Vehicle laser radar measures distance of obstacles in the road environment by pulse flight time,but limited by the width of the pulse,it cannot measure the relative speed of obstacles with Doppler frequency,and has no anti interference performance.To solve these problems,studies on the key technology of vehicle laser radar transmitting pulse modulation technique and information processing are performed.In this way,a pulse position modulation strategy is proposed,which can realize range and speed measurement at the same time.The anti interference performance in the urban road environments is also evaluated.Taking range and speed measurement precision and spatial resolution into account,pulse sequence length for one measurement is limited.The rule for randomly assign pulse position in the limited pulse sequence duration is established by comparing the quality of different assignment mechanism.On the aspect of range measurement,a data integration method for pulse position modulated waveform is designed to improve the sensitivity of obstacle detection.Furthermore,on the aspect of speed measurement,a spectrum analysis method for non uniformly spaced data samples is proposed to calculate Doppler frequency.Finally,interference waveforms are designed,which take urban roads as background,for analyzing the influence of outer interference on range and speed measurement performance.