Lidar detection method, computer storage medium, and lidar

A LIDAR, comprising:

• a laser configured to emit a detection beam;
• a detector configured to receive an optical signal;
• and
• a controller connected to the laser and the detector, wherein the controller is configured to:
• control the laser to emit the detection beam at a first time point;
• apply a first working voltage to the detector from the first time point to a second time point, wherein a magnitude of the first working voltage is less than or equal to a breakdown voltage of the detector;
• apply a second working voltage to the detector after the second time point, wherein a magnitude of the second working voltage is greater than the breakdown voltage of the detector;
• determine an electrical crosstalk signal of the detector;
• and
• determine an echo signal of the detection beam reflected by an object based on a detection signal received by the corresponding detector after the second time point and the electrical crosstalk signal.