To improve the position detection accuracy of an object existing in a specific range.
In an object detection range including a front region of a vehicle where the detecting object exists in a relatively long distance and a side region of the vehicle where the detecting object exists in a relatively short distance, a laser beam of a slit with the longitudinal direction substantially matching the vertical direction is scanned, the laser beam reflected by the object is received by a photo detector where the pitch of the arrangement of light receiving elements 24 in the direction orthogonal to the laser beam moving direction in the light receiving range of the laser beam from the front region of the light receiving surface 20A, is set smaller than that of the light receiving elements 24 in the direction orthogonal to the laser beam moving direction in the light receiving range of the laser beam from the side region, and the vertical direction position of the object having reflected the laser beam. Thus, the detection accuracy of the vertical direction position of the object positioned in the relatively long distance and existing in the front region is improved.
ITO HIROSHI
MAEDA MITSUTOSHI
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Kato Kazunori