A flash light detection and ranging, lidar, system for a vehicle, comprising: a lidar transmitter comprising a periodically modulated light source and a spatial light modulator, SLM,, wherein an output light beam generated by said periodically modulated light source is reflected by said SLM prior to transmittance by said lidar transmitter, and wherein within a first field of view, FoV, corresponding to said lidar transmitter and within a single pulse of said periodically modulated light source said SLM generates a plurality of illumination zones of differing light intensity; a lidar receiver comprising a sensor, wherein light reflected by objects within a second FoV corresponding to said lidar receiver is captured by said sensor; and a lidar processing system coupled to said lidar transmitter and to said lidar receiver, said lidar processing system configured to adapt said SLM to achieve a predetermined zone size and a predetermined light intensity for each illumination zone of said plurality of illumination zones generated by said SLM, and said lidar processing system configured to perform time of flight, ToF, measurements on data acquired by said sensor; wherein said lidar processing system is configured to generate a computer-generated hologram, CGH, and to apply said CGH to said SLM using an active matrix backplane, characterized in that said sensor comprises a two-dimensional sensor array; said plurality of illumination zones extending from a first illumination zone closest to said vehicle to a last illumination zone closest to a FoV horizon, wherein said lidar processing system is configured to increase said predetermined light intensity per illumination zone from said first illumination zone to said last illumination zone; and wherein an intensity per solid angle corresponding to each illumination zone of said plurality of illumination zones increases with distance, and wherein an angular range corresponding to each illumination zone of said plurality of illumination zones decreases with said distance. a lidar transmitter comprising a periodically modulated light source and a spatial light modulator, SLM,, wherein an output light beam generated by said periodically modulated light source is reflected by said SLM prior to transmittance by said lidar transmitter, and wherein within a first field of view, FoV, corresponding to said lidar transmitter and within a single pulse of said periodically modulated light source said SLM generates a plurality of illumination zones of differing light intensity; a lidar receiver comprising a sensor, wherein light reflected by objects within a second FoV corresponding to said lidar receiver is captured by said sensor; and a lidar processing system coupled to said lidar transmitter and to said lidar receiver, said lidar processing system configured to adapt said SLM to achieve a predetermined zone size and a predetermined light intensity for each illumination zone of said plurality of illumination zones generated by said SLM, and said lidar processing system configured to perform time of flight, ToF, measurements on data acquired by said sensor; wherein said lidar processing system is configured to generate a computer-generated hologram, CGH, and to apply said CGH to said SLM using an active matrix backplane, characterized in that said sensor comprises a two-dimensional sensor array; said plurality of illumination zones extending from a first illumination zone closest to said vehicle to a last illumination zone closest to a FoV horizon, wherein said lidar processing system is configured to increase said predetermined light intensity per illumination zone from said first illumination zone to said last illumination zone; and wherein an intensity per solid angle corresponding to each illumination zone of said plurality of illumination zones increases with distance, and wherein an angular range corresponding to each illumination zone of said plurality of illumination zones decreases with said distance.