The lidar intensity value can reflect the target reflection characteristics to a certain degree, but it cannot be directly used as an important feature of target classification because of the influence of various factors, such as distance, incident angle, and atmospheric attenuation effect. For the lidar commonly used in vehicle, based on theoretical analysis of the lindar intensity value, the influence of other factors on the intensity values is fixed by the experimental method, and the relationship between the lidar intensity value and the parameters of the target reflection characteristics is established. The experimental results show that the angle factor of semi-elliptical model can better describe the variation of the target diffuse intensity value with the incident angle. And the lidar intensity value linearly transforms with the received power. Outside the blind area, the variation of target diffuse reflection value with distance follows the negative index law. In practical applications, we combine lidar motion to obtain intensity values of the same target at different relative positions. We can use the obtained intensity values to substitute into the model, invert the parameters related to the target reflection characteristics, and realize the differentiation of different targets.