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Hesai OT128 User Manual

128-channel mechanical lidar
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OT128
128-Channel Mechanical Lidar
User Manual
Classification: Public
Doc Version: O01-en-240710

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Summary of Contents for Hesai OT128

  • Page 1 OT128 128-Channel Mechanical Lidar User Manual Classification: Public Doc Version: O01-en-240710...

  • Page 2: Table Of Contents

    Table of Contents ■ About this manual ........................ ...
  • Page 3 2.2.2. Connector use ....................... .  ...
  • 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 If you or people in the nearby environment feel discomfort. • 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. OT128 | 3...

  • Page 8: Operating Environment

    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. OT128 | 5...

  • Page 10: Installation And Operation

    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 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. OT128 | 8...

  • Page 13: Repair

    To learn about the supported functions of a product model, please contact Hesai technical support. • 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: ◦...

  • Page 14: Introduction

    The laser pulses are reflected after hitting the target object. The returning beam is detected by an optical sensor. Distance to the object can be accurately measured by calculating the time between laser emission and receipt.   d: Distance c: Speed of light t: Travel time of the laser beam OT128 | 10...

  • Page 15: Basic Structure

    Lidar azimuthal position is defined in Figure 3, “Lidar azimuthal position (bottom view)”. By default, the lidar rotates counterclockwise as viewed from below. To reverse the rotation direction, use either LidarUtilities or PTC commands. • Y-axis corresponds to 0°. • OT128 | 11...

  • Page 16: Channel Distribution

    The design values of each channel's angular position: See Appendix A, Channel distribution data. • Channel number counts from 1, top to bottom. • Figure 4. Channel vertical distribution  The figure above uses Exterior 1 as an example; see Section 2, Setup. OT128 | 12...

  • Page 17: Laser Firing Position

    1.5. Laser firing position 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. OT128 | 13...
  • Page 18 Send PTC command 0x05, as described in the TCP API Reference Manual (see Section 5, Communication protocol). • Export the file using PandarView 2 according to PandarView 2 user manual. • Contact sales representatives or technical support. • OT128 | 14...

  • Page 19: Specifications

    1.2° to 1.72°   (Channels 1 to 4, 125 to 128) Frame rate 10 Hz, 20 Hz Return mode Single Return: Last/Strongest/First Dual Return: Last and Strongest, Last and First, First and Strongest MECHANICAL/ELECTRICAL/OPERATIONAL Wavelength 905 nm OT128 | 15...
  • Page 20   261.22 Mbps (max) Clock source PTP (802.1AS Automotive, 802.1AS AUTOSAR) PTP clock accuracy ⑤ ≤1 μs PTP clock drift ⑥ ≤1 μs/s  Specifications are subject to change. Please refer to the latest version of this manual. OT128 | 16...
  • Page 21 • ⑤⑥ PTP clock accuracy and clock drift (typical value) Test condition: Room temperature ⑥ PTP clock drift Defined as the drift at a constant temperature after the lidar (slave clock) loses connection to the PTP master. OT128 | 17...

  • Page 22: 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. OT128 | 18...
  • Page 23 2.1. Mechanical installation Figure 7. Front view (Exterior 1, unit: mm) OT128 | 19...
  • Page 24 2.1. Mechanical installation Figure 8. Bottom view (Exterior 1, unit: mm) OT128 | 20...
  • Page 25 2.1. Mechanical installation Figure 9. Front view (Exterior 2, unit: mm) OT128 | 21...
  • Page 26 2.1. Mechanical installation Figure 10. Bottom view (Exterior 2, unit: mm) OT128 | 22...

  • Page 27: Recommended Installation

    2.1. Mechanical installation 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. OT128 | 23...

  • Page 28: Notes On Screw Installation

    Recommended screw torque 0.2 to 0.3 Nm 0.5 to 0.6 Nm 1 to 1.5 Nm 2 to 2.5 Nm 3 to 3.5 Nm Thread service life 25 times Each screwing counts as one time, so as each unscrewing. OT128 | 24...

