Readout device for determining a signal propagation time of a light pulse between a lidar transmitting unit and a lidar receiving unit of a lidar measuring device in a focal plane array arrangement, with: an input interface for receiving detections of several sensor elements (36a-36j) of the lidar receiving unit, which are arranged in a macrocell assigned to a transmitting element of the lidar transmitting unit; a weighting unit for determining an individual weighting parameter for each of the several sensor elements, wherein the weighting parameter depends on a signal-to-noise ratio of the sensor element; a summation unit for generating a histogram with an assignment of the detections to detection times of the detections, wherein the summation unit is formed for weighting the detections based on the individual weighting parameters; a propagation time unit for determining the signal propagation time based on the generated histogram; and an output unit for outputting the signal propagation time, characterized in that the weighting unit is formed for determining the individual weighting parameters based on a calibration measurement of a spot position on the macrocell and sensor elements (36a-36j) are given a lower weighting with increasing distance from a center point of the spot position; and/or in that the weighting unit is formed for determining the individual weighting parameters based on a sequential individual calibration readout of the sensor elements (36a-36j) with a constant signal propagation time and sensor elements (36a-36j) with a higher number of detections are given a higher weighting in the calibration readout; and/or in that the weighting unit is formed for determining the individual weighting parameters based on an individual noise parameter of the respective sensor element and the individual noise parameter describes a signal noise of the respective sensor element; and/or in that the weighting unit is formed for determining individual weighting parameters with integer weighting factors; and the summation unit is formed for generating the histogram based on a multiple count of detections corresponding to the integer weighting factors; and/or in that the weighting unit is formed for generating a respective partial histogram for each sensor element; and the weighting unit is formed for determining the individual weighting parameters based on an evaluation of the partial histograms; and the summation unit is formed for generating the histogram based on a summation of the partial histograms weighted with the individual weighting parameters. an input interface for receiving detections of several sensor elements (36a-36j) of the lidar receiving unit, which are arranged in a macrocell assigned to a transmitting element of the lidar transmitting unit; a weighting unit for determining an individual weighting parameter for each of the several sensor elements, wherein the weighting parameter depends on a signal-to-noise ratio of the sensor element; a summation unit for generating a histogram with an assignment of the detections to detection times of the detections, wherein the summation unit is formed for weighting the detections based on the individual weighting parameters; a propagation time unit for determining the signal propagation time based on the generated histogram; and an output unit for outputting the signal propagation time, characterized in that the weighting unit is formed for determining the individual weighting parameters based on a calibration measurement of a spot position on the macrocell and sensor elements (36a-36j) are given a lower weighting with increasing distance from a center point of the spot position; and/or in that the weighting unit is formed for determining the individual weighting parameters based on a sequential individual calibration readout of the sensor elements (36a-36j) with a constant signal propagation time and sensor elements (36a-36j) with a higher number of detections are given a higher weighting in the calibration readout; and/or in that the weighting unit is formed for determining the individual weighting parameters based on an individual noise parameter of the respective sensor element and the individual noise parameter describes a signal noise of the respective sensor element; and/or in that the weighting unit is formed for determining individual weighting parameters with integer weighting factors; and the summation unit is formed for generating the histogram based on a multiple count of detections corresponding to the integer weighting factors; and/or in that the weighting unit is formed for generating a respective partial histogram for each sensor element; and the weighting unit is formed for determining the individual weighting parameters based on an evaluation of the partial histograms; and the summation unit is formed for generating the histogram based on a summation of the partial histograms weighted with the individual weighting parameters.