Mud dirt judgment method for laser radar device, mud dirt judgment device, mud dirt judgment program

摘要

PROBLEM TO BE SOLVED: To provide a mud dirt determination method, device, and program for laser radar devices, which allow for determining whether an object attached to a window of a laser radar device is natural mud dirt or not.SOLUTION: A mud dirt determination method includes performing; an appearance determination process (S2) for determining detection of an abrupt object, or an object that abruptly appears, in a preset proximity area R2 surrounding a laser radar device 2; and, when a predetermined determination time has elapsed from the time the abrupt object was determined to be detected (S9:YES) and if the abrupt object is no longer detected (S9:YES) and a new object is detected at a position of a window 26 (S10:YES), a determination process for determining (S11) that the object detected at the position of the window 26 is mud dirt.SELECTED DRAWING: Figure 4