log Click to download a .JSON file that contains the lidar status, device info, all configurable parameters, and the upgrade log. Parameter Description Spin Rate Spin Rate of the motor (rpm) = frame rate (Hz) * 60 GPS (PPS) status Lock Lidar's internal clock is in sync with GPS PPS...
  • Page 55 Parameter Description Part Number · Cannot be changed. · Format: [Model]-[Configuration] Lidar units with earlier firmware versions can be upgraded to display P/N. The default P/N is the Product Model (Pandar128E3X). Customer P/N Customer-Specified Part Number · Can be changed. ·...

  • Page 56: Settings

    Settings Reset All Settings Control IP IPv4 Address 192.168.1.201 IPv4 Mask 255.255.255.0 IPv4 Gateway 192.168.1.1 VLAN □ Ethernet Communication Mode Slave Settings Destination IP 255.255.255.255 Lidar Destination Port 2368 Spin Rate 600 rpm Return Mode Last and Strongest Sync Angle □...
  • Page 57 (Continued) Noise Filtering Interstitial Points Filtering Retro Multi-Reflection Filtering Up-Close Blockage Detection Reflectivity Mapping Linear Mapping Rotation Direction Clockwise Operational Mode Dynamic / Constant Standby Mode In Operation / Standby Save Button Description Reset All Settings Reset all the configurable parameters to factory defaults, including: ·...
  • Page 58 4.2.1 Network Settings Parameter Options Description VLAN Default: OFF To enable VLAN tagging: VLAN ID: 1 to 4094 · Make sure the receiving host also supports VLAN. · Check the checkbox and input the lidar's VLAN ID (same as the receiving host's VLAN ID).
  • Page 59 Parameter Options Description Ethernet Comm. Slave (default) Only for automotive Ethernet (1000Base-T1). Mode Master Slave mode (default): · The receiving host shall be in Master mode. · Connect the lidar directly or use a connection box. Master mode: · Connect the lidar to a Master host, select "Master" and click "Save" at the bottom of the Settings page.
  • Page 60 4.2.2 Function Settings Parameter Options Description Spin Rate 600 RPM (default) The setting spin rate is also shown on web control, see Section 4.1 (Web Control – 1200 RPM Home). Return Mode Single Return Also shown in Point Cloud Data Packets, see the Return Mode field in Section 3.1.2 ·...
  • Page 61 Parameter Options Description Sync Angle 0° to 360° Phase lock angle · To activate this function, check the checkbox and input an azimuth. · At every full second, the lidar will rotate to that azimuthal position. Lidar azimuthal position is defined in Section 1.2 (Lidar Structure). Definition of full second ·...
  • Page 62 Parameter Options Description Interstitial Points OFF (default) To mitigate the interstitial points. Filtering Definition of interstitial points: when a beam partially hits on a front target's edge and further hits on a rear target, the return signal can result in a false point located between both targets.
  • Page 63 Parameter Options Description Operational Mode Dynamic (default) Under each Operational Mode, the lidar automatically shifts between a selection Constant of Operational States according to: · ambient temperature · High Resolution settings (see Section 4.4 Web Control – High Resolution) Operational High Resolution Operational States (in order of priority) Mode...
  • Page 64 4.2.3 Time Settings Clock Source GPS Mode GPRMC GPS Destination Port 10110 Clock Source Profile 1588v2 Time Offset for Lidar Lock PTP Network Transport UDP/IP PTP Domain Number PTP logAnnounceInterval PTP logSyncInterval PTP logMinDelayReqInterval Parameter Options Description Clock Source GPS (default) External source of absolute time -62-...
  • Page 65 ■ With GPS Selected Parameter Options Description GPS Mode GPRMC (default) Format of the NMEA data received from the external GPS module, see Section 3.2.2 (GPS GPGGA UDP Data) Destination Port Default: 10110 Port used for sending GPS Data packets ■...
  • Page 66 When using the 1588v2 profile: Parameter Options Description -2 to 3 Time interval between Announce messages logAnnounceInterval Default: 1 Default: 1 log second (2 seconds) -7 to 3 Time interval between Sync messages logSyncInterval Default: 1 Default: 1 log second (2 seconds) -7 to 3 Minimum permitted mean time between Delay_Req messages logMinDelayReqInterval...

