This application discloses a method, apparatus, storage medium, and
lidar for measuring distance and
reflectivity. Specifically, it applies to a
lidar that obtains an
echo signal based on the echo light reflected from a target object. The
echo signal is an electrical
signal corresponding to the echo light. The application measures the
echo signal based on both a
distance threshold and a
reflectivity threshold. The
distance threshold determines the distance of the target object relative to the
lidar, and the
reflectivity threshold determines the reflectivity of the target object. The reflectivity threshold is higher than the
distance threshold. By using different threshold values ββto determine the distance and reflectivity of the target object, and with the reflectivity threshold being higher than the distance threshold, this application achieves higher
ranging accuracy and higher reflectivity discrimination when measuring the reflectivity of the target object, thereby improving the accuracy of
distance measurement and reflectivity calculations.