A vehicle, Lidar system and method of detecting an object is disclosed. The Lidar system includes a photonic chip having a laser, an on-chip frequency shifter, a combiner and a first set of photodetectors. The laser generates a transmitted light beam and an associated local oscillator beam within the photonic chip. The on-chip frequency shifter shifts a frequency of the local oscillator beam. The combiner combines a reflected light beam with the frequency-shifted local oscillator beam, wherein the reflected light beam is a reflection of the transmitted light beam from the object to generate a first electronic signal at the first set of photodetectors. A processor obtains a first measurement of a parameter of the object from the first electronic signal. The vehicle includes a navigation system for navigating the vehicle with respect to the object using at least the first measurement of the parameter.