Hesai OT128 User Manual
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Hesai OT128 User Manual

128-channel mechanical lidar
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OT128
128-Channel Mechanical Lidar
User Manual
Classification: Internal
Doc Version: O01-en-240310

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Summary of Contents for Hesai OT128

  • Page 1 OT128 128-Channel Mechanical Lidar User Manual Classification: Internal Doc Version: O01-en-240310...

  • Page 2: Table Of Contents

    Table of Contents Revision history .........................  ...
  • Page 3 2.2.2. Connector use ....................... .  ...
  • Page 4 Appendix A: Channel distribution data .................... ...

  • Page 5: Revision History

    OT128 Revision history Date Doc. Ver. Major Changes 2023-9-28 O01-en-230920 Corrected: Section 1.6 Specifications: • Corrected "point cloud data rate". Section 3 Data structure: • Changed the byte size of point cloud UDP data from 893 to 861. Section B.4 Laser firing time of each channel: •...
  • Page 6 OT128 Date Doc. Ver. Major Changes 2023-10-30 O01-en-231010 Updated: Section 3.1.2.5 Tail Section B.4 Laser firing time of each channel: • ◦ Azimuth State Changed "Range: 0 to 1" to "Range: 0 to 3 (High Resolution mode)" in the field.
  • Page 7 OT128 Date Doc. Ver. Major Changes 2023-12-27 O01-en-231210 Corrected: Section 1.3 Basic structure: • Replaced the top view with bottom view to illustrate the azimuthal position and the coordinate system more clearly. Updated: Section 1.6 Specifications: • Changed the weight from 2.3 kg to 2.2 kg.

  • Page 8: 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 9: 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 10: 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 11 OT128 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 12: 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 13 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 1.6 Specifications...
  • Page 14 • 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 15 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 16: 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 17: Introduction

    OT128 1. Introduction 1.1. Applicability This manual applies to the following versions: Software 1.4.02a or later Firmware of Sensor 1.4.1t10 or later Firmware of Controller 1.4.1t3 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.

  • Page 18: Basic Structure

    OT128 1.3. Basic structure The basic structure is shown below. Multiple pairs of laser emitters and receivers are attached to a motor that rotates 360° horizontally. Figure 1. Partial cross-sectional diagram Figure 3. Lidar azimuthal position (bottom Figure 2. Coordinate system (isometric view) view) ...

  • Page 19: Channel Distribution

    OT128 1.4. Channel distribution All channels are unevenly distributed, as illustrated in Figure 4. Channel vertical distribution. Vertical resolution: See Section 1.6 Specifications. • The design values of each channel's angular position: See Appendix A Channel distribution data. • Channel number counts from 1, top to bottom.

  • Page 20: Laser Firing Position

    OT128 1.5. Laser firing position Figure 5. Front view (unit: mm) Figure 6. Side view (unit: mm)  The figures above use Exterior 1 as an example; see Section 2 Setup. -16-...
  • Page 21 OT128 Each channel has an intrinsic angle offset, both horizontally and vertically. These angles are recorded in the angle correction file of this lidar, which is provided when shipping. Angle correction file In case you need to obtain this file again, please do one of the following:...

  • Page 22: Specifications

    OT128 1.6. Specifications SENSOR Scanning method Mechanical rotation Number of channels Instrumented range 0.3 to 230 m Ranging capability ① 1 to 200 m (at 10% reflectivity) Ranging accuracy ② ±3 cm (3 to 200 m, typical) Horizontal FOV 360°...
  • Page 23 OT128 Ingress protection IP6K7 & IP6K9K Dimensions Height: 132.3 mm Top/bottom: Φ111.4/116.0 mm or Φ111.4/118.0 mm Rated voltage range DC 9 to 32 V Power consumption ④ 29 W Operating temperature –40℃ to 75℃ Storage temperature –40℃ to 95℃ Weight 2.2 kg...
  • Page 24 OT128 Notes to specifications ① Ranging capability (typical value) Measured under 100 klux ambient illuminance, probability of detection (PoD) • > 70%. The ranging capability of each channel is listed in Appendix A Channel • distribution data. ② Ranging accuracy May vary with range, temperature, and target reflectivity.

