GB/T 45500-2025 Automotive lidar performance requirements and test methods
1 Scope
This document specifies the performance requirements and inspection rules for automotive lidar (hereinafter referred to as "lidar"), and describes the corresponding test methods.
This document is applicable to the inspection of lidar for external information perception on road vehicles. Other lidars may use it for reference.
2 Normative references
The following documents contain requirements which, through reference in this text, constitute provisions of this document. For dated references, only the edition cited applies. For undated references, the latest edition of the referenced document (including any amendments) applies.
GB/T 2828.1 Sampling procedures for inspection by attributes - Part 1: Sampling schemes indexed by acceptance quality limit (AQL) for lot-by-lot inspection
GB/T 16422.2-2022 Plastics - Methods of exposure to laboratory light sources - Part 2: Xenon-arc lamps
GB/T 18655-2025 Vehicles, boats and internal combustion engines - Radio disturbance characteristics - Limits and methods of measurement for the protection of on-board receivers
GB/T 18833 Retroreflective sheeting for traffic control
GB/T 18838.2 Preparation of steel substrates before application of paints and related products - Specifications for metallic blast-cleaning abrasives - Part 2: Chilled-iron grit
GB/T 19951-2019 Road vehicles - Disturbances test methods for electrical/electronic component from electrostatic discharge
GB/T 21437.2-2021 Road vehicles - Test method of electrical disturbances from conduction and coupling - Part 2: Electrical transient conduction along supply lines only
GB/T 21437.3-2021 Road vehicles - Test method of electrical disturbances from conduction and coupling - Part 3: Electrical transient transmission by capacitive and inductive coupling via lines other than supply lines
GB/T 28046.2-2019 Road vehicles - Environmental conditions and testing for electrical and electronic equipment - Part 2: Electrical loads
GB/T 28046.3-2011 Road vehicles - Environmental conditions and testing for electrical and electronic equipment - Part 3: Mechanical loads
GB/T 28046.4-2011 Road vehicles - Environmental conditions and testing for electrical and electronic equipment - Part 4: Climatic loads
GB/T 28046.5-2013 Road vehicles - Environmental conditions and testing for electrical and electronic equipment - Part 5: Chemical loads
GB/T 30038 Road vehicles - Degrees of electrical equipment protection (IP-Code)
GB 34660-2017 Road vehicles - Requirements and test methods of electromagnetic compatibility
ISO 20567-1:2017 Paints and varnishes - Determination of stone-chip resistance of coatings - Part 1: Multi-impact testing)
3 Terms and definitions
For the purposes of this document, the following terms and definitions apply.
3.1
lidar
device that emits laser beams and receives echoes to obtain information about the surrounding environment
3.2
point cloud
collection of points obtained in three-dimensional space through the output of lidar
3.3
valid point
points corresponding to real spatial positions where real objects exist in the point cloud formed by lidar
3.4
false positive
points corresponding to real spatial positions where no real objects exist in the point cloud formed by lidar
3.5
false positive ratio
ratio of false positive to theoretical detection point
3.6
probability of detection (POD)
probability of lidar measurement forming an valid point
Note: The probability of detection of lidar is calculated by the ratio of the number of false positives to the number of theoretical detection points.
3.7
point frequency
number of points in the point cloud output by lidar within a unit of time
3.8
frame
point cloud data formed by a single complete scan of lidar within the nominal field of view
3.9
frame frequency
number of frames output by lidar within a unit of time
3.10
precision
degree of dispersion among multiple measurements of a certain quantity under certain measurement conditions
3.11
accuracy
degree to which the average value of measured values deviates from its true value in multiple measurements of a certain quantity under certain measurement conditions
3.12
reflectivity
reflection ratio when the material layer is thick enough so that its reflection ratio no longer changes with the increase of thickness
Note: In this document, it is used to describe the physical characteristics of the surface of diffuse reflector.
[Source: GB/T 2900.65-2023, 845-24-093, modified]
3.13
ranging center
coordinate origin of the virtual three-dimensional space constructed by the point cloud formed by lidar
3.14
field of view (FOV)
the maximum angle formed by the line connecting the valid points at the farthest edges on both sides to the ranging center in the horizontal/vertical direction in the point cloud formed by lidar
Note: The field of view of lidar is divided into horizontal field of view and vertical field of view.
3.15
field of view region
region within the field of view divided in a certain way
3.16
range capability
range of distance that a lidar can detect an object with a specified direct incident laser under conditions such as specified light intensity and probability of detection
Note: The range capability is characterized by the long-range capability and the short-range capability.