  • Page 29: 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 OT128 | 25...
  • Page 30 2.2. Electrical interface Signal Voltage MDI-P MDI-N OT128 | 26...

  • Page 31: Connector Use

    Figure 13. Connection Figure 14. Disconnection Before connection, check the pins on the socket and the holes on the plug. In case of bent pins or damaged holes, stop using the •  connector and contact technical support. OT128 | 27...

  • Page 32: Cables (Ethernet)

    • 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 33: Connection Box (Optional)

    2.3. Connection box (optional) 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) OT128 | 29...
  • Page 34 Wire color Wire cross section Pin 1 Pin 4 0.75 mm Pin 4 Pin 8 Black 0.75 mm Pin No. on CNT1 Pin No. on CNT 2 Signal Wire color Pin 1 MDI-P White Pin 2 MDI-N Green OT128 | 30...

  • Page 35: Ports

    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. OT128 | 31...
  • Page 36 Pin description for Port d Pin No. Direction Signal Description Input Ground signal. Output Index Outputs one pulse when the encoder angle is zero. Pulse width: 2.78 μs @ 600 RPM, 1.39 μs @ 1200 RPM OT128 | 32...
  • Page 37 2.3. Connection box (optional) Pin No. Direction Signal Description Output Encoder Outputs one pulse when the lidar rotates 0.05°. Pulse width: 8.34 μs @ 600 RPM, 4.17 μs @ 1200 RPM OT128 | 33...

  • Page 38: Connection

    2.3. Connection box (optional) 2.3.2. Connection Figure 19. Connection with PTP (software simulation) OT128 | 34...
  • Page 39 2.3. Connection box (optional) Figure 20. Connection with PTP (hardware device)  The figures above use Exterior 1 as an example; see Section 2, Setup. OT128 | 35...

  • Page 40: 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 Default Source IPv4 address: 192.168.1.201...

  • Page 41: Data Structure

    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 Functional safety: 17 bytes Ethernet tail: 4 bytes Tail: 56 bytes Figure 21. Data structure OT128 | 37...

  • Page 42: Point Cloud Data Packet

    Internet Protocol Protocol parameters UDP Port Number Source port (default: 10000) Destination port (default: 2368) UDP Length Eight bytes more than point cloud UDP data (see Figure 21, “Data structure”). UDP Checksum Checksum of the Ethernet header OT128 | 38...

  • Page 43: Point Cloud Udp Data

    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 Current value: 0x04 Reserved OT128 | 39...
  • Page 44 Flags [7:4] is reserved. [3:0] indicates whether this data packet contains the following information (0b0111 by default): Value [3] Digital signature 1 — YES 0 — NO [2] Functional safety 1 — YES 0 — NO [1] IMU 1 — YES 0 — NO [0] UDP sequence 1 — YES 0 — NO OT128 | 40...
  • Page 45 If there is only one return, then Block 1 and Block 2 store the same data. First and Strongest First return Strongest return If the first return is also the strongest, then Block 2 stores the second strongest return. OT128 | 41...
  • Page 46 Definition of the Distance field (when Up-Close Blockage Detection is OFF) Distance Description ≥ 75 Distance Dis Unit Object distance = × ≥ 0.3 m Dis Unit : See Section 3.1.2.2, Header. No valid point cloud output OT128 | 42...
  • Page 47 Common reasons for return signal rejection: The signal is generated by another lidar unit. •  Object distance exceeds the upper limit of the lidar's measurement range. • Pulse intensity is below the threshold. • The signal is filtered out. • OT128 | 43...
  • Page 48 [3:0] is the sequence number of the current fault code in the buffer queue, starting from 1. Fault Code The fault code sent by this data packet Channel Health Indicating the health status of each laser channel (emitter and receiver); see table below. OT128 | 44...
  • Page 49 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 50 The microsecond part of the Coordinated Universal Time (UTC) of this data packet. Unit: μs Range: 0 to 999 999 μs The absolute time of Point Cloud Data Packets is defined in Appendix B, Absolute time of  point cloud data. Factory Information Fixed: 0x42 OT128 | 46...
  • Page 51 Unit of angular velocity: 0.01 mdps × 1750 = 17.5 mdps (millidegree per second) IMU Timestamp Timestamp of the IMU data Reset to 0 after powering on the lidar or after an overflow. Unit: 25 μs Range: 0 to approx. 29.83 hours OT128 | 47...
  • Page 52 When this field is 5, X-axis angular velocity = 5 × 17.5 mdps = 87.5 mdps. IMU Y Axis Angular Velocity Angular velocity of the Y-axis IMU Z Axis Angular Velocity Angular velocity of the Z-axis CRC 3 CRC-32/MPEG-2 checksum of the Tail OT128 | 48...

