A threshold level is set in advance that has varied signal level values of reflected waves for which an object detection signal is to be generated, where the values vary in response to a distance to the object. In regard to discriminating a phase difference of respective waves reflected from an object and the signal level of the waves reflected from that object, and obtaining two distances to an object due to fold-over error when using only the phase difference, the present invention uses the signal level of the reflected waves to judge which distance is the correct distance.