The Livox HAP Performance Test Report Is Available for Download 7999元的激...

Livox Pioneer

01.  
An Automotive-grade Proven LiDAR with Wider Application in More Industries
As many are aware , the first LiDAR-equipped mass-produced vehicle in China, Xpeng P5, is installed with two Livox HAPs.  Judging by the results of the P5 OTA update released publicly for user devices as well as the P5 road test, Xpeng continues to be at the forefront of the industry with its smart assisted driving technology, facilitated by Livox’s LiDAR HAP. The advanced driving assist functions that set the carmaker apart are Valet Parking Assist (VPA-L), Enhanced Adaptive Cruise Control and Lane Centering Control (ACC/LCC-L), and City Navigation Guided Pilot (CNGP). Through these features, consumers are able to truly experience the value and performance of LiDARs.

On the 11th of July , Livox officially launched HAP for sale to the public at $1599 per unit, in a bid to initiate hybrid solid-state LiDARs into broader commercial use and mass production while introducing a new generation of LiDARs with greater performance and reliability to spatial detection solution developers worldwide.

02.  Double the Performance at the Same Price Level
As  Livox’s first automotive-grade LiDAR, HAP is not only reliable as a sensor component, but also stands out with its exceptional performance.


In this article, we will be sharing parts of the “HAP Performance Test Report” that most of our customers would be interested of. For those who would like to check out the full version of this report, please contact us to request.




03.
About HAP's Detection Range
A LiDAR’s distance-measuring ability is determined by its sensing and detection capability margin. The larger the range and area covered, the stronger the LiDAR’s ability to detect a target, giving the system more time to react. In Xpeng P5’s case, HAPs are mounted on both sides near the headlights. Therefore, we installed HAP at a similar height in this  test, which involved common targets such as vehicle, pedestrian, and traffic cone.

Scenario 1: Vehicle Test
Based on a distance test, it was found that HAP could effectively detect a white sedan at 150 meters away; while at 200 meters, HAP could still capture more than 7 points on the body of the sedan.




For a black vehicle with lower reflectivity, HAP was able to detect 9 points on the vehicle at 150 meters away and 5 points at 200 meters away.



Scenario 2: Pedestrian Test
In this test, a 170cm-tall pedestrian dressed in white was used as the target. The result shows that HAP detected 12 points on the person at 90 meters away, and 5 points at 130 meters.




When the target was a pedestrian in black clothes with lower reflectivity, HAP was able to capture 12 points at 90 meters and seven points at 110 meters.



Scenario 3: Traffic Cone Test
In this test, the LiDAR could detect 5 points on the traffic cone  when the object was placed 110 meters away




Some customers may want to mount their HAP at a higher position such as rooftop for a longer-range-detection purpose. Therefore, we also conducted tests for such a scenario, which can be found in the full version of the report.

04.
About HAP’s Point Cloud Resolution
Point cloud resolution is made up of point rate and angular resolution. Generally, the higher the point cloud resolution, the smaller the space between adjacent laser detection points, increasing the capability of capturing the details of small objects or targets.

Although HAP outputs up to 452,000 point clouds per second, they are not uniformly distributed across the FOV (120° horizontally, 25° vertically). The central zone of HAP’s FOV (40° horizontally, 12° vertically) is defined as the region of interest (ROI) with an angular resolution of up to 0.18° horizontally and 0.23° vertically.

Simulation of HAP’s point cloud scanning effect (the central zone is the ROI)

As an actual operation, the detection of small objects is a true test of the point cloud density of LiDARs. As shown below, we have tested HAP’s ability to detect small objects using three objects: Carton box, football, and water bottle.

Scenario 1: Carton Box Test
For this test, HAP is able to detect more than 5 points when the carton box is at 55 meters away.



Scenario 2: Football Test
When a football is 45 meters away, HAP could still capture 6 points.




Scenario 3: Water Bottle Test
With smaller objects such as a 15cm-tall water bottle, the effective detection range of HAP was about 30 meters (with ＞ 3 points captured).



During the above tests, we also included bigger (e.g. a 30x30cm carton box) and smaller objects (e.g. a 10x10cm carton box) as the targets. The relevant test results can be downloaded in the full report upon request.

As shown above, HAP is a cost-effective solution that has been rigorously tested for automotive application. On top of that, the performance of HAP is a massive improvement from its predecessor Horizon. In itsefforts of developing LiDARs for various scenarios such as autonomous driving, robots,  and smart city, Livox has always been motivated by its mission to enhance users’ experience at a reasonable price. With this vision, we hope that more customers will choose Livox HAP for the development and commercial application of spatial intelligence.

If you are interested in the full version of the HAP Performance Test Report, please click “Contact Us" to request a copy.


