Galvanometer-based laser synchronization controlling method, calibration method and apparatus and LiDAR

A galvanometer-based laser synchronization controlling apparatus, comprising:

• a signal obtaining module, configured to obtain a fast-axis feedback signal when a galvanometer scans;
• a phase difference module, configured to obtain a first phase difference between a fast-axis drive signal and the fast-axis feedback signal and obtain a second phase difference between an emission period of a laser beam and the fast-axis drive signal;
• and
• a phase processing module, configured to set a phase for the fast-axis drive signal based on the first phase difference and the second phase difference that are obtained by the phase difference module.

A galvanometer-based laser synchronization calibration method, comprising:

• obtaining a fast-axis feedback signal when a galvanometer scans;
• determining a first phase difference between a fast-axis drive signal and the fast-axis feedback signal and determining a second phase difference between an emission period of a laser beam and the fast-axis drive signal;
• and
• outputting the first phase difference and the second phase difference.