Method for detecting snow on laser radar device, snow detection device, and snow detection program

摘要

PROBLEM TO BE SOLVED: To provide a snow accretion detection method, device, and program for laser radar devices, which allow for detecting snow accretion on a window of a laser radar device.SOLUTION: A snow accretion detection method includes performing; a snowfall determination process (S1) of determining the presence of snowfall when a minute object smaller than a predetermined reference size is detected at multiple positions corresponding to different scanning angles and/or distances from a laser radar device 2; and a determination process (S1: YES, S2: YES, S3) of recognizing the detected objects as snow and determining the presence of snow accretion when the presence of snowfall is determined in the snowfall determination process and if a new object is detected at a position of a window.SELECTED DRAWING: Figure 3