  • Page 25: Setup

    The information in this section may be different for customized models. The mechanical drawings and data exclusively provided for  customized models shall prevail. 2.1. Mechanical installation 2.1.1. Exterior dimensions  OT128 is switching from "Exterior 1" to "Exterior 2". Please check the delivery notice. -21-...
  • Page 26 OT128 Figure 7. Front view (Exterior 1, unit: mm) -22-...
  • Page 27 OT128 Figure 8. Bottom view (Exterior 1, unit: mm) -23-...
  • Page 28 OT128 Figure 9. Front view (Exterior 2, unit: mm) -24-...
  • Page 29 OT128 Figure 10. Bottom view (Exterior 2, unit: mm) -25-...

  • Page 30: Recommended Installation

    OT128 2.1.2. Recommended Installation Figure 11. Recommended installation (Exterior 1)  The installation methods for Exterior 1 and 2 are the same. The figures above use Exterior 1 as an example; see Section 2 Setup. -26-...

  • Page 31: Notes On Screw Installation

    OT128 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.

  • Page 32: Electrical Interface

    OT128 2.2. Electrical interface TE Connectivity part number: 2387351-1 (male socket, on the lidar) Figure 12. TE connector (male socket) 2.2.1. Pin description Signal Voltage 9 to 32 V Reserved Index 0 to 3.3 V Reserved Encoder 0 to 3.3 V...
  • Page 33 OT128 Signal Voltage MDI-P MDI-N -29-...

  • Page 34: Connector Use

    OT128 2.2.2. Connector use Turn off the power source. Make sure the plug's red CPA is on the same side as the socket's protruding notch. Connection Push the plug straight into the socket until you feel and hear a click.

  • Page 35: Cables (Ethernet)

    OT128 connectors' shells, or even damage the contacts. 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 36: Connection Box (Optional)

    OT128 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 15. Connection box (unit: mm) -32-...
  • Page 37 OT128 An additional cable is used for connecting the lidar (on the left) and the connection box (on the right), as shown below.  Each lidar can only use one cable, for multiple cables cannot connect to each other. Figure 16. Cable between lidar and connection box The wire colors and cross-sectional areas are shown below: Pin No.

  • Page 38: Ports

    OT128 2.3.1. Ports Figure 17. 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. -34-...
  • Page 39 OT128 Figure 18. Connection box (back) Port No. Port name Description Trigger port Outputs external trigger signals for multi-sensor synchronization. Power Output port See CNT 3 connector in Figure 16. Cable between lidar and connection box. Automotive Ethernet port See CNT 2 in Figure 16.

  • Page 40: Connection

    OT128 2.3.2. Connection Figure 19. Connection with PTP (software simulation) -36-...
  • Page 41 OT128 Figure 20. Connection with PTP (hardware device)  The figures above use Exterior 1 as an example; see Section 2 Setup. -37-...

  • Page 42: 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 43: Data Structure

    OT128 3. Data structure Unless otherwise specified, all the multi-byte fields are unsigned values in little-endian format. Ethernet header: 42 bytes Pre-Header: 6 bytes Header: 6 bytes Lidar data Point Cloud Data Packet: 907 bytes UDP data: 861 bytes Body: 776 bytes...

  • Page 44: Point Cloud Data Packet

    OT128 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 45: Point Cloud Udp Data

