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Related Party Transactions | 12 Months Ended
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Dec. 31, 2023
Related Party Transactions [Abstract] |
Related Party Transactions |
20. | RELATED PARTY TRANSACTIONS
Major related parties that transacted with the Group and their respective relationship to the Group listed as below: ​
Name of the related parties |  | Relationship
Mr. Kai Sun |  | Founding Shareholders
Mr. Yifan Li |  | Founding Shareholders
Mr. Shaoqing Xiang |  | Founding Shareholders
Mr. Minglie Hu |  | Shareholder
Mr. Min Ai |  | Shareholder
Shanghai Leyi Technology L.P. |  | An affiliate of the shareholder of the Group
Baidu USA LLC (Note) |  | An affiliate of the shareholder of the Group
Beijing Baidu Netcom Technology Co., Ltd. |  | An affiliate of the shareholder of the Group
Apollo Intelligent Transportation Technology (Guangzhou) Co., Ltd. |  | An affiliate of the shareholder of the Group
Baidu Smart Travel Information Technology (Chongqing) Co., Ltd. |  | An affiliate of the shareholder of the Group
Apollo Intelligent Transportation Technology (Hefei) Co., Ltd. |  | An affiliate of the shareholder of the Group
Luobo Yunli (Beijing) Technology Co., Ltd. |  | An affiliate of the shareholder of the Group
Apollo Intelligent Transportation Technology (Dalian) Co., Ltd. |  | An affiliate of the shareholder of the Group
Apollo Intelligent Technology (Beijing) Co., Ltd. |  | An affiliate of the shareholder of the Group
Apollo Intelligent Connection (Beijing) Co., Ltd. |  | An affiliate of the shareholder of the Group
​
20. | RELATED PARTY TRANSACTIONS (continued)
Note: Started from June 30, 2021, Baidu (China) Co., Ltd and its affiliates (collectively as “Baidu”) was no longer treated as the Group’s related parties as Baidu no longer has significant influence over the Group after the consummation of 2021 Reorganization. For the years ended December 31, 2021, 2022 and 2023, significant related party transactions were as follows: ​
​ | ​ | ​ | ​ | ​ | ​ | ​
​ |  | For year ended December 31,
​ | ​ | 2021 | ​ | 2022 | ​ | 2023
​ |  | RMB |  | RMB |  | RMB
Net revenues |  |  |  |  |  |
Affiliates of the shareholders of the Group |  | 15,655 |  | — |  | —
Total |  | 15,655 |  | — |  | —
​
​ | ​ | ​ | ​ | ​ | ​ | ​
​ |  | For year ended December 31,
​ | ​ | 2021 | ​ | 2022 | ​ | 2023
​ |  | RMB |  | RMB |  | RMB
Payment for equity acquisition consideration |  |  |  |  |  |
Founding Shareholders and certain shareholders |  | — |  | — |  | 17,506
Total |  | — |  | — |  | 17,506
​
​ | ​ | ​ | ​ | ​ | ​ | ​
​ | ​ | For year ended December 31,
​ |  | 2021 |  | 2022 |  | 2023
​ | ​ | RMB | ​ | RMB | ​ | RMB
Subscription consideration received from shareholders |  |  |  |  |  |
Founding Shareholders and certain shareholders |  | — |  | — |  | 17,506
Total |  | — |  | — |  | 17,506
​ The balances due to related parties of financing are as follows: ​
​ | ​ | ​ | ​ | ​ | ​ | ​
​ | ​ | As of December 31,
​ |  | 2021 | ​ | 2022 |  | 2023
​ | ​ | RMB | ​ | RMB | ​ | RMB
Amounts due to related parties, net of allowance |  |  | ​ | ​ |  |
Founding Shareholders and certain shareholders |  | 307,498 | ​ | 334,283 |  | 326,028
An affiliate of the shareholder of the Group | ​ | — | ​ | — | ​ | 14,023
Total |  | 307,498 | ​ | 334,283 |  | 340,051
​ ​ 20.RELATED PARTY TRANSACTIONS (continued) In May 2021, as an integrated step of the 2021 Reorganization, in order to comply with certain PRC foreign currency control rules and regulations, the Founding Shareholders and certain investors are in the process of applying for permissions to pay the subscription consideration to the Company. Once they obtained the approval to pay the subscription receivables at Cayman Company level, the Group will then settle the consideration payable for the acquisition of their equity interests in Shanghai Hesai to facilitate their payment of the subscription receivable for the ordinary shares of the Company as part of the reorganization. In December 2023, the Group settled the consideration payable of RMB17,506 to one shareholder, and subscription receivable of this shareholder of RMB17,506 was received at Cayman Company level.

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