Efficient CORDIC Iteration Design of LiDAR Sensors' Point-Cloud Map Reconstruction Technology.

In this paper, we propose an efficient COordinate Rotation DIgital Computer (CORDIC) iteration circuit design for Light Detection and Ranging (LiDAR) sensors. A novel CORDIC architecture that achieves the goal of pre-selecting angles and reduces the number of iterations is presented for LiDAR sensors. The value of the trigonometric functions can be found in seven rotations regardless of the number of input N digits. The number of iterations are reduced by more than half. The experimental results show the similarity value to be all 1 and prove that the LiDAR decoded packet results are exactly the same as the ground truth. The total chip area is 1.93 mm × 1.93 mm and the core area is 1.32 mm × 1.32 mm, separately. The number of logic gates is 129,688. The designed chip only takes 0.012 ms and 0.912 ms to decode a packet and a 3D frame of LiDAR sensors, respectively. The throughput of the chip is 8.2105   ×   10 8 bits/sec. The average power consumption is 237.34 mW at a maximum operating frequency of 100 MHz. This design can not only reduce the number of iterations and the computing time but also reduce the chip area. This paper provides an efficient CORDIC iteration design and solution for LiDAR sensors to reconstruct the point-cloud map for autonomous vehicles.