Abstract: A LiDAR, a detection method thereof, and a readable storage medium are disclosed. The LiDAR includes multiple lasers and multiple detectors to form multiple channels, and the detection method includes: performing detection by group for all channels, where the detection includes: emitting, by a laser, an optical signal, receiving, by a detector, an echo signal reflected by an obstacle, and determining detection information on the obstacle based on the echo signal; emitting, by each group of lasers, light in parallel; a single detection of each channel including a first sub-detection and a second sub-detection; and correspondingly changing a light-emitting strategy of a laser of a parallel light-emitting channel in at least one of the second sub-detection or a first sub-detection of a subsequent round based on an echo signal in the first sub-detection. Solutions of embodiments of this disclosure can reduce crosstalk between parallel light-emitting channels and improve detection quality.