High-performance light detection and ranging (LiDAR) modules are highly demanded for advanced driving assistance system and autonomous driving. The high power level of emitter required for long-distance ranging is one of the key issues to be addressed to realize commercially affordable vehicle LiDAR. In this work, for the first time, we demonstrate a low-cost real-time LiDAR module by using CMOS-fabricated 64x128-pixel single-photon avalanche diode (SPAD) array, a 940-nm photonic-crystal surface-emitting laser (PCSEL), and a FPGA card for control and signal processing. Thanks to the high-sensitivity of SPAD and small divergence angle of PCSEL, a 60-m 3-D imager has been realized with a low laser peak power of ∼0.5 W. The ranging distance and frame rate are 60 m and 10 frames per second, respectively, for the target reflectivity of 10% - 90% and the sunlight condition of 0 - 50k lux. Our work reveals the great potential of these two intriguing devices for making low-cost high-performance vehicle LiDARs.