    OT128 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: 0x01 Protocol Version Minor Subclass of the point cloud UDP packet structure...
  • Page 46 OT128 3.1.2.2. Header Field Byte(s) Description Channel Num Number of laser channels Fixed: 0x80 (128) Block Num Number of block(s) per packet Fixed: 0x02 (2) First Block Return Reserved Dis Unit Fixed: 0x04 (4 mm) Return Num Maximum number of returns from each channel...
  • Page 47 OT128 3.1.2.3. Body Field Byte(s) Description Azimuth 1 For Block 1: Current reference angle of the azimuth Unit: 0.01° Block 1 For Block 1: Measurements made by each channel (starting from Channel 1) Refer to Each block in the body.
  • Page 48 OT128 Each block in the body: 3 × 128 = 384 bytes Field Byte(s) Description Channel 1 Distance Reflectivity Measurements of Channel 1 ( Field Bytes Description Distance Definition of the Distance field. Reflectivity Range: 0 to 255 Reflectivity Reflectivity = ×...
  • Page 49 OT128 Definition of the Distance field (when Up-Close Blockage Detection is ON) Distance Description ≥ 75 Distance Dis Unit Object distance = × ≥ 0.3 m Dis Unit : See Section 3.1.2.2 Header. No laser emission. Return signal is received.
  • Page 50 OT128 3.1.2.4. Functional safety Field Byte(s) Description FS Version Version number of the functional safety module (currently 0x00) Lidar State [7:5] is the current Lidar State. d-0 (b-000) Initialization d-1 (b-001) Normal d-2 (b-010) Warning d-3 (b-011) Pre-Performance Degradation d-4 (b-100) Performance Degradation...
  • Page 51 CRC-32/MPEG-2 checksum of Functional Safety part (from the field to the Heath field)  The Lidar States and Fault Codes are described in the Safety Manual. Please contact Hesai technical support for more information. 3.1.2.5. Tail Field Byte(s) Description Reserved Azimuth State [15:14] is the azimuth state of Block 1, and [13:12] the azimuth state of Block 2.
  • Page 52 OT128 Field Byte(s) Description Date & Time Coordinated Universal Time (UTC) of this data packet, accurate to the second. In big-endian format: Each byte Range (decimal) Year (current year minus 1900) ≥70 Month 1 to 12 1 to 31 Hour...
  • Page 53 OT128 Field Byte(s) Description IMU Temperature Temperature provided by the IMU (inertial measurement unit) Data type: signed integer Unit: 0.01℃ IMU Acceleration Unit Conversion factor of acceleration Data type: unsigned integer Current value: 244 (0x00F4) Unit of acceleration: 0.001mg × 244 = 0.244mg (g : standard gravity)

  • Page 54: Ethernet Tail

    OT128 Field Byte(s) Description IMU Z Axis Acceleration Acceleration of the Z-axis IMU X Axis Angular Velocity Angular velocity of the X-axis, measured by the IMU. Data type Signed integer Measurement ±500 dps range Unit of angular IMU Angular Velocity Unit See the field;...

  • Page 55: Point Cloud Data Analysis

    OT128 3.1.4. Point cloud data analysis method Take Channel 5 in Block 2 as an example. 3.1.4.1. Analyze the vertical angle of a data point The designed vertical angle of Channel 5 is 9.836°, according to Appendix A Channel distribution data.
  • Page 56 OT128 3.1.4.2. Analyze the horizontal angle of a data point The Y-axis of the lidar coordinate system is 0°. The counterclockwise direction (as viewed from below) is defined as positive, see Figure 3.  Lidar azimuthal position (bottom view). Horizontal angle = ① + ②...
  • Page 57 OT128 3.1.4.3. Analyze the distance of a data point Distance See the field of Block 2: Channel 5 in Section 3.1.2.3 Body. 3.1.4.4. Draw the data point in a spherical or rectangular coordinate system 3.1.4.5. Obtain the real-time point cloud data by analyzing and drawing every data point in each frame...

  • Page 58: Parameter Interfaces

    OT128 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 59 OT128 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 60: Destination

    OT128 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 61: Functional Settings

    Description Default: 2368 Destination port for Point Cloud Data Packets 4.2. Functional settings  Cybersecurity functions are described in the Security Manual. Please contact Hesai technical support for more information. Azimuth FOV Option(s) Description Default: 360° for all channels The lidar outputs valid data only within the specified azimuth FOV range(s).
  • Page 62 OT128 Blooming Filtering Option(s) Description ON (default) To reduce blooming points in point cloud data. Definition of blooming points: the dilated false positives outside the actual shape of a retroflector, as  if the retroflector has bloomed in size. The intensity of blooming points are lower than that of the points on the retroflector.
  • Page 63 OT128 Horizontal Resolution Mode Option(s) Description Standard Operational State The current horizontal resolution mode is shown in Point Cloud Data Packets; see the High Resolution (default) field in Section 3.1.2.5 Tail. Horizontal Frame rate Horizontal resolution resolution mode Standard 10 Hz 0.2°...
  • Page 64 OT128 Return Mode Option(s) Description Single Return: Return Mode The current return mode is shown in Point Cloud Data Packets; see the field in Section 3.1.2.5 Tail. Last • Strongest • First • Dual Return: Last and Strongest (default) •...
  • Page 65 OT128 Sync Angle Option(s) Description Function: OFF (default), ON Phase lock angle Sync angle: 0° to 359° After enabling this function and specifying a sync angle (i.e. an azimuth), the lidar will rotate to that azimuthal position at the beginning of every full second.

