Hesai AT128P User Manual
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Hesai AT128P User Manual

128-channel hybrid solid-state lidar
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AT128P
128-Channel Hybrid Solid-State Lidar
User Manual
Classification: Internal
Doc Version: A02-en-240310

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Summary of Contents for Hesai AT128P

  • Page 1 AT128P 128-Channel Hybrid Solid-State Lidar User Manual Classification: Internal Doc Version: A02-en-240310...

  • Page 2: Table Of Contents

    Table of Contents ■ About this manual ........................ ...
  • Page 3 2.2.1. Pin description....................... .  ...
  • Page 4 7. Troubleshooting ........................ ...

  • Page 5: About This Manual

    Access to this manual To obtain the latest version, please do one of the following: Contact your sales representative of Hesai. • Contact Hesai technical support: service@hesaitech.com...

  • Page 6: Safety Notice

    Should there be other agreements with specific users, the other agreements shall apply. • Before using a product, please confirm with Hesai the development maturity of the product in a timely manner. For products still in development, • Hesai makes no warranty of non-infringement nor assumes any responsibility for quality assurance.

  • Page 7: Operating Environment

    If any device or equipment in the nearby environment malfunctions. • Meanwhile, contact Hesai or an authorized Hesai service provider for more information on product disposal. Prohibition of disassembly Unless expressly agreed to in writing by Hesai, do NOT disassemble the product.
  • Page 8 AT128P Vibration If significant mechanical shocks and vibration exist in the product's operating environment, please contact Hesai's technical support to obtain • the shock and vibration limits of your product model. Exposure to over-the-limit shocks or vibration may damage the product.

  • Page 9: Personnel

    The product should be operated by professionals with engineering backgrounds or experience in operating optical, electrical, and mechanical instruments. Please follow the instructions in this manual when operating the product and contact Hesai technical support if needed. Medical device interference Some components in the product can emit electromagnetic fields.
  • Page 10 Do NOT use out-of-spec or damaged cables or adapters. • You are recommended to use only the cables and power adapters provided by Hesai. If you are to design, configure, or select the power supply • system (including cables) for the product, make sure to comply with the electrical specifications in the product's user manual (refer to Section 1.5 Specifications...
  • Page 11 • immediately and contact 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. • Certain product models contain high-speed rotating parts. To avoid potential injuries, do NOT operate the product if the enclosure is loose.
  • Page 12 Firmware and software upgrading Make sure to use only the upgrade files provided by Hesai. Make sure to observe all the instructions provided for that upgrade file. Customized firmware and software Before using a customized version of firmware and software, please fully understand the differences in functions and performance between the •...

  • Page 13: Repair And Maintenance

    For more product repair or maintenance issues, please contact Hesai or an authorized Hesai service provider. Repair Unless expressly agreed to in writing by Hesai, do NOT disassemble, repair, modify, or retrofit the product by yourself or entrust any third party to do so. Such a breach: can result in product damage (including but not limited to water resistance failure), property loss, and/or injuries;...

  • Page 14: Introduction

    AT128P 1. Introduction 1.1. Applicability This manual applies to the following versions: Software 4.50.01 or later 1.2. Operating principle Distance measurement: Time of Flight (ToF) A laser diode emits a beam of ultrashort laser pulses onto the target object. The laser pulses are reflected after hitting the target object. The returning beam is detected by an optical sensor.

  • Page 15: Basic Structure

    AT128P 1.3. Basic structure As shown in Figure 3. Mirror rotation direction (top view), a rotating mirror is used for scanning horizontally. Figure 1. Front view Figure 2. Coordinate system (isometric view) Figure 3. Mirror rotation direction (top view) The lidar's coordinate system is illustrated in Figure 2.

  • Page 16: Channel Distribution

    AT128P 1.4. Channel distribution The designed vertical resolution is 0.2° across the FOV, as shown in Figure 4. Channel vertical distribution and detailed in Appendix A Channel • distribution data. Each channel has an intrinsic angle offset, both horizontally and vertically. The offset angles are recorded in this lidar unit's angle correction file •...

