Lidar receiving apparatus, lidar system and laser ranging method

Abstract

A lidar receiving apparatus, a lidar system, a laser ranging method, a laser ranging controller and a computer readable storage medium are provided. The lidar receiving apparatus includes a photodetector (), which is configured to receive a reflected laser signal and to convert the reflected laser signal into a current signal when a bias voltage of the photodetector () is greater than a breakdown voltage of the same; a ranging circuit (), which is connected with the photodetector () and configured to calculate distance data according to the current signal; and a power control circuit (), which is connected with the photodetector () and configured to control the bias voltage applied to the photodetector () according to a predefined rule, wherein the predefined rule includes: at a receiving time of a stray reflected signal, the bias voltage of the photodetector () is smaller than the breakdown voltage; and the receiving time of the stray reflected signal is a time at which a transmitted laser signal reaches the photodetector () through a stray light path other than a ranging light path. The lidar receiving apparatus may be employed to decrease a short-range blind area.