  • Page 66: State Settings

    OT128 Up-Close Blockage Detection Option(s) Description OFF (default) Definition of the Distance field. 4.3. State settings Restart Option(s) Description Afterward, the Start-Up Times in Section 4.6 Operation statistics increments by 1. Standby Mode Option(s) Description In Operation (default) In Standby mode, the motor stops running and lasers stop firing.

  • Page 67: Time Sync

    OT128 4.4. Time sync Read-only parameter Description PTP Status Free Run No PTP master is selected. Tracking Attempting to sync with the selected PTP Master, but the absolute offset exceeds the user-specified limit; see PTP Lock Time Offset in this section.

  • Page 68: Lidar Info

    OT128 PTP Network Transport Option(s) Description Network transport protocol Switch Type Option(s) Description TSN (default) Type of the network switch Non-TSN Time Sensitive Network, using Peer-to-Peer delay mechanism Non-TSN Using End-to-End delay mechanism 4.5. Lidar info Read-only parameter Description Serial Number...

  • Page 69: Operation Statistics

    OT128 4.6. Operation statistics Climatic Internal Temperature • Humidity • Electrical Lidar Input Current • Lidar Input Voltage • Lidar Input Power •  The electrical parameters are measured at the lidar's external connector. Availability Start-Up Times • System Uptime •...
  • Page 70 OT128 Type of log Description Upgrade Log Record of firmware/software upgrades Fault Log Record of faults for functional safety diagnostics Command History Number of commands (by category) that are executed after system start-up -66-...

  • Page 71: Protocol

    OT128 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. With cybersecurity enabled, the encrypted PTCS (PTC over TLS) API is also available: Data format: Same as the cleartext PTC API.

  • Page 72: Maintenance

    OT128 6. Maintenance Stains on lidar's cover lens, such as dirt, fingerprints, and oil will negatively affect point cloud data quality. Please clean the cover lens in time. Turn OFF the power source before cleaning.  • To avoid damaging the optical coating, do NOT apply significant pressure when wiping the cover lens.

  • Page 73: Troubleshooting

    OT128 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 74 Wireshark but The PC's firewall is disabled, or PandarView 2 is added to the firewall exceptions. • 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 75 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, follow the steps below: Connect the lidar to another PC and another network.

  • Page 76: Appendix A: Channel Distribution Data

    OT128 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 77 OT128 Channel Angular position Instrumented Near-field Max. range Far-field Min. detectable High- range enabled? @ 10% reflectivity enhanced? res? reflectivity at max. instrumented Horiz. offset Vertical range 0.186° 14.985° 0.3 m 130 m 60 m 100% 0.185° 13.283° 0.3 m...
  • Page 78 OT128 Channel Angular position Instrumented Near-field Max. range Far-field Min. detectable High- range enabled? @ 10% reflectivity enhanced? res? reflectivity at max. instrumented Horiz. offset Vertical range 0.127° 3.921° 1.4 m 130 m 100 m 0.127° 3.558° 0.3 m 130 m 100 m 0.107°...
  • Page 79 OT128 Channel Angular position Instrumented Near-field Max. range Far-field Min. detectable High- range enabled? @ 10% reflectivity enhanced? res? reflectivity at max. instrumented Horiz. offset Vertical range –3.13° 0.500° 1.4 m 230 m 200 m 1.318° 0.375° 1.4 m 230 m 200 m 4.542°...
  • Page 80 OT128 Channel Angular position Instrumented Near-field Max. range Far-field Min. detectable High- range enabled? @ 10% reflectivity enhanced? res? reflectivity at max. instrumented Horiz. offset Vertical range –1.523° –1.751° 1.4 m 230 m 200 m 0.102° –1.876° 1.4 m 230 m 200 m 2.945°...
  • Page 81 OT128 Channel Angular position Instrumented Near-field Max. range Far-field Min. detectable High- range enabled? @ 10% reflectivity enhanced? res? reflectivity at max. instrumented Horiz. offset Vertical range –3.159° –4.001° 1.4 m 230 m 140 m 1.326° –4.126° 0.3 m 230 m 140 m 4.578°...
  • Page 82 OT128 Channel Angular position Instrumented Near-field Max. range Far-field Min. detectable High- range enabled? @ 10% reflectivity enhanced? res? reflectivity at max. instrumented Horiz. offset Vertical range 0.103° –6.754° 1.4 m 130 m 100 m 0.103° –7.13° 1.4 m 130 m 100 m 0.104°...
  • Page 83 OT128 Channel Angular position Instrumented Near-field Max. range Far-field Min. detectable High- range enabled? @ 10% reflectivity enhanced? res? reflectivity at max. instrumented Horiz. offset Vertical range 0.130° –13.439° 0.3 m 130 m 100 m 0.131° –13.803° 1.4 m 130 m 100 m 0.131°...
  • Page 84 OT128 Channel Angular position Instrumented Near-field Max. range Far-field Min. detectable High- range enabled? @ 10% reflectivity enhanced? res? reflectivity at max. instrumented Horiz. offset Vertical range 0.196° –23.044° 0.3 m 130 m 40 m 260% 0.286° –24.765° 0.3 m...