  • Page 17: Specifications

    AT128P 1.5. Specifications SENSOR Scanning method 1-D rotating mirror (hybrid solid-state) Channel number Ranging capability 1 to 210 m (at 10% reflectivity) Ranging accuracy ±5 cm (typical) Ranging precision 3 cm (1σ) Horizontal FOV 120° Horizontal resolution Far-field (> 7.2 m): 0.1° (10 Hz), 0.2° (20 Hz) Near-field (0.5 to 7.2 m): 0.2° (10 Hz), 0.4° (20 Hz)
  • Page 18 AT128P Rated voltage range ② DC 9 to 32 V Power consumption ③ 13.5 W Operating temperature –40℃ to 85℃ Storage temperature –40℃ to 105℃ Weight ① 0.94 kg DATA I/O Data transmission Automotive Ethernet, 1000BASE-T1 Slave Mode Measurements Distance, azimuth angle, and reflectivity Valid data points ④...
  • Page 19 AT128P Notes to specifications ① Dimensions and weight May be different for customized models. • The mechanical drawings and data exclusively provided for customized models shall prevail. • ② Rated voltage range Nominal voltages: 12 V and 24 V ③ Power consumption Typical value, not including accessories such as the connection box.

  • Page 20: Setup

    AT128P 2. Setup Before operating the lidar, strip away the transparent protective film on the optical window. The information in this section may be different for customized models. The mechanical drawings and data exclusively provided for  customized models shall prevail.
  • Page 21 AT128P Figure 8. Bottom view (unit: mm) -17-...

  • Page 22: Typical Mounting Structure

    AT128P 2.1.1. Typical mounting structure The through holes on the lidar base can be used to mount the lidar. Figure 9. Through holes on the lidar base   Figure 10. Supporting bracket on the vehicle body -18-...

  • Page 23: Screw Holes On The Lidar

    AT128P 2.1.2. Screw holes on the lidar base Screw Specifications: M5 or M6 Metric property class: ≥ 8.8 For carbon steel screws, the recommended parameters are as follows: Screw specification Number of screws ≥ 4 ≥ 3 For screws with different materials or thread forms, the parameters should be adjusted.

  • Page 24: Mounting Rigidity And Modalities

    AT128P 2.1.3. Mounting rigidity and modalities Please provide details about the mounting structure to Hesai for assessment, as any deviation in the mounting surface can impair lidar • performance. The mounting bracket should be stable and reliable. The intrinsic frequency of the bracket is generally recommended to be over 50 Hz. The •...

  • Page 25: Position

    AT128P 2.1.4. Mounting position The lidar's FOV should not be obscured. • The mounting height should be over 300 mm above the ground. • Figure 11. Lidar's FOV -21-...

  • Page 26: Coordinate Systems

    AT128P 2.1.5. Coordinate systems The coordinate systems of the lidar and vehicle are illustrated below. Figure 12. Lidar coordinates Figure 13. Vehicle coordinates -22-...

  • Page 27: Necessity Of Thermal Design

    (such as the material of the mounting bracket) jointly affect the lidar's heat dissipation capability. Therefore, systematic thermal design optimization is a necessary step in designing the lidar's mounting scheme. For more detailed information, please contact Hesai technical support. -23-...

  • Page 28: Electrical Interface

    AT128P 2.2. Electrical interface TE Connectivity part number: 2446023-1 (male socket, on the lidar) Figure 14. TE connector (male socket) and pins 2.2.1. Pin description Signal Voltage 9 to 32 V Reserved Reserved Reserved Reserved MDI-P MDI-N  Avoid touching the reserved wires or ports with bare hands.

  • Page 29: Connector Use

     If the 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 •...
  • Page 30 AT128P Connection Turn off the power source. Make sure the plug's red locking clip is on the same side as the socket's latch. Push the plug straight into the socket until a click is heard. Push down the red locking clip to the bottommost position until a click is heard.

  • Page 31: Cables (Ethernet)

    AT128P 2.2.3. Cables (Ethernet) Outside diameter (OD) = 4.10 ± 0.20 mm Minimum bend radius: Single: 5 × OD • Multiple: 15 × OD • -27-...

  • Page 32: Connection Box (Optional)

    AT128P 2.3. Connection box (optional) Users may connect the lidar with or without a connection box. The connection box has a power port and a standard Ethernet port. Figure 18. Connection box (unit: mm) -28-...
  • Page 33 AT128P An additional cable assembly is used for connecting the lidar (on the left) and the connection box (on the right), as shown below.  One cable's head cannot connect to another cable's tail, so each lidar can only use one cable.

