| CPC G01S 17/931 (2020.01) [G01S 7/487 (2013.01)] | 18 Claims |

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1. A method for pulse modulation, the method comprising:
identifying, by at least one processor of a vehicle, first location information associated with a first location of the vehicle and second location information associated with a second location of the vehicle;
selecting, by the at least one processor, based on the first location information, a first modulation code associated with a light detection and ranging (LIDAR) photodiode of the vehicle and a second modulation code for the LIDAR photodiode based on the second location information; and
emitting, by the LIDAR photodiode, one or more LIDAR pulses based on the first modulation code or the second modulation code,
wherein the first modulation code is orthogonal or quasi-orthogonal to the second modulation code.
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