Method for judging shielding state of light window of laser radar and related product

The invention relates to a light window shielding state judgment method of a laser radar and a related product, and relates to the technical field of laser radars, and the method comprises the steps: determining effective shielding object echoes and effective secondary echoes received by a laser radar detector after a laser radar transmitter transmits laser once; calculating a pulse width mean value of the effective shelter echoes so as to obtain a plurality of pulse width mean values corresponding to the laser emitted by the laser radar emitter for multiple times; and if the plurality of pulse width mean values meet a preset pulse width condition and the number of the effective secondary echoes meets a preset echo number condition, determining that the light window of the laser radar is shielded. According to the method, the pulse width mean value of effective shielding object echoes and the number of effective secondary echoes are calculated and analyzed, and real-time detection of light window shielding is