3.17
angular resolution
angle formed by the line connecting adjacent detection points to the ranging center in the horizontal/vertical direction in the point cloud formed by lidar
Note: The angular resolution of lidar is divided into horizontal angular resolution and vertical angular resolution.
3.18
angle gap
the maximum angle at which the target cannot be detected between adjacent valid points within the field of view of lidar
Note: The angle gap of lidar is divided into horizontal angle gap and vertical angle gap.
3.19
reflective property
reflectance mapping value of target surface output by measuring the amplitude or flux of reflected echo of lidar
3.20
ghost
continuous false positives, in time and space, where corresponding position has no real target in the point cloud formed by lidar
3.21
interstitial point
false positive between the edges of corresponding two objects in the point cloud formed by lidar
4 Symbols
For the purposes of this document, the following symbols apply.
dNmax: The maximum nominal range capability, in meters (m)
dNmin: The minimum nominal range capability, in meters (m)
Tmax: The maximum operating temperature, in degrees Celsius (℃)
Tmin: The minimum operating temperature, in degrees Celsius (℃)
UA: Test voltage of operating mode 3, in volts (V)
UB: Test voltage of operating mode 2, in volts (V)
UN: Nominal voltage, in volts (V)
USmax: The maximum supply voltage, in volts (V)
USmin: The minimum supply voltage, in volts (V)
Contents
Foreword
1 Scope
2 Normative references
3 Terms and definitions
4 Symbols
5 Performance requirements
5.1 Detection performance requirements
5.2 Environmental adaptability requirements
6 Test methods
6.1 Test conditions
6.2 Detection performance test
6.3 Environmental adaptability test
7 Inspection rules
7.1 Sampling and grouping of type test
7.2 Judgment
Annex A (Normative) Requirements for diffuse reflectors
Annex B (Normative) Method for division of field of view region
Annex C (Informative) External dimensions of angle reflectors
Annex D (Informative) Requirements for layout of optical darkroom
D.1 Dimensions of optical darkroom
D.2 Surface materials of optical darkroom
Annex E (Informative) Calculation model of durability test
E.1 Typical temperature model at mounting position of product on automobile
E.2 Arrhenius calculation model for high temperature durability test
E.3 Coffin-Manson calculation model for temperature alternating durability test
E.4 Lawson calculation model for high temperature and high humidity durability test
Bibliography
GB/T 45500-2025 Automotive lidar performance requirements and test methods
1 Scope
This document specifies the performance requirements and inspection rules for automotive lidar (hereinafter referred to as "lidar"), and describes the corresponding test methods.
This document is applicable to the inspection of lidar for external information perception on road vehicles. Other lidars may use it for reference.
2 Normative references
The following documents contain requirements which, through reference in this text, constitute provisions of this document. For dated references, only the edition cited applies. For undated references, the latest edition of the referenced document (including any amendments) applies.
GB/T 2828.1 Sampling procedures for inspection by attributes - Part 1: Sampling schemes indexed by acceptance quality limit (AQL) for lot-by-lot inspection
GB/T 16422.2-2022 Plastics - Methods of exposure to laboratory light sources - Part 2: Xenon-arc lamps
GB/T 18655-2025 Vehicles, boats and internal combustion engines - Radio disturbance characteristics - Limits and methods of measurement for the protection of on-board receivers
GB/T 18833 Retroreflective sheeting for traffic control
GB/T 18838.2 Preparation of steel substrates before application of paints and related products - Specifications for metallic blast-cleaning abrasives - Part 2: Chilled-iron grit
GB/T 19951-2019 Road vehicles - Disturbances test methods for electrical/electronic component from electrostatic discharge
GB/T 21437.2-2021 Road vehicles - Test method of electrical disturbances from conduction and coupling - Part 2: Electrical transient conduction along supply lines only
GB/T 21437.3-2021 Road vehicles - Test method of electrical disturbances from conduction and coupling - Part 3: Electrical transient transmission by capacitive and inductive coupling via lines other than supply lines
GB/T 28046.2-2019 Road vehicles - Environmental conditions and testing for electrical and electronic equipment - Part 2: Electrical loads
GB/T 28046.3-2011 Road vehicles - Environmental conditions and testing for electrical and electronic equipment - Part 3: Mechanical loads
GB/T 28046.4-2011 Road vehicles - Environmental conditions and testing for electrical and electronic equipment - Part 4: Climatic loads
GB/T 28046.5-2013 Road vehicles - Environmental conditions and testing for electrical and electronic equipment - Part 5: Chemical loads
GB/T 30038 Road vehicles - Degrees of electrical equipment protection (IP-Code)
GB 34660-2017 Road vehicles - Requirements and test methods of electromagnetic compatibility
ISO 20567-1:2017 Paints and varnishes - Determination of stone-chip resistance of coatings - Part 1: Multi-impact testing)
3 Terms and definitions
For the purposes of this document, the following terms and definitions apply.