  • Page 85: Appendix B: Absolute Time Of Point Cloud Data

    OT128 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 Users can configure PTP using LidarUtilities or PTC commands.

  • Page 86: Absolute Time Of Point Cloud Data Packets

    OT128 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 87 OT128 High Resolution mode and Standard mode Mode Frame rate Horizontal Resolution of Far Field Measurement Standard 10 Hz 0.2° for all channels High Resolution 10 Hz 0.1° for the high-res channels (Channel 25 to Channel 88) 0.2° for the other channels 20 Hz 0.2°...

  • Page 88: Laser Firing Time Of Each Channel

    OT128 B.4. Laser firing time of each channel Given the start time (see Section B.3 Start time of each block) of Block m is T(m), m ∈ {1, 2}, the laser firing time of Channel n: Block m is t(m, n) = T(m) + Δt(n), n ∈ {1, 2, …, 128} Steps to look up firing time offsets Δt(n)
  • Page 89 OT128 In the ascending order of channel number (High Resolution) Azimuth State Azimuth State Channel No. Channel No. 18.867 18.867 14.231 14.231 16.375 14.231 6.289 6.289 16.549 16.549 18.693 16.549 18.867 21.011 20.52 20.52 22.664 20.52 6.289 6.289 7.942 7.942 7.942...
  • Page 90 OT128 Azimuth State Azimuth State Channel No. Channel No. 6.289 6.289 22.838 22.838 24.982 22.838 12.578 12.578 1.653 1.653 1.653 1.653 3.971 3.971 3.971 3.971 12.578 14.722 20.52 20.52 22.664 20.52 22.838 22.838 24.982 22.838 20.52 20.52 22.664 20.52 18.867 18.867...
  • Page 91 OT128 Azimuth State Azimuth State Channel No. Channel No. 22.838 22.838 24.982 22.838 14.231 14.231 16.375 14.231 18.867 18.867 16.549 16.549 18.693 16.549 6.289 6.289 20.52 20.52 22.664 20.52 18.867 21.011 7.942 7.942 7.942 7.942 6.289 6.289 10.26 10.26 10.26 10.26...
  • Page 92 OT128 Azimuth State Azimuth State Channel No. Channel No. 22.838 22.838 24.982 22.838 6.289 6.289 1.653 1.653 1.653 1.653 12.578 12.578 3.971 3.971 3.971 3.971 20.52 20.52 22.664 20.52 12.578 14.722 22.838 22.838 24.982 22.838 -88-...
  • Page 93 OT128 In the ascending order of channel number (Standard) Azimuth State Azimuth State Channel No. Channel No. 46.645 46.645 14.231 16.375 34.067 34.067 16.549 18.693 18.867 21.011 20.52 22.664 6.289 6.289 7.942 7.942 40.356 40.356 10.26 10.26 27.778 27.778 16.549 18.693...
  • Page 94 OT128 Azimuth State Azimuth State Channel No. Channel No. 6.289 6.289 22.838 24.982 40.356 40.356 1.653 1.653 27.778 27.778 3.971 3.971 12.578 14.722 20.52 22.664 22.838 24.982 20.52 22.664 46.645 46.645 16.549 18.693 34.067 34.067 10.26 10.26 18.867 21.011 16.549 18.693...
  • Page 95 OT128 Azimuth State Azimuth State Channel No. Channel No. 22.838 24.982 14.231 16.375 46.645 46.645 16.549 18.693 34.067 34.067 20.52 22.664 18.867 21.011 7.942 7.942 6.289 6.289 10.26 10.26 40.356 40.356 16.549 18.693 27.778 27.778 1.653 1.653 12.578 14.722 3.971 3.971...
  • Page 96 OT128 Azimuth State Azimuth State Channel No. Channel No. 22.838 24.982 6.289 6.289 1.653 1.653 40.356 40.356 3.971 3.971 27.778 27.778 20.52 22.664 12.578 14.722 22.838 24.982 -92-...