  • Page 53: Ethernet Tail

    3.1. Point Cloud Data Packet 3.1.3. Ethernet tail Field Byte(s) Description Frame check sequence OT128 | 49...

  • Page 54: Point Cloud Data Analysis

    The accurate vertical angles are recorded in the angle correction file of this lidar; see Section 1.4, Channel distribution. •  0° is the horizontal direction. • The upward direction is defined as positive; see Figure 4, “Channel vertical distribution”. • OT128 | 50...
  • Page 55 Firing time offset of the current firing channel Section B.4, Laser firing time of each channel. ⑥ Spin rate of the motor Motor Speed See the field in Section 3.1.2.5, Tail. The unit should be converted to °/s. OT128 | 51...
  • Page 56 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 OT128 | 52...

  • Page 57: Parameter Interfaces

    Applies to both UDP and PTC ports. Source IPv4 Subnet Mask Option(s) Description Default: 255.255.255.0 Applies to both UDP and PTC ports. Source IPv4 Gateway Option(s) Description Default: 192.168.1.1 Applies to both UDP and PTC ports. Ethernet Communication Mode OT128 | 53...
  • Page 58 To change the lidar to Master mode: Connect the lidar to a Master host. Change the lidar from Slave mode to Master mode. Connection will be lost. Connect the lidar to a Slave host and the connection will resume. VLAN OT128 | 54...

  • Page 59: Destination

    Destination IPv4 Address Option(s) Description Any except 0.0.0.0, 127.0.0.1, and Communication mode Destination IP the lidar's IPv4 address Broadcast (default) 255.255.255.255 Default: 255.255.255.255 Multicast User-defined Unicast Same as the PC's IPv4 address Destination Point Cloud UDP Port OT128 | 55...

  • Page 60: 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 61 When OFF, use the following strategy: Type of data points Action Reflectivity field in Point Cloud Data Packets Suspected blooming Kept (instead of filtered Set to zero points out) Other points Kept Increments by 1 (to avoid being zero) Horizontal Resolution Mode OT128 | 57...
  • Page 62 Linear Mapping (default) Linear Mapping Reflectivity field in Point Cloud Data Packets linearly represents target Nonlinear Mapping #1/#2 reflectivity (0 to 255%). Nonlinear Mapping Increases the contrast in low-reflectivity areas (see Appendix C, Nonlinear reflectivity mapping). Return Mode OT128 | 58...
  • Page 63 Counterclockwise Spin Rate Option(s) Description 600 RPM (default) Spin rate of the motor 1200 RPM Motor Speed The current spin rate is shown in Point Cloud Data Packets; see the field in Section 3.1.2.5, Tail. Sync Angle OT128 | 59...
  • Page 64 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 27.778 μs. Up-Close Blockage Detection OT128 | 60...

  • Page 65: State Settings

    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. Standby OT128 | 61...

  • Page 66: Time Sync

    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 OT128 | 62...

  • Page 67: Lidar Info

    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 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 OT128 OT128 | 63...