  • Page 34: Ports

    AT128P 2.3.1. Ports Figure 20. Connection box (front) Port No. Port name Description Standard Ethernet port RJ45, 1000 Mbps Ethernet Power port Connects to a DC-005 DC power adapter. Reserved port Do not connect this port to external signals. Figure 21. Connecting box (back) Port No.
  • Page 35 AT128P Port No. Port name Description Power Output port See CNT 3 connector in Figure 19. Cable assembly between lidar and connection box (unit: mm). Automotive Ethernet port See CNT 2 in Figure 19. Cable assembly between lidar and connection box (unit: mm).

  • Page 36: Connection

    AT128P 2.3.2. Connection Figure 22. Connection with PTP (software simulation) -32-...
  • Page 37 AT128P   Figure 23. Connection with PTP (hardware device) -33-...

  • Page 38: Network Settings On The Receiving Host

    2.5. Tools Tool Purpose Where to find it PandarView 2 (point cloud To record and display point cloud data Please contact Hesai technical support. visualization software) LidarUtilities、API To set parameters, check device info or upgrade Please contact Hesai technical support. firmware/software Network parameters: ...

  • Page 39: Data Structure

    Fault Message Packet Tail: 40 bytes Ethernet tail: 4 bytes Cyber security: 32 bytes Figure 24. Data structure  The data format of Fault Message Packet is described in the Safety Manual. Please contact Hesai technical support for more information. -35-...

  • Page 40: Point Cloud Data Packet

    AT128P 3.1. Point Cloud Data Packet 3.1.1. Ethernet header Default IP address: Source IP 192.168.1.201 Destination IP 255.255.255.255 Point Cloud Data Packet: Ethernet header Field Byte(s) Description Ethernet II MAC Destination MAC: xx:xx:xx:xx:xx:xx (FF:FF:FF:FF:FF:FF for broadcast) Source MAC: xx:xx:xx:xx:xx:xx Ethernet Data Packet Type...

  • Page 41: Point Cloud Udp Data

    AT128P 3.1.2. Point cloud UDP data 3.1.2.1. Pre-Header Field Byte(s) Description 0xEE Start of Packet 0xFF Start of Packet Protocol Version Major Main class of the point cloud UDP packet structure Current value: 0x04 Protocol Version Minor Subclass of the point cloud UDP packet structure...
  • Page 42 AT128P Field Byte(s) Description Flags [7:3] is reserved. [2:0] indicates whether this data packet contains the following information (0b001 by default): Value [2] functional safety 1 — Yes 0 — No [1] IMU 1 — Yes 0 — No [0] UDP sequence 1 — Yes 0 — No 3.1.2.3. Body Return mode...
  • Page 43 AT128P Point Cloud Data Packet (Single Return) Point Cloud Data Packet (Dual Return) Point Cloud Data Packet (Dual Return) Block 1 Block 2 Block 1 Block 2 Block 1 Block 2 Return from this Return from the next Last return...
  • Page 44 AT128P Each block in the Body Field Byte(s) Description Channel 1 Measurements of Channel 1 Field Bytes Description Distance Distance Dis Unit Object distance = ×  Dis Unit is specified in Section 3.1.2.2 Header. Reflectivity Reflectivity Reflectivity Value = ×...
  • Page 45 AT128P 3.1.2.4. Tail Field Byte(s) Description Reserved High Temperature Shutdown 0x01 for high temperature; 0x00 for normal operation. Flag When high temperature is detected, the shutdown flag will be set to 0x01, and the system will shut • down after 60 s. The flag remains 0x01 during the 60 s and the shutdown period.
  • Page 46 AT128P Field Byte(s) Description Factory Information Always 0x42 Date & Time Coordinated Universal Time (UTC) of this data packet, accurate to the second. In big-endian format. Timestamp mode is indicated by the first byte: Non-zero: broken-down time (default) • Zero: calendar time •...

  • Page 47: Ethernet Tail

    CRC 2 CRC-32 checksum of the Tail 3.1.2.5. Cyber security Field Byte(s) Description Reserved  Cybersecurity functions are described in the Security Manual. Please contact Hesai technical support for more information. 3.1.3. Ethernet tail Field Byte(s) Description Frame check sequence -43-...