  • Page 67: Azimuth Fov

    Azimuth FOV Button Description Save Save and execute all the settings on this page. Parameter Options Description Azimuth FOV Setting For all channels (default) Configuration mode of the azimuth FOV. The lidar outputs valid data only within the specified azimuth FOV ranges. Multi-section FOV Note ·...
  • Page 68 4.3.1 For all channels Input a Start Angle and an End Angle to form a continuous angle range. This range applies to all channels. -66-...
  • Page 69 4.3.2 Multi-section FOV Input multiple (≤5) sets of Start Angles and End Angles to form multiple continuous angle ranges. These ranges apply to all channels. -67-...

  • Page 70: High Resolution

    High Resolution Configure on-the-fly the horizontal resolution of far field measurement. Button Description Save Save and execute all the settings on this page. Parameter Options Description Mode Standard (default) High Resolution Mode Frame Rate Horizontal Resolution of Far Field Measurement Standard 10 Hz 0.2°...

  • Page 71: Operation Statistics

    Operation Statistics These operating parameters are shown in real time: Start-Up Counts Internal Temperature 32.10℃ Internal Humidity 50.0% RH System Uptime 0 h 5 min Total Operation Time 559 h 43 min Internal Temperature Operation Time < -40 ℃ 0 h 1 min -40 to -20 ℃...

  • Page 72: Monitor

    Monitor These electrical parameters (measured at the lidar's connector) are shown in real time: · Lidar Input Current · Lidar Input Voltage · Lidar Input Power -70-...

  • Page 73: Upgrade

    Upgrade Preparation · Please contact Hesai technical support to receive encrypted and signed upgrade files. · During the upgrade, it is recommended to place a protective cover (supplied with the lidar) or other opaque material over the lidar's cover lens.

  • Page 74: Log

    The process logs in this page can be used for software troubleshooting. Parameter Description pandar_control Lidar's control program diag_ff Functional safety diagnosis program error Exceptions that may affect the lidar's normal operation warn Exceptions that do not affect the lidar's normal operation -72-...

  • Page 75: Security

    Security Cyber Security (Master Switch) Cyber Security (Master Switch) Login Control Login Control Authentication Authentication Current Password Current Password Forget Password? New Password New Password Secure Connection Confirm New Password Confirm New Password PTC Connection Non-TLS HTTP Connection HTTP Secure Connection PTC Connection Point Cloud Signature HTTP Connection...
  • Page 76 As shown in the previous page, the available settings depend on the Cyber Security Master Switch: Cyber Security (Master Switch): OFF Cyber Security (Master Switch): ON Login Control http://192.168.1.201 redirects to the Home page. https://192.168.1.201 redirects to the Login page, see Section 4.10 (Login).
  • Page 77 · To effectively implement login control, please change the default password and keep your new password securely. · Before returning a trial/loaner lidar or an RMA lidar to Hesai, please make sure to change the password back to default. New Password Format ·...
  • Page 78 4.9.2 Secure Connection When the Cyber Security Master Switch is ON: TLS: mTLS: Secure Connection Secure Connection PTC Connection mTLS PTC Connection No file Client CA certificate name HTTP Connection HTTPS Invalid Certificate status Change Certificate Remove Upload HTTP Connection HTTPS Parameter Options...
  • Page 79 4.9.3 Point Cloud Signature Parameter Options Description Shared Secret Key 8 to 32 digits or letters (case Used for negotiating a session key, see Section 4.11.3 (Cybersecurity Configuration - sensitive) Point Cloud Signature). -77-...