  • Page 97: Appendix C: Nonlinear Reflectivity Mapping

    OT128 Appendix C: 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 98 OT128 Nonlinear mapping 1# Reflectivity field Actual Reflectivity field Actual Reflectivity field Actual Reflectivity field Actual reflectivity % reflectivity % reflectivity % reflectivity % 0.01 0.02 0.03 0.04 0.05 0.08 0.11 0.13 0.15 0.19 0.23 0.26 0.29 0.34 0.39 0.44 0.56...
  • Page 99 OT128 Reflectivity field Actual Reflectivity field Actual Reflectivity field Actual Reflectivity field Actual reflectivity % reflectivity % reflectivity % reflectivity % 10.17 10.5 10.83 11.12 11.37 11.62 11.87 12.12 12.37 12.62 12.87 13.17 13.5 13.83 14.17 14.5 14.83 15.12 15.37 15.62...
  • Page 100 OT128 Reflectivity field Actual Reflectivity field Actual Reflectivity field Actual Reflectivity field Actual reflectivity % reflectivity % reflectivity % reflectivity % 38.75 39.17 39.5 39.83 40.5 41.25 41.75 42.25 42.75 43.25 43.75 44.25 44.75 45.25 45.75 46.25 46.75 47.25 47.75 48.25...
  • Page 101 OT128 Reflectivity field Actual Reflectivity field Actual Reflectivity field Actual Reflectivity field Actual reflectivity % reflectivity % reflectivity % reflectivity % 87.75 88.5 89.25 89.75 90.5 91.5 92.5 93.25 93.75 94.5 95.5 96.25 96.75 97.5 98.5 99.5 -97-...

  • Page 102: Nonlinear Mapping

    OT128 C.2. Nonlinear mapping 2# This mapping increases the resolution of low-reflectivity objects, especially lane markings. Figure 23. Nonlinear mapping 2# -98-...
  • Page 103 OT128 Nonlinear mapping 2# Reflectivity field Actual Reflectivity field Actual Reflectivity field Actual Reflectivity field Actual reflectivity % reflectivity % reflectivity % reflectivity % 2.89 4.08 5.77 6.45 7.07 7.64 8.16 8.66 9.13 9.57 10.41 10.8 11.18 11.55 11.9 12.25 12.58...
  • Page 104 OT128 Reflectivity field Actual Reflectivity field Actual Reflectivity field Actual Reflectivity field Actual reflectivity % reflectivity % reflectivity % reflectivity % 53.05 54.18 55.3 56.43 57.56 58.69 59.82 60.95 62.08 63.21 64.33 65.46 66.59 67.72 68.85 69.98 71.11 72.23 73.36 74.49...
  • Page 105 OT128 Reflectivity field Actual Reflectivity field Actual Reflectivity field Actual Reflectivity field Actual reflectivity % reflectivity % reflectivity % reflectivity % 143.34 144.47 145.6 146.73 147.86 148.98 150.11 151.24 152.37 153.5 154.63 155.76 156.88 158.01 159.14 160.27 161.4 162.53 163.66 164.79...
  • Page 106 OT128 Reflectivity field Actual Reflectivity field Actual Reflectivity field Actual Reflectivity field Actual reflectivity % reflectivity % reflectivity % reflectivity % 233.63 234.76 235.89 237.02 238.15 239.28 240.41 241.53 242.66 243.79 244.92 246.05 247.18 248.31 249.44 250.56 251.69 252.82 253.95 255.08...

  • Page 107: Appendix D: 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 108 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...

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