在现有的激光雷达技术中，频率调制连续波体制的激光雷达相比于传统的飞行时间激光雷达具有分辨力高、测量准确度高、设备轻巧、功耗低等优势；得益于使用连续光信号进行测量，调频连续波激光雷达还具有高灵敏度、信息量丰富、处理解调容易等特有的性能。对高分辨力、高准确度的探测需求而言具有很强的竞争力，并具有非常好的集成化、小型化、低能耗的潜力。本文介绍了调频连续波激光雷达的基本工作原理和重要参数，根据实现频率调制连续波的激光光源方案，分类介绍了近十几年来调频连续波雷达的研究进展，并探讨了各种方案的特点。

Among the existing LiDAR technologies, the LiDAR with frequency modulation continuous wave (FMCW) format has the advantages of high resolution, high measurement accuracy, light weight, low power consumption compared with the conventional time-of-flight LiDAR. Benefitting from adopting continuous lightwave for measure-ment, the FMCW LiDAR also has unique performances such as high sensitivity, rich information, and easy processing and demodulation. It is highly competitive for high-resolution, high-accuracy detection needs, and has the potential for very good integration, miniaturization, and low energy consumption. This paper introduces the basic principles of different LiDAR systems, especially focusing on the important parameters of FMCW LiDAR, and classi-fies the research work of FMCW LiDAR in the past ten years into different types based on the light source scheme, and discusses the features of various schemes.