In view of the problems that upper limit of radiated peak power is low for continuous wave laser radar, which limits the maximum measurement range in the application of range and speed measurement, a waveform of modulated signal based on Golomb series was proposed, and the feasibility of simultaneously measuring target's range and speed in road environments by the method was studied. Firstly, the problem of low transmitted signal peak power that exists in continuous wave modulating method was analyzed by using a quasi-continuous, i.e., Pseudo random Noise (PN) code modulation as an example. Characteristics of Golomb series were discussed, and a modulation method based on Golomb series was proposed for raising the peak power of transmitted pulse. Then, a method for analyzing spectrum of Doppler signal modulated by Golomb series was discussed, as well as a data accumulation method for locating signal delay time, such that range and speed could be measured simultaneously. Finally, within the range of Doppler frequency that is generated by moving road targets in road environment, simulations were performed to verify the correctness of the proposed method. The experimental results show that Fast Fourier Transform (FFT) can be used for obtaining the frequency of Doppler signal even when the sampling frequency provided by the pulse series is much lower than the Nyquist frequency, thus largely increasing the peak power of single pulse under the condition that average transmission power keeps unchanged. Furthermore, data accumulation method can be used for locating laser pulse flight time by exploiting the non-equal interval property of Golomb series, ensuring both target range measurement and speed measurement from the same signal.