Lidar and anti-interference method therefor

A lidar, wherein the lidar comprises:

• a controller;
• a transmitting module;
• and
• a receiving module,
• wherein the controller is respectively connected to the transmitting module and the receiving module,
• wherein the controller is configured to modulate a transmitting time of the lidar by injecting random time jitter at a time interval in a sequence of the transmitting time, and cause the transmitting module to transmit a laser pulse according to a modulated transmitting time,
• wherein the receiving module is configured to acquire a receiving time of an echo received by the lidar, the echo comprising an expected echo and an unexpected echo of the local lidar, the unexpected echo comprising echoes of other lidars due to crosstalk therewith;
• and
• wherein the controller is further configured to identify and remove interference echoes according to correlation between a transmitting time of the local lidar and a receiving time of an echo received by the local lidar.