Lidar device and ranging adjustment method

A ranging adjustment method for a LiDAR device, the LiDAR device comprising a laser emission module and a laser receiving module, the laser receiving module comprising a plurality of receiving units arranged in an array, and each receiving unit comprising a plurality of pixels, the method comprising:

• calibrating echo intensities at different pixel positions in a receiving unit, and determining correction coefficients of the pixels at different positions in the receiving unit based on the echo intensities;
• when a preset-position receiving unit receives an echo, performing echo intensity correction calculation based on the correction coefficients of the pixels at different positions in the preset-position receiving unit, to obtain correction intensity data corresponding to the pixels at different positions in the preset-position receiving unit, wherein a light intensity received by each pixel of a same receiving unit is different;
• performing intensity filtering on and outputting the correction intensity data of a reference pixel in each of adjacent receiving units, and obtaining the correction intensity data of the reference pixel after filtering;
• and
• adjusting correction coefficient of an edge pixel based on the correction intensity data of the reference pixel after filtering, determining distance information of a to-be-measured object based on the correction intensity data after filtering.