To solve the problems of high cost and low echo signal utilization efficiency in recently proposed laser radar systems integrated with double optical receivers for measuring range and speed of road targets, a pulsed Doppler laser radar system based on Pseudo-random Noise (PN) code modulation was proposed. The possibility of measuring range and speed simultaneously by the system integrated with single optical receiver was studied. The performance of the proposed method was verified by computer simulation. Firstly, the system model of vehicle laser radar was demonstrated and the existing problem for measuring range and speed by the model was analyzed when it works in pulsed mode. Then, the schematic diagram method for range and speed measurement by analyzing electric signal output from single optical heterodyne receiver was discussed, i.e. the correlation function of the electric signal and local modulation codes was computed for obtaining light flight time, and then target range; the spectrum of the electric signal was computed by non-uniformly sampled signal spectrum analysis method for obtaining Doppler frequency, and then the target speed. Finally, the stability of the proposed method for range and speed measurement was verified by computer simulation. The experimental results show that the method achieves stable range and speed measurement in road environments. Compared to direct detection system, the sensitivity of measurement is improved over 10 dB, which has no relation to echo arrival time and amount of Doppler frequency.