Lidar and calibration method thereof

A lidar, comprising:

• a light source, configured to provide an emitted laser light beam;
• a coupler, optically connected with the light source, and configured to couple the emitted laser light beam to an optical chip;
• a beam splitter, optically connected with the coupler, and configured to split the emitted laser light beam to form an emitted laser light sub-beam;
• a phase shifter, optically connected with the beam splitter, and configured to perform phase modulation to the emitted laser light sub-beam;
• a phased-array antenna array, comprising at least one transmitting antenna and at least one receiving antenna, wherein the transmitting antenna and the receiving antenna are optically connected with the phase shifter one by one, the transmitting antenna is configured to transmit a phase-modulated emitted laser light sub-beam to a detection area, the receiving antenna is configured to receive an echo signal, the echo signal is a light beam reflected by an object in the detection area after the object receives the emitted laser light sub-beam;
• and
• an antenna modification structure, provided corresponding to the phased-array antenna array, and configured to adjust a characteristic parameter of the transmitting antenna and/or a characteristic parameter of the receiving antenna, so as to reduce a deviation angle between a transmitting light spot of the at least one transmitting antenna and a receiving light spot of the at least one receiving antenna;
• wherein the deviation angle is a difference between light beam deflection angles respectively corresponding to any two light spots of the transmitting light spot and the receiving light spot, and a light beam deflection angle is an angle formed between a light beam corresponding to a light spot and a plane of the optical chip.