A lidar system comprising: a transmitter that is configured to emit a frequency-modulated lidar signal, wherein the frequency-modulated lidar signal comprises a piecewise linear up-chirp, the piecewise linear up-chirp comprises: a first segment having a first slope; and a second segment that is immediately adjacent to the first segment in the piecewise linear up-chirp, the second segment having a second slope that is less than the first slope; and processing circuitry that is configured to: determine whether an object , that reflects the frequency-modulated lidar signal, is within a first range from the lidar system or a second range from the lidar system, wherein the second range is non-overlapping with the first range; and compute a distance between the lidar system and an object based upon the frequency-modulated lidar signal, the processing circuitry configured to compute the distance with a first resolution when the distance is within the first range, the processing circuitry configured to compute the distance with a second resolution when the distance is within the second range, wherein the first resolution is more granular than the second resolution, and wherein the second slope being less than the first slope results in the second resolution being less granular than the first resolution. a transmitter that is configured to emit a frequency-modulated lidar signal, wherein the frequency-modulated lidar signal comprises a piecewise linear up-chirp, the piecewise linear up-chirp comprises: a first segment having a first slope; and a second segment that is immediately adjacent to the first segment in the piecewise linear up-chirp, the second segment having a second slope that is less than the first slope; and a first segment having a first slope; and a second segment that is immediately adjacent to the first segment in the piecewise linear up-chirp, the second segment having a second slope that is less than the first slope; and processing circuitry that is configured to: determine whether an object , that reflects the frequency-modulated lidar signal, is within a first range from the lidar system or a second range from the lidar system, wherein the second range is non-overlapping with the first range; and compute a distance between the lidar system and an object based upon the frequency-modulated lidar signal, the processing circuitry configured to compute the distance with a first resolution when the distance is within the first range, the processing circuitry configured to compute the distance with a second resolution when the distance is within the second range, wherein the first resolution is more granular than the second resolution, and wherein the second slope being less than the first slope results in the second resolution being less granular than the first resolution. determine whether an object , that reflects the frequency-modulated lidar signal, is within a first range from the lidar system or a second range from the lidar system, wherein the second range is non-overlapping with the first range; and compute a distance between the lidar system and an object based upon the frequency-modulated lidar signal, the processing circuitry configured to compute the distance with a first resolution when the distance is within the first range, the processing circuitry configured to compute the distance with a second resolution when the distance is within the second range, wherein the first resolution is more granular than the second resolution, and wherein the second slope being less than the first slope results in the second resolution being less granular than the first resolution. <EOS>