In autonomous driving, LiDAR can clearly distinguish the objectsget the object information such as speeddistance at medium-range (~100 m) for autonomous driving scheme entering Level 3. Therefore, in this study, we combine the reflective optical phased array (OPA) chip1550-nm VCSELs with a photodetector, a ToF chip,a microcontroller to produce an eye-safe, all-solid-state,low cost (less than $100 USD) LiDAR module, which is the world＇s leading LiDAR technologymore cost-effective than the current products for autonomous vehicle market.