  • Page 48: Point Cloud Data Analysis

    AT128P 3.1.4. Point cloud data analysis method Take Channel 5 in Block 2 as an example. 3.1.4.1. Analyze the vertical and horizontal angles of a data point Calculate the vertical angle (v_angle) of Channel 5 according to Appendix C Angle correction.
  • Page 49 AT128P 3.1.4.3. Draw the data point in a spherical or rectangular coordinate system In a spherical coordinate system, the vertical and horizontal angles are defined in the figure below. 3.1.4.4. Obtain the real-time point cloud data by analyzing and drawing every data point in each frame...

  • Page 50: Parameter Interfaces

    AT128P 4. Parameter interfaces All the parameters in this section can be accessed using API; some of the parameters are also shown in LidarUtilities. 4.1. Network connection 4.1.1. Source Source IPv4 Address Option(s) Description Default: 192.168.1.201 Applies to both UDP and PTC ports.
  • Page 51 AT128P Ethernet Communication Mode Option(s) Description Slave (default) Role of the lidar in Ethernet communication; applicable only for automotive Ethernet (1000BASE-T1). Master When the lidar is in Slave mode (default), the receiving host shall be in Master mode. Connection cannot be made if the lidar and the receiving host are both Masters or both Slaves. To •...

  • Page 52: Destination

    AT128P VLAN Option(s) Description Default: OFF VLAN tagging VLAN ID: 1 to 4094 To enable VLAN tagging, use the same VLAN ID on both the lidar and the receiving host. Connection cannot be made if the lidar and the receiving host use different VLAN IDs.

  • Page 53: Functional Settings

    AT128P Destination Point Cloud UDP Port Option(s) Description Default: 2368 Destination port for Point Cloud Data Packets Destination Fault Message UDP Port Option(s) Description Default: 2368 Destination port for Fault Message Packets 4.2. Functional settings EOL (end of line) Mode...
  • Page 54 Option(s) Description ON (default) When ON, the lidar outputs Fault Message Packets and freeze frames. Fault Message Packets are described in the Safety Manual. Please contact Hesai technical support •  for more information. Freeze frames: See Freeze Frames in this section.
  • Page 55 AT128P Rotation Direction Option(s) Description Clockwise (default) Direction of motor rotation (in the lidar's top view) Counterclockwise Spin Rate Option(s) Description 200 RPM (default) Spin rate of the motor 400 RPM Motor Speed The current spin rate is shown in Point Cloud Data Packets; see the field in Section 3.1.2.4...
  • Page 56 AT128P Trigger Method Option(s) Description Angle-Based (default) The way laser firings are triggered Time-Based Angle-based Lasers fire every 0.1° at 10 Hz (or 0.2° at 20 Hz). Time-based Lasers fire every 41.666 us. UTC Time Format Option(s) Description Broken-down time (default) Timestamp mode of the UTC in Point Cloud Data Packets and Fault Message Packets, in big-endian format.

  • Page 57: State Settings

    AT128P 4.3. State settings Reset All Settings and Restart Option(s) Description Reset all the parameters in Section 4.2 Functional settings to factory defaults and then restart the lidar. Afterwards, the Start-Up Times in Section 4.6 Operation statistics increments by 1.
  • Page 58 AT128P controller should switch its PHY to Slave mode. For a lidar in Master mode: When the PTC command's Return Code = 0x00, the lidar will directly enter Sleep mode. • If Return Code = 0x01, the lidar has failed to enter Sleep mode.

  • Page 59: Time Sync

    AT128P Standby Mode Option(s) Description In Operation (default) In Standby mode: Standby The motor stops running. • The lasers stop firing. • No point cloud output. • The diagnostic functions that are not related to either motor rotation or laser firing remain normal.
  • Page 60 AT128P PTP Lock Time Offset Option(s) Description 1 to 100 μs (integer) Upper limit of the absolute offset between Slave and Master when the lidar is in PTP Locked status; see PTP Default: 1 Status in this section. PTP Domain Number...

  • Page 61: Lidar Info

    AT128P 4.5. Lidar info Read-only parameter Description Serial Number Part Number, indicating the lidar's hardware version Format: [Lidar Model]-[Configuration] MAC address Media access control (MAC) address Format: XX:XX:XX:XX:XX:XX (hexadecimal) Lidar Model AT128P Angle correction file Option(s) Description get file The angle correction file of each lidar unit is used to correct the azimuth and elevation of each channel.

