TOF lidar is a type of lidar used in autonomous vehicles. It works by measuring the time it takes for light to bounce back from objects. There are two main types of lidar: scanning lidar, which scans in lines, and non-scanning lidar, like 3D-flash lidar. Each type has its own system structure, working principle, and global development. The future of lidar technology includes advancements in MEMS and ZOL technology.