Lidar controlling method and apparatus, terminal device

A LIDAR controlling apparatus, comprising:

• a control module, configured to control a LiDAR to move by a preset stepping in a scanning direction after the LiDAR completes a task of emitting a detection laser beam via a current emission channel, and control a next emission channel to emit the detection laser beam until the tasks of emitting detection laser beams are completed via all emission channels, wherein the preset stepping is less than a divergence angle of a scanning light spot of the current emission channel;
• and configured to emit the detection laser according to a jitter delay corresponding to the current emission channel when the current emission channel emits the detection laser;
• and
• a filtering module, configured to filter echo data received by a current receiving channel according to echo data received by adjacent receiving channels to obtain a scanning result of the current receiving channel.

A terminal device, comprising a non-transitory memory, a processor and a computer program stored in the non-transitory memory and capable of running on the processor, wherein when the processor executes the computer program, a LiDAR controlling method is implemented, wherein the LiDAR controlling method comprises:

• controlling a LiDAR to move by a preset stepping in a scanning direction after the LiDAR completes a task of emitting a detection laser beam via a current emission channel, and emitting the detection laser beam via the next emission channel, wherein the preset stepping is less than a divergence angle of a scanning light spot of the current emission channel;
• and emitting, by the current emission channel, the detection laser beam according to a jitter delay corresponding to the current emission channel;
• and
• filtering echo data received by a current receiving channel according to echo data received by adjacent receiving channels to obtain a scanning result of the current receiving channel.