  • Page 80: Login

    4.10 Login When the Cyber Security Master Switch on the Security page is ON, https://192.168.1.201 redirects to the Login page. Username admin Password Default: 123456 To effectively implement login control, please change the default password (see Section 4.9 - Security) and keep your new password securely.

  • Page 81: Cybersecurity Configuration

    ) in the browser's address bar, and the entity certificate can be found under Page Info. · If the URL in the address bar shows http instead of https, the entity certificate is not correctly loaded. Please contact Hesai technical support.
  • Page 82 Hesai_Ca_Chain.crt Comprised of the above root and intermediate certificates. In case you need to obtain the CA certificates again, contact a sales representative or technical support engineer from Hesai. ■ Import CA Certificates to Your Browser Chrome and Firefox in Windows 10 are used as an example.
  • Page 83 1) Go to the Settings/Options/Preference page of your browser → Input "Certificate" in the search bar → Select "Manage/View Certificates" -81-...
  • Page 84 2) In the pop-up dialog box · If "Intermediate Certification Authorities" and "Trusted Root Certification Authorities" are two separate tabs (see left-hand screenshot), click "Import" to upload the intermediate certificate under the former tab, and upload the root certificate under the latter tab ·...
  • Page 85 In case the following warnings appear, select "Trust this CA to identify websites". -83-...
  • Page 86 3) When the import is complete, the CA certificate appears in the dialog box. Double-click to see detailed information. -84-...
  • Page 87 4.11.2 mTLS (Optional) The lidar is in TLS (one-way auth) mode by default. mTLS (two-way auth) is recommended to enhance security: · See Section 4.2 (Web Control - Settings) for uploading the user certificate. PandarView · Before checking live point cloud data in PandarView, upload both the user certificate and the corresponding private key. See User Manual (Check Live Data).
  • Page 88 4.11.3 Point Cloud Signature (Optional) A point cloud signature can be added to each Point Cloud Data Packet, see Section 3.1.2 (Point Cloud UDP Data). 1) When operating this lidar unit for the first time, specify a Shared Secret Key in Section 4.2 (Web Control - Settings). 2) Start a session using this PTC command PTC_COMMAND_DP_SIG_SESSION_START , see Chapter 5 (Communication Protocol).

  • Page 89: Communication Protocol

    5 Communication Protocol To receive Hesai lidar's PTC (Pandar TCP Commands) and HTTP API Protocols, please contact Hesai technical support. Lidar models that support cybersecurity can communicate using the encrypted PTCS (PTC over TLS) and HTTPS (HTTP over TLS) API.

  • Page 90: Sensor Maintenance

    6 Sensor Maintenance ■ Cleaning Stains on the product's cover lens, such as dirt, fingerprints, and oil, can negatively affect point cloud data quality. Please perform the following steps to remove the stains. Warnings · Turn OFF the power source before cleaning. ·...
  • Page 91 (Continued) 4) When the stains have loosened, dip a piece of lint-free wipe into the solvent made in Step 3, and gently wipe the cover lens back and forth along its curved surface. 5) Should another cleaning agent be applied to remove certain stains, repeat Steps 3 and 4. 6) Spray the cover lens with clean water, and gently wipe off the remaining liquid with another piece of lint-free wipe.

  • Page 92: Troubleshooting

    7 Troubleshooting In case the following procedures cannot solve the problem, please contact Hesai technical support. Symptoms Points to Check Verify that: · power adapter is properly connected and in good condition; Indicator light is off on · connection box is intact;...
  • Page 93 · if VLAN is enabled, the PC's VLAN ID is the same with the lidar's Wireshark but not on · the latest PandarView version (see the Download page of Hesai's official website or contact Hesai technical PandarView support) is installed on the PC Power on again to check if the symptom persists.
  • Page 94 Symptoms Points to Check Verify that · Ethernet cable is properly connected (by unplugging and plugging again) · Lidar's IP is in the same subnet with the PC's. Users may use WireShark to check the lidar's IP that broadcasts data packets Cannot open web ·...
  • Page 95 · If no packet is missing and yet the point cloud flashes, please update PandarView to the latest version (see the FOV) Download page of Hesai's official website or contact Hesai technical support) and restart the PC. If the point cloud is still abnormal: ·...

