Proposal for a frequency-angle encoded 4D imaging lidar

We propose and simulate a frequency-angle encoded frequency-modulated continuous wave (FMCW) lidar system that achieves high-fidelity 4D (x, y, z, and velocity) point cloud imaging via synchronized spatio-spectral modulation. By incorporating a programmable frequency-shifted FMCW transmitter with a focal plane switch array (FPSA), the system enables deterministic angular coordinate encoding within the optical frequency domain. At the receiver end, coherent detection enables direct extraction of scanning angle information from echo signal frequencies, along with target distance and velocity measurements. Compared with conventional FMCW systems, this innovation supports bistatic transmitterreceiver configurations and asynchronous operation, significantly enhancing system flexibility, signal-to-noise ratio, and detection speed. The methodology offers novel sensing solutions for autonomous driving and intelligent robotics applications.