Abstract: A lidar apparatus includes a foreign matter detector detecting foreign matter hindering laser light and reflected light from passing through the light transmission window, based on at least one of the measurement success or failure result and the signal-to-noise ratio; a precipitation determiner determining whether precipitation, included in the foreign matter, exists on the external surface of the light transmission window based on a time elapsed since the latest wiper operation, when the foreign matter detector detects the foreign matter, and that the precipitation does not exist, when the foreign matter detector does not detect the foreign matter. When the precipitation determiner determines that precipitation exists, the wiper operation controller causes the wiper to operate and the washer fluid supplier not to operate.

Abstract: A lidar apparatus includes a foreign matter detector detecting foreign matter hindering laser light and reflected light from passing through the light transmission window, based on at least one of the measurement success or failure result and the signal-to-noise ratio; a precipitation determiner determining whether precipitation, included in the foreign matter, exists on the external surface of the light transmission window based on a time elapsed since the latest wiper operation, when the foreign matter detector detects the foreign matter, and that the precipitation does not exist, when the foreign matter detector does not detect the foreign matter. When the precipitation determiner determines that precipitation exists, the wiper operation controller causes the wiper to operate and the washer fluid supplier not to operate.

Abstract: A doppler radar device having comparing means 142 for comparing the level of pulse signal to be transmitted, sampled through a burst gate, with a predetermined threshold value and search means 143 for changing a set position of the gate, wherein a timing of oscillating the pulse signal is monitored and tracked to fix “range 0” by shifting a timing for triggering transmission of the pulse signal in consideration of a deviation of the timing of oscillating the pulse signal and a jitter value.

Abstract: A doppler radar device having comparing means 142 for comparing the level of pulse signal to be transmitted, sampled through a burst gate, with a predetermined threshold value and search means 143 for changing a set position of the gate, wherein a timing of oscillating the pulse signal is monitored and tracked to fix “range 0” by shifting a timing for triggering transmission of the pulse signal in consideration of a deviation of the timing of oscillating the pulse signal and a jitter value.