Beside low cost, the automobile design will be a major factor for the mass adoption of the LiDAR in the autonomous vehicles. It will be advantageous to integrate the LiDAR together with the headlight such that the chassis design of the vehicle does not have to deviate from standard practices. This paper presents optical design of integrated LiDAR and smart headlight in a single module such that it replaces the current headlight without impact on the overall chassis design of the vehicle. Preliminary designs of such system and results will be presented.