  • Page 96: Appendix I Channel Distribution

    Appendix I Channel Distribution Channel Angular Position Instrument Range Near Field Max. Range Far Field Min. Reflectivity @ Max. High- Enabled? @10% Reflectivity Enhanced? Instrument Range Res? Horiz. Offset Vertical ① ② ③ ④ ⑤ ⑥ ⑦ ⑧ ⑨ ⑩ ①...
  • Page 97 Channel Distribution (To Be Continued) Angular Position Instrument Range Channel Near Field Max. Range Far Field Min. Reflectivity @ Max. High- Horiz. Offset Vertical Enabled? @10% Reflectivity Enhanced? Instrument Range Res? 3.257° 14.436° 0.3 m 100 m 100 m 100 m @ 10% 3.263°...
  • Page 98 Channel Distribution (To Be Continued) Angular Position Instrument Range Channel Near Field Max. Range Far Field Min. Reflectivity @ Max. High- Horiz. Offset Vertical Enabled? @10% Reflectivity Enhanced? Instrument Range Res? -3.311° 4.501° 0.3 m 100 m (140 m) 100 m @ 3% -1.109°...
  • Page 99 Channel Distribution (To Be Continued) Angular Position Instrument Range Channel Near Field Max. Range Far Field Min. Reflectivity @ Max. High- Horiz. Offset Vertical Enabled? @10% Reflectivity Enhanced? Instrument Range Res? -7.738° 0.124° 2.85 m 200 m 200 m 200 m @ 10% -1.117°...
  • Page 100 Channel Distribution (To Be Continued) Angular Position Instrument Range Channel Near Field Max. Range Far Field Min. Reflectivity @ Max. High- Horiz. Offset Vertical Enabled? @10% Reflectivity Enhanced? Instrument Range Res? 3.345° -2.409° 0.3 m 200 m 200 m 200 m @ 10% -3.353°...
  • Page 101 Channel Distribution (To Be Continued) Angular Position Instrument Range Near Field Max. Range Far Field Min. Reflectivity @ Max. High- Channel Horiz. Offset Vertical Enabled? @10% Reflectivity Enhanced? Instrument Range Res? -7.799° -4.951° 2.85 m 200 m 140 m 200 m @ 37% -1.127°...
  • Page 102 Channel Distribution (To Be Continued) Angular Position Instrument Range Near Field Max. Range Far Field Min. Reflectivity @ Max. High- Channel Horiz. Offset Vertical Enabled? @10% Reflectivity Enhanced? Instrument Range Res? 1.129° -11.672° 2.85 m 100 m 100 m 100 m @ 10% 3.395°...
  • Page 103 Channel Distribution (Continued) Angular Position Instrument Range Near Field Max. Range Far Field Min. Reflectivity @ Max. High- Channel Horiz. Offset Vertical Enabled? @10% Reflectivity Enhanced? Instrument Range Res? -3.436° -21.379° 2.85 m 100 m 25 m 100 m @ 1600% -1.146°...

