Lidar receiving apparatus, lidar system and laser ranging method

A lidar receiving apparatus, comprising:

• 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 comprises:
• 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, and is correlated to a preset flight time of the stray reflected signal.