DEVICE FOR DETECTING ADHERED SUBSTANCE, MOBILE APPARATUS CONTROL SYSTEM, PROGRAM FOR DETECTING ADHERED SUBSTANCE, AND METHOD FOR DETECTING ADHERED SUBSTANCE

摘要

PROBLEM TO BE SOLVED: To suppress a situation that causes trouble in latter processing in which a detection result of an adhered substance is used.SOLUTION: A device for detecting an adhered substance comprises adhered substance detection processing means that executes adhered substance detection processing (S26 to S27) for detecting an adhered substance (rain drop) adhered to a light transmissive member on the basis of the light reception amount received by light receiving means via the light transmissive member in an irradiation period during which a light source radiates light source light, and that outputs a detection result of the adhered substance detection processing. The adhered substance detection processing means determines (S24), in accordance with the light reception amount (total sum of pixel values during lights-out) received by the light receiving means in a non-irradiation period (sensing frame A3) during which the light source does not radiate the light source light, whether or not adhered substance detection processing is executed that corresponds to a scheduled irradiation period (frame R4 for detecting rain drops) during which the light source is scheduled to radiate the light source light after the non-irradiation period.SELECTED DRAWING: Figure 26