Coherent lidar system for capturing the surroundings with phase modulation and hardwired digital circuit

A coherent lidar system for capturing surroundings of a vehicle, comprising:

• a transceiver unit configured to emit a phase-modulated signal with pseudo-random change over discrete phase values;
• the transceiver unit further configured to receive signals reflected from objects, the signals being delayed with respect to the emitted signal by the distance-dependent transit time and are shifted in frequency by the relative speed-dependent Doppler effect;
• a mixer for mixing the received signals;
• an analog-to-digital converter configured to convert the mixed signals into a digital signal;
• a digital signal processor for correlation filtering of the low-frequency received signal, wherein the correlation filtering is two-dimensional due to the two variable dimensions of time shift and frequency shift of signals reflected by objects, and
• the two-dimensional correlation filter includes a hardwired digital circuit embodied as a pipeline, wherein multiple or all of the output values are determined per clock frequency of the digital circuit in one of the two dimensions, and over a sequence of clock frequencies in the other dimension.