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Lidar has many advantages such as high detection accuracy, strong penetrating ability, and three-dimensional imaging capability. Therefore, Autonomous vehicle are often equipped with Lidar to perceive the surrounding environment of the vehicle body. The key technologies of Autonomous vehicle include transmitting and receiving lidar signal and processing point cloud data. the vehicle can accurately perceive the current road conditions and make corresponding operations. This paper mainly introduces the key technologies in point cloud data processing of vehicle lidar, and expounds the basic principles, advantages and disadvantages and improvements of common algorithms in each key technology. in order to provide a reference for point cloud data processing of vehicle-mounted lidar.