A method, comprising: receiving, from a phase coherent Light Detection and Ranging, LIDAR, monopulse component of a vehicle (100; 691), wherein the phase coherent LIDAR monopulse component is a frequency-modulated continuous wave Light Detection and Ranging, FMCW LIDAR, monopulse component of the vehicle, a group of FMCW LIDAR data points (682A, 682B, 682C) collectively capturing a plurality of points in an area of an environment of the vehicle, each of the FMCW LIDAR data points of the group directly indicating a corresponding range and a corresponding velocity for a corresponding one of the points in the environment, and each being generated based on a corresponding sensing event of the phase coherent LIDAR monopulse component, wherein the corresponding sensing events of the phase coherent LIDAR monopulse component each comprise a first receiver sensing event at a first receiver (132B3A) of the phase coherent LIDAR monopulse component and a second receiver sensing event at a second receiver (132B3B) of the phase coherent LIDAR monopulse component; determining that a subgroup, of the FMCW LIDAR data points of the group, corresponds to an object (394; 591-594; 791-793) of a particular classification, the determining based on both: the corresponding ranges for multiple of the FMCW LIDAR data points of the subgroup, and the corresponding velocities for multiple of the FMCW LIDAR data points of the subgroup; and adapting autonomous control of the vehicle based on determining that the subgroup corresponds to the object of the particular classification. receiving, from a phase coherent Light Detection and Ranging, LIDAR, monopulse component of a vehicle (100; 691), wherein the phase coherent LIDAR monopulse component is a frequency-modulated continuous wave Light Detection and Ranging, FMCW LIDAR, monopulse component of the vehicle, a group of FMCW LIDAR data points (682A, 682B, 682C) collectively capturing a plurality of points in an area of an environment of the vehicle, each of the FMCW LIDAR data points of the group directly indicating a corresponding range and a corresponding velocity for a corresponding one of the points in the environment, and each being generated based on a corresponding sensing event of the phase coherent LIDAR monopulse component, wherein the corresponding sensing events of the phase coherent LIDAR monopulse component each comprise a first receiver sensing event at a first receiver (132B3A) of the phase coherent LIDAR monopulse component and a second receiver sensing event at a second receiver (132B3B) of the phase coherent LIDAR monopulse component; determining that a subgroup, of the FMCW LIDAR data points of the group, corresponds to an object (394; 591-594; 791-793) of a particular classification, the determining based on both: the corresponding ranges for multiple of the FMCW LIDAR data points of the subgroup, and the corresponding velocities for multiple of the FMCW LIDAR data points of the subgroup; and adapting autonomous control of the vehicle based on determining that the subgroup corresponds to the object of the particular classification. the corresponding ranges for multiple of the FMCW LIDAR data points of the subgroup, and the corresponding velocities for multiple of the FMCW LIDAR data points of the subgroup; and adapting autonomous control of the vehicle based on determining that the subgroup corresponds to the object of the particular classification.