System and method for lidar data point exchange

The invention provides a system and method for lidar data point exchange between a lidar sensor and a host device. In master-slave lidar communications, a lidar sensor serves as a slave, while a host device serves as a host. The lidar sensor stores a range of numerical values of slave payloads, and the host device stores a range of numerical values of host payloads. When LIDAR communication is initialized, the host device and the LIDAR sensor perform handshake to determine an overlap range between numerical ranges of payloads of the host and the slave, and an acceptable data point payload size is determined based on the overlap range. When the handshake is completed, lidar communication may be performed using an acceptable data point payload size as a payload size. Therefore, the payload size is independent of the maximum transmission unit (MTU) of the Ethernet. 本申请提供了一种在激光雷达传感器和主机设备之间进行激光雷达数据点交换的系统和方法。在主从式激光雷达通信中，激光雷达传感器用作从机，而主机设备用作主机。激光雷达传感器存储从机有效载荷的数值范围，主机设备存储主机有效载荷的数值范围。初始化激光雷达通信时，主机设备和激光雷达传感器执行握手以确定主机和从机