  • Page 62: Upgrade

    AT128P Start-Up Times • System Uptime • Total Operation Time • 4.7. Upgrade Upgrade Option(s) Description Upgrade Upgrade the lidar's firmware and software. 4.8. Logs Type of log Description Operation Log Record of lidar operations -58-...

  • Page 63: Communication

    AT128P 5. Communication protocol Pandar TCP Commands (PTC) API can be used to communicate with Hesai lidars.  To acquire the API reference manuals, please contact Hesai technical support. -59-...

  • Page 64: Maintenance

    AT128P 6. Maintenance Stains on lidar's optical window, such as dirt, fingerprints, and oil will negatively affect point cloud data quality. Please clean the optical window in time. Turn OFF the power source before cleaning.  • To avoid damaging the optical coating, do NOT apply significant pressure when wiping the optical window.

  • Page 65: Troubleshooting

    AT128P 7. Troubleshooting If the following procedures cannot solve your problem, please contact Hesai technical support. Points to check Symptoms Make sure that the following conditions are met: The power adapter is properly connected and in good condition. • Indicator light is off on the The connection box is intact.
  • Page 66 The PC's firewall is disabled, or PandarView 2 is added to the firewall exceptions. • received by Wireshark but The latest PandarView 2 is installed on the PC (see Downloads page of Hesai's official website or contact Hesai • not by PandarView 2.
  • Page 67 If no packet is missing and the point cloud flashes, please update PandarView 2 to the latest version (see Downloads page of Hesai's official website or contact Hesai technical support); and then restart the PC. If the point cloud is still abnormal: Connect the lidar to another PC and another network.

  • Page 68: Appendix A: Channel Distribution Data

    AT128P Appendix A: Channel distribution data Notes to the table Channel number Counts from 1, top to bottom. Angular position The design values of each channel's horizontal (azimuth) angle offset and vertical (elevation) angle. The accurate values are recorded in this lidar unit's angle correction file.
  • Page 69 AT128P Channel Angular position Instrumented range Near-field Max. range Far-field? enabled? @10% reflectivity Horiz. offset Vertical 12.93 7.2 m 90 m –0.65 12.73 7.2 m 90 m 12.53 0.5 m 90 m –0.65 12.33 7.2 m 90 m 12.13 7.2 m 90 m –0.65...
  • Page 70 AT128P –2.4 8.93 7.2 m 90 m 0.65 8.73 7.2 m 90 m –2.4 8.53 0.5 m 90 m 0.65 8.33 7.2 m 90 m –2.4 8.13 7.2 m 90 m 0.65 7.93 7.2 m 90 m –2.4 7.73 0.5 m 90 m 0.65...
  • Page 71 AT128P 4.53 0.5 m 210 m 210 m –0.65 4.33 7.2 m 210 m 210 m 4.13 7.2 m 210 m 210 m –0.65 3.93 7.2 m 210 m 210 m 3.73 0.5 m 210 m 210 m –0.65 3.53 7.2 m...
  • Page 72 AT128P 0.13 7.2 m 210 m 210 m –0.65 –0.07 7.2 m 210 m 210 m –0.27 0.5 m 210 m 210 m –0.65 –0.47 7.2 m 210 m 210 m –0.67 7.2 m 210 m 210 m –0.65 –0.87 7.2 m...
  • Page 73 AT128P –2.4 –4.27 0.5 m 210 m 210 m 0.65 –4.47 7.2 m 210 m 210 m –2.4 –4.67 7.2 m 210 m 210 m 0.65 –4.87 7.2 m 210 m 210 m –2.4 –5.07 0.5 m 210 m 210 m 0.65...
  • Page 74 AT128P –8.67 7.2 m 90 m –0.65 –8.87 7.2 m 90 m –9.07 0.5 m 90 m –0.65 –9.27 7.2 m 90 m –2.4 –9.47 7.2 m 90 m 0.65 –9.67 7.2 m 90 m –2.4 –9.87 0.5 m 90 m 0.65...

  • Page 75: Appendix B: Absolute Time Of Point Cloud Data

    AT128P Appendix B: Absolute time of point cloud data B.1. Source of absolute time The lidar retrieves the current absolute time by connecting to an external clock source. B.1.1. PTP as the clock source The absolute time is updated as follows:...

  • Page 76: Absolute Time Of Point Cloud Data Packets

    AT128P B.2. Absolute time of Point Cloud Data Packets The Absolute time of Point Cloud Data Packets is t , where: Date & Time • is the whole second part (see the field). Timestamp • is the microsecond part (see the field).