  • Page 68: Operation Statistics

    Lidar Input Power •  The electrical parameters are measured at the lidar's external connector. Availability Start-Up Times • System Uptime • Total Operation Time • 4.7. Upgrade Upgrade Option(s) Description Upgrade Upgrade the lidar's firmware and software. OT128 | 64...

  • Page 69: Logs

    Type of log Description Operation Log Record of lidar operations 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 OT128 | 65...

  • Page 70: Communication

    5. Communication protocol 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 71: Maintenance

    If corrosive foreign objects (such as insect remains, bird droppings, tree resin, road dust, industrial dust, asphalt, soot particles, and road • salt) are found on the cover lens, make sure to clean it immediately. Cleaning procedure Make sure the lidar is powered OFF. Choose a cleaning agent: ◦ For light stains, use room temperature water. OT128 | 67...
  • Page 72 For stubborn stains, cover the dirty area with the dampened sponge or cloth to soften the stains before wiping. Immediately after removing the stains, rinse the cover lens with clean water. Then use a clean soft sponge or microfiber cloth to gently wipe away any remaining liquid (which may contain residual cleaning agent or contaminants). OT128 | 68...

  • Page 73: Troubleshooting

    7. Troubleshooting 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. •...
  • Page 74 The PC's firewall is disabled, or PandarView 2 is added to the firewall exceptions. • The latest PandarView 2 is installed (please contact Hesai technical support to obtain it). • Afterward, power on the lidar again and check if the symptom persists.
  • Page 75 If no packet is lost yet the point cloud flashes, please follow the steps below: incomplete FOV. Update PandarView 2 to the latest version (please contact Hesai technical support to obtain it). 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 Afterward, follow the steps below: Connect the PC to no other devices but the lidar and check for packet loss. Power on the lidar again and check if the symptom persists. OT128 | 72...

  • Page 77: Appendix A: Channel Distribution Data

    Min. detectable reflectivity at max. instrumented range Probability of Detection (PoD) = 70% High-resolution channels Channels 25 to 88 are high-res channels, characterized by: 0.125° vertical resolution • enhanced horizontal resolution in High Resolution Mode • Max. instrumented range = 230 m • OT128 | 73...
  • Page 78 1.4 m 130 m 100 m 1.341° 5.355° 1.4 m 130 m 100 m 1.342° 4.998° 0.3 m 130 m 100 m 0.128° 4.643° 1.4 m 130 m 100 m 0.128° 4.282° 1.4 m 130 m 100 m OT128 | 74...
  • Page 79 1.4 m 230 m 200 m 4.539° 0.625° 1.4 m 230 m 200 m –3.13° 0.500° 1.4 m 230 m 200 m 1.318° 0.375° 1.4 m 230 m 200 m 4.542° 0.250° 0.3 m 230 m 200 m OT128 | 75...
  • Page 80 1.4 m 230 m 200 m 2.945° –2.001° 1.4 m 230 m 200 m –1.524° –2.126° 1.4 m 230 m 200 m 0.102° –2.251° 1.4 m 230 m 200 m 2.946° –2.376° 0.3 m 230 m 200 m OT128 | 76...
  • Page 81 1.4 m 230 m 140 m 4.581° –4.626° 1.4 m 230 m 140 m –3.163° –4.751° 1.4 m 230 m 140 m 1.328° –4.876° 0.3 m 230 m 140 m 4.583° –5.001° 1.4 m 230 m 140 m OT128 | 77...
  • Page 82 1.4 m 130 m 100 m 1.338° –9.749° 1.4 m 130 m 100 m 1.339° –10.121° 1.4 m 130 m 100 m 1.340° –10.493° 0.3 m 130 m 100 m 1.341° –10.864° 1.4 m 130 m 100 m OT128 | 78...
  • Page 83 1.4 m 130 m 80 m 1.387° –17.347° 1.4 m 130 m 80 m 0.151° –17.701° 0.3 m 130 m 80 m 0.153° –18.386° 1.4 m 130 m 80 m 0.154° –19.063° 0.3 m 130 m 80 m OT128 | 79...
  • Page 84 80 m 1.388° –20.376° 0.3 m 130 m 80 m 1.408° –21.653° 0.3 m 130 m 50 m 180% 0.196° –23.044° 0.3 m 130 m 40 m 260% 0.286° –24.765° 0.3 m 130 m 30 m 600% OT128 | 80...

