Abstract: An embodiment of a light detection and ranging (LiDAR) system configured for performing far-distance road surface detection is provided. The LiDAR system comprises one or more processors; memory; and one or more programs stored in the memory. The one or more programs include instructions for obtaining LiDAR detection data samples and determining, based on a sliding time window, a maximum signal intensity associated with the LiDAR detection data samples. The one or more programs include further instructions for determining, based on the maximum signal intensity, whether the LiDAR detection data samples correspond to a far-distance road surface detection. In accordance with a determination that the LiDAR detection data samples correspond to a far-distance road surface detection, the one or more programs include further instructions for providing far-distance road surface detection data for controlling movement of a vehicle.