3.1
lidar
device that emits laser beams and receives echoes to obtain information about the surrounding environment
3.2
point cloud
collection of points obtained in three-dimensional space through the output of lidar
3.3
valid point
points corresponding to real spatial positions where real objects exist in the point cloud formed by lidar
3.4
false positive
points corresponding to real spatial positions where no real objects exist in the point cloud formed by lidar
3.5
false positive ratio
ratio of false positive to theoretical detection point
3.6
probability of detection (POD)
probability of lidar measurement forming an valid point
Note: The probability of detection of lidar is calculated by the ratio of the number of false positives to the number of theoretical detection points.
3.7
point frequency
number of points in the point cloud output by lidar within a unit of time
3.8
frame
point cloud data formed by a single complete scan of lidar within the nominal field of view
3.9
frame frequency
number of frames output by lidar within a unit of time
3.10
precision
degree of dispersion among multiple measurements of a certain quantity under certain measurement conditions
3.11
accuracy
degree to which the average value of measured values deviates from its true value in multiple measurements of a certain quantity under certain measurement conditions
3.12
reflectivity
reflection ratio when the material layer is thick enough so that its reflection ratio no longer changes with the increase of thickness
Note: In this document, it is used to describe the physical characteristics of the surface of diffuse reflector.
[Source: GB/T 2900.65-2023, 845-24-093, modified]
3.13
ranging center
coordinate origin of the virtual three-dimensional space constructed by the point cloud formed by lidar
3.14
field of view (FOV)
the maximum angle formed by the line connecting the valid points at the farthest edges on both sides to the ranging center in the horizontal/vertical direction in the point cloud formed by lidar
Note: The field of view of lidar is divided into horizontal field of view and vertical field of view.
3.15
field of view region
region within the field of view divided in a certain way
3.16
range capability
range of distance that a lidar can detect an object with a specified direct incident laser under conditions such as specified light intensity and probability of detection
Note: The range capability is characterized by the long-range capability and the short-range capability.
3.17
angular resolution
angle formed by the line connecting adjacent detection points to the ranging center in the horizontal/vertical direction in the point cloud formed by lidar
Note: The angular resolution of lidar is divided into horizontal angular resolution and vertical angular resolution.
3.18
angle gap
the maximum angle at which the target cannot be detected between adjacent valid points within the field of view of lidar
Note: The angle gap of lidar is divided into horizontal angle gap and vertical angle gap.
3.19
reflective property
reflectance mapping value of target surface output by measuring the amplitude or flux of reflected echo of lidar
3.20
ghost
continuous false positives, in time and space, where corresponding position has no real target in the point cloud formed by lidar
3.21
interstitial point
false positive between the edges of corresponding two objects in the point cloud formed by lidar
4 Symbols
For the purposes of this document, the following symbols apply.
dNmax: The maximum nominal range capability, in meters (m)
dNmin: The minimum nominal range capability, in meters (m)
Tmax: The maximum operating temperature, in degrees Celsius (℃)
Tmin: The minimum operating temperature, in degrees Celsius (℃)
UA: Test voltage of operating mode 3, in volts (V)
UB: Test voltage of operating mode 2, in volts (V)
UN: Nominal voltage, in volts (V)
USmax: The maximum supply voltage, in volts (V)
USmin: The minimum supply voltage, in volts (V)
Contents of GB/T 45500-2025
Contents
Foreword
1 Scope
2 Normative references
3 Terms and definitions
4 Symbols
5 Performance requirements
5.1 Detection performance requirements
5.2 Environmental adaptability requirements
6 Test methods
6.1 Test conditions
6.2 Detection performance test
6.3 Environmental adaptability test
7 Inspection rules
7.1 Sampling and grouping of type test
7.2 Judgment
Annex A (Normative) Requirements for diffuse reflectors
Annex B (Normative) Method for division of field of view region
Annex C (Informative) External dimensions of angle reflectors
Annex D (Informative) Requirements for layout of optical darkroom
D.1 Dimensions of optical darkroom
D.2 Surface materials of optical darkroom
Annex E (Informative) Calculation model of durability test
E.1 Typical temperature model at mounting position of product on automobile
E.2 Arrhenius calculation model for high temperature durability test
E.3 Coffin-Manson calculation model for temperature alternating durability test
E.4 Lawson calculation model for high temperature and high humidity durability test
Bibliography