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

    Point Cloud Data Packets strictly follow the PTP master device. Certain PTP master devices may have a specified offset from the lidar's time output. Please verify the configuration and calibration of your PTP master device. OT128 | 81...

  • Page 86: Absolute Time Of Point Cloud Data Packets

    Single return mode Block Start time (μs) in High Resolution mode Start time (μs) in Standard mode Block 1 – 27.778 – 27.778 × 2 Block 2 Dual return mode Block Start time (μs) Block 1 & Block 2 OT128 | 82...
  • Page 87 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° for the high-res channels (Channel 25 to Channel 88) 0.4° for the other channels OT128 | 83...

  • Page 88: Laser Firing Time Of Each Channel

    Tail of the Point Cloud Data Packet, and obtain the azimuth state of Block m. ◦ Range: 0 to 1 (Standard mode) 0 to 3 (High Resolution mode) Look up Δt(n) in the tables below Unit: μs OT128 | 84...
  • Page 89 6.289 3.971 3.971 3.971 3.971 12.578 12.578 20.52 20.52 22.664 20.52 7.942 7.942 7.942 7.942 12.578 14.722 14.231 14.231 16.375 14.231 16.549 16.549 18.693 16.549 18.867 18.867 1.653 1.653 1.653 1.653 6.289 6.289 7.942 7.942 7.942 7.942 OT128 | 85...
  • Page 90 14.231 18.867 18.867 7.942 7.942 7.942 7.942 6.289 6.289 10.26 10.26 10.26 10.26 18.867 21.011 1.653 1.653 1.653 1.653 6.289 6.289 1.653 1.653 1.653 1.653 12.578 12.578 3.971 3.971 3.971 3.971 22.838 22.838 24.982 22.838 12.578 14.722 OT128 | 86...
  • Page 91 7.942 7.942 7.942 14.231 14.231 16.375 14.231 12.578 14.722 16.549 16.549 18.693 16.549 1.653 1.653 1.653 1.653 18.867 18.867 7.942 7.942 7.942 7.942 6.289 6.289 10.26 10.26 10.26 10.26 18.867 21.011 22.838 22.838 24.982 22.838 6.289 6.289 OT128 | 87...
  • Page 92 B.4. Laser firing time of each channel 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 OT128 | 88...
  • Page 93 46.645 10.26 10.26 34.067 34.067 22.838 24.982 18.867 21.011 14.231 16.375 6.289 6.289 3.971 3.971 40.356 40.356 20.52 22.664 27.778 27.778 7.942 7.942 12.578 14.722 14.231 16.375 16.549 18.693 46.645 46.645 1.653 1.653 34.067 34.067 7.942 7.942 OT128 | 89...
  • Page 94 3.971 27.778 27.778 14.231 16.375 12.578 14.722 7.942 7.942 14.231 16.375 46.645 46.645 7.942 7.942 34.067 34.067 10.26 10.26 18.867 21.011 1.653 1.653 6.289 6.289 1.653 1.653 40.356 40.356 3.971 3.971 27.778 27.778 22.838 24.982 12.578 14.722 OT128 | 90...
  • Page 95 16.375 18.867 21.011 3.971 3.971 6.289 6.289 20.52 22.664 40.356 40.356 7.942 7.942 27.778 27.778 14.231 16.375 12.578 14.722 16.549 18.693 1.653 1.653 46.645 46.645 7.942 7.942 34.067 34.067 10.26 10.26 18.867 21.011 22.838 24.982 6.289 6.289 OT128 | 91...
  • Page 96 B.4. Laser firing time of each channel 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 OT128 | 92...

