The article presents methods of long range distance measurements using pulsed lasers and the Time of Flight principle. Various algorithms of laser distance measurements with digital acquisition of echo pulses (acquisition of a signal's full waveform) are presented. The main focus of work is concentrated on the method of distance measurements developed by the authors. With this method, during laboratory trials, a total measurement error of one centimeter was achieved using a 905 nm pulsed laser diode and pulse width of 39 ns. The maximum range of measurements with such high precision is limited only by a signal to noise ratio, duration of measurements and atmospheric conditions. All algorithms were implemented in a laser rangefinder module developed by the authors. Simulations and laboratory experiments were conducted and algorithm's accuracy and precision were tested for various SNR conditions and changing distances. The article presents methods of long range distance measurements using pulsed lasers and the Time of Flight principle. Various algorithms of laser distance measurements with digital acquisition of echo pulses (acquisition of a signal’s full waveform) are presented. The main focus of work is concentrated on the method of distance measurements developed by the authors. With this method, during laboratory trials, a total measurement error of one centimeter was achieved using a 905 nm pulsed laser diode and pulse width of 39 ns. The maximum range of measurements with such high precision is limited only by a signal to noise ratio, duration of measurements and atmospheric conditions. As a result of those requirements, we have decided to develop a measuring device that uses pulsed laser as a radiation source and performs acquisition of the full waveform of returning echo signals. Because laser measurements of vehicle speed are based on measurements of its displacement in a given time, the simplest way to do them is to measure distance to the target twice (or usually many more times) in a set time interval. Precision and accuracy of such measurement of speed strongly depend on the precision and accuracy of measurements of each distance. All three parameters depend on the chosen measurement method, among which exist methods based on measurements of the phase shift between transmitted and received FMCW signals (Indirect ToF) [ 3 , 4 ] and, whenever longer ranges are needed, methods based on measurements of the probing light pulse roundtrip Time of Flight to the target (Direct ToF) [ 5 , 6 , 7 ]. In the presented work, the pulsed Time of Flight method was chosen to allow long range measurements. In order to be able to safely use the designed device on public roads, we had to comply with eye safety regulations defined in adequate standards [ 8 ]. This introduces extra noise in the signal and - without additional countermeasures - affects precision of a rangefinder with full waveform acquisition of signals (also called “full waveform LiDAR”). In the presented work we were using an ADC converter that was chosen optimally in terms of its cost, design simplicity and its sampling rate and was suitable for use in handheld laser speed guns. Because of the discretization error introduced by the chosen ADC, which was greater than the allowable total measurement error, we had to recreate signal’s continuity in both domain and codomain to precisely measure ToF. Methods of Generation of the START and STOP Signals for Digital Counters in Laser ToF Measurements As mentioned earlier, correct measurement of distance, by means of measuring the Time of Flight of light pulses, require precise generation of START and STOP signals that are used to control timers. The timing point (moment) when generation of START and STOP signals should occur is a result of observation of different characteristic points on the waveform of received signals [ 6 ]. Heaving the value of a peak sample of the signal opens the possibility to implement Adaptive Threshold method by simply setting the detection threshold to its chosen fraction. Obtaining precise time measurements with described methods requires either high-frequency sampling or generation of very short probing pulses, which in both cases increases the complexity of It should be noted that actual light pulses generated and processed in laser rangefinders are most often characterized by a lack of symmetry between the rise and fall times of signal’s slopes and the rising slope is usually steeper than the falling one. Still, symmetrical approximation simplifies the analysis and is used in the simulations presented in this article. The presented methods of distance measurements have been implemented and simulated in the MATLAB environment. In order to conduct comparative tests, a waveform imitating the echo signal of a laser pulse was generated. Experiments have shown that for signals with high SNR, it is possible to measure the distance with total uncertainty of 1 cm with relatively wide laser pulses (FWHM = 39 ns). All that is thanks to the method of processing of the recorded signals developed by the authors (SDPA-M). The less computation time consuming method SDPA-S also provides superior accuracy over standard detection methods, and is suitable for applications in accurate laser rangefinders and speed guns. The price for high accuracy and precision of presented approximation algorithms is computation time. The expected increase in measurement accuracy for higher SNR was not confirmed in the tests. The probable reason for this was the asymmetry (the rising edge is faster than the falling one) of the real received signal pulse that for certain noise levels causes falling edge samples to be more vulnerable to fluctuations when threshold selection of the signal samples is performed. 6. Conclusions The article presents methods of distance measurements using laser rangefinders with digital acquisition of echo signals and the pulsed Time of Flight principle.