The present disclosure relates to systems and methods for determining a range and relative speed of objects in an environment. An example method includes causing a laser light source to emit a plurality of light pulses, both incoherent and coherent. The light pulses interact with an environment to provide reflected light pulses. The method includes providing a local oscillator signal based on a coherent light pulse. The method also includes receiving, at a detector, the reflected light pulses, and the local oscillator signal. The method additionally includes determining, based on at least one of the reflected light pulses, a presence of an object in the environment. The method yet further includes determining, based on another reflected light pulse and the local oscillator signal, a relative speed of the object with respect to the detector.