  • Page 77: Appendix C: Angle Correction

    AT128P Appendix C: Angle correction Each lidar unit corresponds to an angle correction file, which contains the corrections of horizontal angles (azimuth) and vertical angles (elevation). Such corrections are used for: Point cloud data analysis • Point cloud display in PandarView 2 •...
  • Page 78 AT128P Field Byte(s) Type Description Protocol Version Minor uint Subclass of the angle correction data structure Current value: 0x05 Channel Number uint Channel number N Always 0x80 (128 channels) Mirror Number uint Mirror number M 0x03 (3 mirror surfaces) Frame Number uint Frame number F for every 360°...
  • Page 79 AT128P Field Byte(s) Type Description Resolution uint Used in the units of the fields below. Every 0x01 stands for 1°. For example: 0x01 stands for 1° and 0x02 stands for 2°. Start_Frame [0: M-1] 4 × M uint32 array The encoder angle of each mirror surface's starting side...
  • Page 80 AT128P Field Byte(s) Type Description Elevation_Adjust [0: 23040-1] 23040 (N × 180) int8 array Each channel's vertical angle adjustments for every 2° encoder angle, relevant to mirror rotation Format: 2D array [128][180] The 128 rows correspond to Channels 1 to 128.

  • Page 81: Angle Correction Calculation

    AT128P Enter LaTeX =(\frac {\alpha } {100} C.2. Angle correction calculation angle Download SVG Show SVG Serif C.2.1. Horizontal angle of the current firing channel Encoder angle of each mirror surface's starting side (start_frame) See angle correction file. Each channel's horizontal angle offset (α...

  • Page 82: Vertical Angle Of The Current Firing

    AT128P C.2.2. Vertical angle of the current firing channel Each channel's vertical angle (ε) See angle correction file. Each channel's vertical angle adjustments for every 2° encoder angle (ε See angle correction file. adjust If the encoder angle (α) is not divisible by 2°, the horizontal angle adjustments (α...

  • Page 83: Appendix D: Nonlinear Reflectivity Mapping

    AT128P Appendix D: Nonlinear reflectivity mapping Reflectivity By default, the field in Point Cloud Data Packets (see Section 3.1.2.3 Body) linearly represents target reflectivity. Reflectivity • Range of the field value: 0 to 255 Range of target reflectivity: 0 to 255% •...
  • Page 84 AT128P Nonlinear mapping Reflectivity field Actual Reflectivity field Actual Reflectivity field Actual Reflectivity field Actual reflectivity % reflectivity % reflectivity % reflectivity % 10.5 11.5 12.5 13.5 14.5 15.5 16.5 17.5 18.5 19.5 20.5 21.5 22.5 23.5 24.5 25.5 26.5 27.5...
  • Page 85 AT128P Reflectivity field Actual Reflectivity field Actual Reflectivity field Actual Reflectivity field Actual reflectivity % reflectivity % reflectivity % reflectivity % 38.5 39.5 40.5 41.5 42.5 43.5 44.5 45.5 46.5 47.5 48.5 49.5 50.5 51.5 52.5 53.5 54.5 55.5 56.5 57.5...
  • Page 86 AT128P Reflectivity field Actual Reflectivity field Actual Reflectivity field Actual Reflectivity field Actual reflectivity % reflectivity % reflectivity % reflectivity % 106.5 109.5 112.5 115.5 118.5 121.5 124.5 127.5 130.5 133.5 136.5 139.5 142.5 145.5 148.5 151.5 154.5 157.5 160.5 163.5...
  • Page 87 AT128P Reflectivity field Actual Reflectivity field Actual Reflectivity field Actual Reflectivity field Actual reflectivity % reflectivity % reflectivity % reflectivity % 226.5 229.5 232.5 235.5 238.5 241.5 244.5 247.5 250.5 253.5 -83-...

  • Page 88: Appendix E: Legal Notice

    HESAI and HESAI logo are registered trademarks of Hesai Technology. All other trademarks, service marks, and company names in this manual or on Hesai's official website are properties of their respective owners.
  • Page 89 MAP IV, Inc. Sales: contact@map4.jp Website: https://www.map4.jp/ Address: 愛知県名古屋市中区錦2-19-1名古屋鴻池ビルディング2階...

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