  • Page 104: Appendix Ii Absolute Time Of Point Cloud Data

    Appendix II Absolute Time of Point Cloud Data ■ Source of Absolute Time The lidar retrieves the current absolute time by connecting to an external clock source (GPS/PTP). Users can select the clock source, see Section 4.2 (Web Control - Settings). -102-...
  • Page 105 1) GPS as the Clock Source · The lidar connects to a third-party GPS module to obtain the PPS (pulse-per-second) signal and the NMEA sentence ($GPRMC or $GPGGA). · Users may select either $GPRMC or $GPGGA sentences, see Section 4.2 (Web Control – Settings). ·...
  • Page 106 2) PTP as the Clock Source · The lidar connects to a third-party PTP master to obtain the absolute time. · Users may configure the PTP settings, see Section 4.2 (Web Control – Settings). · Users may check the PTP signal status, see Section 4.1 (Web Control - Home). ·...
  • Page 107 ■ Absolute Time of Point Cloud Data Packets Definition · Every time the lidar passes a fixed time Δt or azimuth interval Δα (see Section 4.2 Web Control – Trigger Method), it sends a command that triggers a round of firing. ·...
  • Page 108 ■ Start Time of Each Block Assuming that the absolute time of a Point Cloud Data Packet is t0, the start time of each block (i.e., the time when the first firing starts) can be calculated. Single Return Mode The start time of each block depends on the horizontal resolution - whether the lidar is operating in High Resolution mode or Standard mode (defined in Chapter 4 Web Control - High Resolution).
  • Page 109 ■ Firing Time Offset of Each Channel Assume that the start time of Block m is T(m), m ∈ {1, 2}, then the laser firing time of Channel n in Block m is t(m, n) = T(m) + Δt(n), n ∈ {1, 2, …, 128}. Δt(n) is determined below: 1) Check the Operational State field in the Tail of the Point Cloud Data Packet Operation States: High Resolution, Standard, Energy Saving, Shutdown...
  • Page 110 Δt(n) – Firing Time Offset (Unit: ns), in the Ascending Order of Channel No. (continued on the next page) Operational State High Resolution Standard or Energy Saving Azimuth State Firing Type Near Near Near Near Near Near Channel 4436 5201 4436 4436 5201...
  • Page 111 Δt(n) – Firing Time Offset (Unit: ns), in the Ascending Order of Channel No. (continued on the next page) Operational State High Resolution Standard or Energy Saving Azimuth State Firing Type Near Near Near Near Near Near Channel 2431 3196 2781 2431 3196...
  • Page 112 Δt(n) – Firing Time Offset (Unit: ns), in the Ascending Order of Channel No. (continued on the next page) Operational State High Resolution Standard or Energy Saving Azimuth State Firing Type Near Near Near Near Near Near Channel 19521 19871 19521 19171 19521...
  • Page 113 Δt(n) – Firing Time Offset (Unit: ns), in the Ascending Order of Channel No. (continued on the next page) Operational State High Resolution Standard or Energy Saving Azimuth State Firing Type Near Near Near Near Near Near Channel 10381 10731 10381 10031 26706...
  • Page 114 Δt(n) – Firing Time Offset (Unit: ns), in the Ascending Order of Channel No. (continued on the next page) Operational State High Resolution Standard or Energy Saving Azimuth State Firing Type Near Near Near Near Near Near Channel 24091 24441 24091 23741 52219...
  • Page 115 Δt(n) – Firing Time Offset (Unit: ns), in the Ascending Order of Channel No. (continued on the next page) Operational State High Resolution Standard or Energy Saving Azimuth State Firing Type Near Near Near Near Near Near Channel 4786 4086 32564 31864 2021...