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01.  
让车规级产品服务更多工业场景

2021年作为车规级激光雷达上车“元年”，在业内率先上市的激光雷达量产车型小鹏P5，其搭载的便是由Livox提供的车规级激光雷达：浩界HAP。凭借激光雷达的性能加持，Livox助力小鹏汽车智能辅助驾驶系统持续引领行业发展，其中跨楼层记忆泊车（VPA-L）、加强版 ACC\LCC-L，以及即将问世的城市NGP等高级辅助驾驶功能更是一骑绝尘，让普通消费者可真正体验到激光雷达的价值与作用。

站在行业领先自研自动驾驶主机厂的肩膀上，Livox为帮助更多空间智能感知开发者使用上最新一代高性能、高可靠性的激光雷达，我们以7999元人民币的价格正式启动了浩界HAP激光雷达的公开发售，持续引领混合固态激光雷达走向更广义的商用与量产。

02.  加量不加价，“双倍”性价比

作为浩界系列的第二款全新产品，我们将HAP的性能进行了全方位的提升。下面这段视频是业内算法团队基于HAP点云开发的感知效果展示。

上述视频中展示出的优秀感知效果，得益于浩界HAP全面提升的硬件性能。与第一代浩界Horizon相比，HAP在量程、FOV、点频等核心参数上有了明显提升。不仅如此，浩界HAP也是Livox首款加入ROI感兴趣区域功能的产品，帮助自动驾驶系统看得更细致、更专注。


下面我们将新鲜出炉的《HAP 性能测试报告》中大家比较感兴趣的内容进行了部分展示，对于完整版测试报告感兴趣的朋友，可通过点击「联系我们」进行申请。

03.
关于 HAP 的量程

测远能力，考验的是激光雷达对于远处物体的感知探测能力边界，距离覆盖范围越广，远处目标物探测能力越强，留给系统进行感知和决策的时间越长。在小鹏的场景中，HAP是被安装在两侧车灯附近，因此我们在测试中也将HAP安装于相应位置高度，分别对车辆、行人和雪糕桶等常见目标物体进行测试。
场景一：车辆测试通过对车辆的拉距实验可知，一辆白色小轿车在150米的位置基本可以被稳定检出，同时当白色小轿车位于200米处时，HAP仍可探测到车身＞7个点的点云数据。



而针对反射率更低的黑色车辆，在150米的时候仍被检出9个点的点云数据，而HAP在距离此车200米处时，可探测到5个点的点云。



场景二：行人测试
通过对身高170cm的白衣行人进行拉距实验，我们发现行人在90米处，HAP可稳定探测到12个点；而当行人去到130米处时，HAP仍可探测到5个点。



而针对反射率更低的黑衣行人，HAP同样可以在90米处探测到12个点，而在110米处可探测到7个点。



场景三：雪糕桶测试通过对雪糕筒的拉距实验，在110米处HAP 仍可探测到5个点的点云数据；



在现实中，也有部分客户会考虑将激光雷达安装在车顶等更高位置，以获得更远的量程探测能力。因此完整版测试报告中我们也进行了相关测试，感兴趣的朋友可点击「联系我们」申请相关测试数据。

04.关于 HAP 的点云分辨率

点云分辨率由点频和角分辨率两者组成，一般点云分辨率越高，意味着相邻激光探测点之间的间隔越小，对细小物体或目标物的细节分辨能力越强。

虽然HAP每秒输出高达45万个点云，但这些点云并非完全均匀分布在整个FOV视场角（横向120°、纵向25°）内。HAP的FOV正中间区域（横向40°、纵向12°）被定义为ROI感兴趣区域，其角度分辨率可高达水平0.18° 、垂直0.23°。

HAP 点云扫描效果仿真图（中间区域为ROI）

在实际工况下，针对常见细小物体的测试是验证激光雷达点云密度的有效方式，下面我们通过实测纸箱、足球和矿泉水瓶三类物体来验证HAP的对小物体的探测能力。
场景一：纸箱测试在纸箱测试中，HAP对55米远的纸箱仍可测得5个点。



场景二： 足球测试对于直径20cm的足球，当距离在45米时，HAP仍能稳定检测到6个点云。



场景三：矿泉水瓶测试而对于更小的物体，如15cm高的矿泉水瓶，HAP的探测距离约为30米（＞3个点）。



在实际测试中，我们针对更大（如30x30cm纸箱）或更小（如10x10cm纸箱）等细小物体进行了测试，相关测试结果也已放入完整版性能测试报告中。
除了具备车规级可靠性与平易近人的成本以外，HAP作为浩界系列第二代雷达在性能上相比第一代 Horizon 进行了大幅度的提升。加量不加价，无感升级用户体验，是浩界系列面向自动驾驶、机器人、V2X 以及智慧交通等诸多场景的初心，我们期待有更多客户选择浩界HAP进行智能空间感知场景的开发与商用。

对于完整版《HAP性能测试报告》感兴趣的朋友，可点击「联系我们」进行申请。