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This standard applies to lidars installed on road vehicles to measure or detect the surroundings of the vehicle. This standard applies to lidars used on all types of road vehicles regardless of vehicle classifications, including passenger cars, buses, commercial vehicles, trailers, etc. NOTE The definition of “Road Vehicles” includes M1-M3, N1-N3, and L6-L7 according to Consolidated Resolution on the Construction of Vehicles (R.E.3). This document specifies a series of test methods to assist in evaluating the performance of lidars, the tests should cover the following: 1. The common performance specifications (e.g., Range capability, Range precision) 2. The common performance characteristics (e.g., Anti-interference, Ghost points) 3. Possible alteration of performance test caused by environmental conditions 4. Lidar performance for the union of both ADAS or AD application scenarios This document does not specify test methods for reliability, functional safety, and cybersecurity. This document defines terms in the context of test methods for automotive lidar. This document provides an overview of applicable scenarios of automotive lidar (see Annex A).