In a vehicle radar device, a predetermined number of received light
signals output based on a predetermined number of laser beams radiated
from a radar sensor are integrated by an integrator to produce an
integrated signal. Integration of the predetermined number of received
light signals helps amplify the received light signal components
corresponding to the waves reflected by reflecting objects, making it
possible to improve the sensitivity for detecting the waves reflected by
the reflecting object. There are set a plurality of ranges of the
received light signals to be integrated, each being shifted by one
received light signal. This minimizes a drop in the angular resolution
based on the integrated signals.