  • Page 116 Δt(n) – Firing Time Offset (Unit: ns), in the Ascending Order of Channel No. (continued on the next page) Operational State High Resolution Standard or Energy Saving Azimuth State Firing Type Near Near Near Near Near Near Channel 4436 4436 4436 4436 6441...
  • Page 117 Δt(n) – Firing Time Offset, in the Ascending Order of Firing Sequence High Performace State (continued on the next page) Azi_S: Azimuth State Ch #: Channel No. Time: Firing time (ns) Seq: Firing Sequence NF: Near Field (1 for YES, 0 for NO) Azi_S Azi_S Azi_S...
  • Page 118 Δt(n) – Firing Time Offset, in the Ascending Order of Firing Sequence High Performace State (continued on the next page) Azi_S: Azimuth State Ch #: Channel No. Time: Firing time (ns) Seq: Firing Sequence NF: Near Field (1 for YES, 0 for NO) Azi_S Azi_S Azi_S...
  • Page 119 Δt(n) – Firing Time Offset, in the Ascending Order of Firing Sequence High Performace State (continued on the next page) Azi_S: Azimuth State Ch #: Channel No. Time: Firing time (ns) Seq: Firing Sequence NF: Near Field (1 for YES, 0 for NO) Azi_S Azi_S Azi_S...
  • Page 120 Δt(n) – Firing Time Offset, in the Ascending Order of Firing Sequence High Performace State (continued on the next page) Azi_S: Azimuth State Ch #: Channel No. Time: Firing time (ns) Seq: Firing Sequence NF: Near Field (1 for YES, 0 for NO) Azi_S Azi_S Azi_S...
  • Page 121 Δt(n) – Firing Time Offset, in the Ascending Order of Firing Sequence High Performace State (continued on the next page) Azi_S: Azimuth State Ch #: Channel No. Time: Firing time (ns) Seq: Firing Sequence NF: Near Field (1 for YES, 0 for NO) Azi_S Azi_S Azi_S...
  • Page 122 Δt(n) – Firing Time Offset, in the Ascending Order of Firing Sequence High Performace State (continued) Azi_S: Azimuth State Ch #: Channel No. Time: Firing time (ns) Seq: Firing Sequence NF: Near Field (1 for YES, 0 for NO) Azi_S Azi_S Azi_S Azi_S...
  • Page 123 Δt(n) – Firing Time Offset, in the Ascending Order of Firing Sequence Standard or Energy Saving State (continued on the next page) Azi_S: Azimuth State Ch #: Channel No. Time: Firing time (ns) Seq: Firing Sequence NF: Near Field (1 for YES, 0 for NO) Azi_S Azi_S Azi_S...
  • Page 124 Δt(n) – Firing Time Offset, in the Ascending Order of Firing Sequence Standard or Energy Saving State (continued on the next page) Azi_S: Azimuth State Ch #: Channel No. Time: Firing time (ns) Seq: Firing Sequence NF: Near Field (1 for YES, 0 for NO) Azi_S Azi_S Azi_S...
  • Page 125 Δt(n) – Firing Time Offset, in the Ascending Order of Firing Sequence Standard or Energy Saving State (continued on the next page) Azi_S: Azimuth State Ch #: Channel No. Time: Firing time (ns) Seq: Firing Sequence NF: Near Field (1 for YES, 0 for NO) Azi_S Azi_S Azi_S...
  • Page 126 Δt(n) – Firing Time Offset, in the Ascending Order of Firing Sequence Standard or Energy Saving State (continued on the next page) Azi_S: Azimuth State Ch #: Channel No. Time: Firing time (ns) Seq: Firing Sequence NF: Near Field (1 for YES, 0 for NO) Azi_S Azi_S Azi_S...
  • Page 127 Δt(n) – Firing Time Offset, in the Ascending Order of Firing Sequence Standard or Energy Saving State (continued) Azi_S: Azimuth State Ch #: Channel No. Time: Firing time (ns) Seq: Firing Sequence NF: Near Field (1 for YES, 0 for NO) Azi_S Azi_S Azi_S...

