A light detection and ranging, LiDAR, apparatus for an automobile, the apparatus comprising: a logic circuit having an output laser pulse group transmission trigger signal; a laser source, coupled to the logic circuit, having a laser output that transmits a plurality of laser pulses within a first time period in response to the output laser pulse group transmission trigger signal; a photodetector positioned to receive a plurality of reflected pulses corresponding to the plurality of laser pulses as reflected off an object; an amplifier (504, 505), coupled to the photodetector to amplify the reflected pulses; an analog to digital converter coupled to the amplifier to convert the reflected pulses into digital reflected pulses; further characterized by: a matched filter coupled to the analog to digital converter to use convolution to compare the digital reflected pulses with a replica of the transmitted plurality of laser pulses to improve a signal to noise ratio and producing a higher number of output peaks than the number of reflected pulses; a processor configured to determine the signal to noise ratio, SNR, for each of the output peaks; non-transitory, computer readable code, embedded on media accessible by the processor, to determine a range to the object from each of the output peaks; the non-transitory, computer readable code further being operable to weight the range to the object from each of the output peaks by a corresponding signal to noise ratio for each of the output peaks to provide a plurality of weighted ranges; and the non-transitory, computer readable code further being operable to combine the weighted ranges to provide a final determined range to the object. a logic circuit having an output laser pulse group transmission trigger signal; a laser source, coupled to the logic circuit, having a laser output that transmits a plurality of laser pulses within a first time period in response to the output laser pulse group transmission trigger signal; a photodetector positioned to receive a plurality of reflected pulses corresponding to the plurality of laser pulses as reflected off an object; an amplifier (504, 505), coupled to the photodetector to amplify the reflected pulses; an analog to digital converter coupled to the amplifier to convert the reflected pulses into digital reflected pulses; further characterized by: a matched filter coupled to the analog to digital converter to use convolution to compare the digital reflected pulses with a replica of the transmitted plurality of laser pulses to improve a signal to noise ratio and producing a higher number of output peaks than the number of reflected pulses; a processor configured to determine the signal to noise ratio, SNR, for each of the output peaks; non-transitory, computer readable code, embedded on media accessible by the processor, to determine a range to the object from each of the output peaks; the non-transitory, computer readable code further being operable to weight the range to the object from each of the output peaks by a corresponding signal to noise ratio for each of the output peaks to provide a plurality of weighted ranges; and the non-transitory, computer readable code further being operable to combine the weighted ranges to provide a final determined range to the object. a matched filter coupled to the analog to digital converter to use convolution to compare the digital reflected pulses with a replica of the transmitted plurality of laser pulses to improve a signal to noise ratio and producing a higher number of output peaks than the number of reflected pulses; a processor configured to determine the signal to noise ratio, SNR, for each of the output peaks; non-transitory, computer readable code, embedded on media accessible by the processor, to determine a range to the object from each of the output peaks; the non-transitory, computer readable code further being operable to weight the range to the object from each of the output peaks by a corresponding signal to noise ratio for each of the output peaks to provide a plurality of weighted ranges; and the non-transitory, computer readable code further being operable to combine the weighted ranges to provide a final determined range to the object.