Laser Radar Device And Object Detection Method

The present invention discloses a laser radar device and an object detection method. The laser radar device includes: a projection part repeatedly performing processing of projecting measurement light that is of a pulsed laser beam to a predetermined monitoring area in a measurement period having a predetermined first length, the processing being repeated in c cycles (c>=2) in a detection period having a predetermined second length; a light receiver including n1 (n1>=2) light receiving elements and receiving reflected light of the measurement light in directions different from one another; a selector selecting light receiving signals of the n1 light receiving elements in each measurement period and output n2 (n2>=2) light receiving signals; a sampling part sampling the light receiving signals output from the selector s (s>=2) times every time the measurement light is projected; and a detector performing processing of detecting an object in a detection-period-based period based on sampling values.