  • Page 128: Appendix Iii Nonlinear Reflectivity Mapping

    Appendix III Nonlinear Reflectivity Mapping By default, the 1-byte reflectivity data in Point Cloud Data Packets linearly represents target reflectivity from 0 to 255%. Alternatively, users may choose the Nonlinear Mapping mode, see Chapter 4 (Web Control - Settings). ■ Nonlinear Mapping 1# This mapping increases the contrast in low-reflectivity region.
  • Page 129 Nonlinear Reflectivity Mapping 1# (Continued on the Next Page) Reflectivity Index Reflectivity Reflectivity Index Reflectivity Reflectivity Index Reflectivity Reflectivity Index Reflectivity (0 to 255) (0 to 255) (0 to 255) (0 to 255) 2.69 0.67 0.75 0.01 2.81 0.81 0.02 2.94 0.87 0.03...
  • Page 130 Nonlinear Reflectivity Mapping 1# (Continued on the Next Page) Reflectivity Index Reflectivity Reflectivity Index Reflectivity Reflectivity Index Reflectivity Reflectivity Index Reflectivity (0 to 255) (0 to 255) (0 to 255) (0 to 255) 10.17 15.87 22.83 31.17 10.5 16.17 23.25 31.5 10.83 16.5...
  • Page 131 Nonlinear Reflectivity Mapping 1# (Continued on the Next Page) Reflectivity Index Reflectivity Reflectivity Index Reflectivity Reflectivity Index Reflectivity Reflectivity Index Reflectivity (0 to 255) (0 to 255) (0 to 255) (0 to 255) 40.5 63.25 76.5 51.25 41.25 63.75 77.25 51.75 41.75 64.5...
  • Page 132 Nonlinear Reflectivity Mapping 1# (Continued) Reflectivity Index Reflectivity (0 to 255) 90.5 91.5 92.5 93.25 93.75 94.5 95.5 96.25 96.75 97.5 98.5 99.5 -130-...
  • Page 133 ■ Nonlinear Mapping 2# This mapping increases the resolution of low-reflectivity objects, especially lane markings. The nonlinear relationship is detailed below. Reflectivity Index (0 to 255) -131-...
  • Page 134 Nonlinear Reflectivity Mapping 2# (Continued on the Next Page) Reflectivity Index Reflectivity Reflectivity Index Reflectivity Reflectivity Index Reflectivity Reflectivity Index Reflectivity (0 to 255) (0 to 255) (0 to 255) (0 to 255) 12.91 19.2 34.99 2.89 13.23 19.59 36.12 4.08 13.54 37.25...
  • Page 135 Nonlinear Reflectivity Mapping 2# (Continued on the Next Page) Reflectivity Index Reflectivity Reflectivity Index Reflectivity Reflectivity Index Reflectivity Reflectivity Index Reflectivity (0 to 255) (0 to 255) (0 to 255) (0 to 255) 57.56 80.14 102.71 125.28 58.69 81.26 103.84 126.41 59.82 82.39...
  • Page 136 Nonlinear Reflectivity Mapping 2# (Continued on the Next Page) Reflectivity Index Reflectivity Reflectivity Index Reflectivity Reflectivity Index Reflectivity Reflectivity Index Reflectivity (0 to 255) (0 to 255) (0 to 255) (0 to 255) 147.86 170.43 215.58 148.98 171.56 194.13 216.7 150.11 172.69 195.26...
  • Page 137 Nonlinear Reflectivity Mapping 2# (Continued) Reflectivity Index Reflectivity (0 to 255) 238.15 239.28 240.41 241.53 242.66 243.79 244.92 246.05 247.18 248.31 249.44 250.56 251.69 252.82 253.95 255.08 -135-...

  • Page 138: Appendix Iv Legal Notice

    Hesai's official website are properties of their respective owners. The software included in this product contains copyright that is registered under Hesai Technology. Any third party is not permitted, except as expressly permitted by licensor or expressly required by applicable law, to decompile, reverse engineer, disassemble, modify, rent, lease, loan, distribute, sublicense, create derivative works based on the whole or any part of the software.
  • Page 139 Hesai Technology Co., Ltd. Phone: +86 400 805 1233 Business Email: info@hesaitech.com Website: www.hesaitech.com Service Email: service@hesaitech.com Address: Building L2, Hongqiao World Centre, Shanghai, China HESAI Wechat...

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