The invention discloses an obstacle information acquisition method, a laser pulse transmission method and a laser pulse transmission device. The laser pulse transmission method comprises the steps of:transmitting a first laser pulse at a first moment; and transmitting a second laser pulse at a second moment, wherein peak power of the first laser pulse is less than that of the second laser pulse,a time interval between the second moment and the first moment is longer than T, and the T is a time length from a moment that the laser pulse is transmitted to a moment that a laser pulse echo signalreflected by a near-field obstacle is received. By adopting the obstacle information acquisition method, the laser pulse transmission method and the laser pulse transmission device, since the power of the first laser pulse is small, stray light cannot cause voltage saturation of a detection circuit, thus the first laser pulse reflected by the near-field obstacle can be detected, thereby effectively solving the problem of measurement blind area of the near-field obstacle caused by the stray light inside a laser radar at low cost; and since the signal intensity of the second laser pulse is high, normal detection of a far-field obstacle can be guaranteed.