Adhering matter detecting device, moving body device control system

An adhering matter detecting device includes a radiating unit for radiating light onto a predetermined area of an object to which adhering matter adheres; an imaging unit configured for receiving, by a plurality of pixels, reflected light from the adhering matter of the light radiated from the radiating unit, converting the received reflected light into image data, and outputting the image data; and a calculating unit for processing the image data obtained from the imaging unit, and calculating adhering amount information of the adhering matter. The calculating unit divides an image area used for detecting the adhering matter into a plurality of reference areas, calculates adhering-matter-by-area information indicating an amount of the adhering matter in each of the plurality of reference areas, compares the adhering-matter-by-area information with a predetermined threshold, and calculates the adhering amount information by adding together the adhering-matter-by-area information using a result of the comparison.