  • Page 97: Appendix C: Nonlinear Reflectivity Mapping

    Range of target reflectivity: 0 to 255% • Alternatively, users may choose the Nonlinear Mapping mode using LidarUtilities or PTC commands. C.1. Nonlinear Mapping 1# This mapping increases the contrast in the low-reflectivity region. Figure 22. Nonlinear mapping 1# OT128 | 93...
  • Page 98 0.61 0.67 0.75 0.81 0.87 0.95 1.05 1.15 1.25 1.35 1.45 1.55 1.65 1.75 1.85 1.95 2.06 2.19 2.31 2.44 2.56 2.69 2.81 2.94 3.07 3.21 3.36 3.64 3.79 3.93 4.08 4.25 4.42 4.58 4.75 4.92 8.12 OT128 | 94...
  • Page 99 19.5 19.83 20.25 20.75 21.17 21.5 21.83 22.17 22.5 22.83 23.25 23.75 24.17 24.5 24.83 25.25 25.75 26.17 26.5 26.83 27.25 27.75 28.17 28.5 28.83 29.25 29.75 30.25 30.75 31.17 31.5 31.83 32.25 32.75 33.25 33.75 34.25 OT128 | 95...
  • Page 100 55.25 55.75 56.5 57.25 57.75 58.25 58.75 59.5 60.25 60.75 61.25 61.75 62.5 63.25 63.75 64.5 65.25 65.75 66.25 66.75 67.5 68.25 68.75 69.5 70.25 70.75 71.5 72.25 72.75 73.5 74.25 74.75 75.5 76.5 77.25 77.75 78.5 OT128 | 96...
  • Page 101 Actual reflectivity % reflectivity % reflectivity % reflectivity % 79.25 79.75 80.5 81.25 81.75 82.5 83.5 84.25 84.75 85.5 86.5 87.25 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 OT128 | 97...

  • Page 102: Nonlinear Mapping

    C.2. Nonlinear mapping 2# C.2. Nonlinear mapping 2# This mapping increases the resolution of low-reflectivity objects, especially lane markings. Figure 23. Nonlinear mapping 2# OT128 | 98...
  • Page 103 16.77 17.09 17.42 17.75 18.1 18.45 18.82 19.2 19.59 20.43 20.87 21.34 21.84 22.36 22.93 23.55 24.23 25.92 27.09 28.22 29.35 30.47 31.6 32.73 33.86 34.99 36.12 37.25 38.37 39.5 40.63 41.76 42.89 44.02 45.15 46.28 47.4 OT128 | 99...
  • Page 104 91.42 92.55 93.68 94.81 95.94 97.07 98.19 99.32 100.45 101.58 102.71 103.84 104.97 106.09 107.22 108.35 109.48 110.61 111.74 112.87 115.12 116.25 117.38 118.51 119.64 120.77 121.9 123.02 124.15 125.28 126.41 127.54 128.67 129.8 130.93 132.05 133.18 OT128 | 100...
  • Page 105 177.2 178.33 179.46 180.59 181.72 182.84 183.97 185.1 186.23 187.36 188.49 189.62 190.74 191.87 194.13 195.26 196.39 197.52 198.65 199.77 200.9 202.03 203.16 204.29 205.42 206.55 207.67 208.8 209.93 211.06 212.19 213.32 214.45 215.58 216.7 217.83 218.96 OT128 | 101...
  • Page 106 % reflectivity % reflectivity % 220.09 221.22 222.35 223.48 224.6 225.73 226.86 227.99 229.12 230.25 231.38 232.51 233.63 234.76 235.89 237.02 238.15 239.28 240.41 241.53 242.66 243.79 244.92 246.05 247.18 248.31 249.44 250.56 251.69 252.82 253.95 255.08 OT128 | 102...

  • 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 A, Haisu Culture Plaza, Shanghai, China...

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