Abstract: In a target object detection apparatus, an LD module projects laser light onto a predetermined range, and a PD module receives the reflected light from a target object, and outputs a light reception signal. Based on the light reception signal, an object detector detects presence or absence of the target object and a distance from the target object detection apparatus to the target object, and a dirt detector detects presence or absence of dirt on an optical window. The dirt detector detects, based on the light reception signal, dirt levels in units of segments in a detection field-of-view of the target object detection apparatus, and also detects a density and an extent of the dirt, based on the dirt levels. A controller causes an interface to notify a vehicle-side ECU of the result of detection as to the dirt.

Abstract: A target detecting device scans a predetermined range with light emitted from a light emitter, guides the reflected light from a target to a light receiver, and detects the target and dirt on an optical window provided on a case according to the light reception state of the light receiver. Operation patterns of the light emitter and the light receiver differ between target detection and dirt detection, and target detection and dirt detection are separately performed. For example, in a predetermined range scanned with light by a target detecting device, the target detecting device detects dirt on the optical window in a region overlapping with a target detection region of adjacent target detecting device, and detects a target in the other regions.