An object detection device comprising: a detector configured to detect light reflected from an object and output an electrical signal in an analog domain corresponding to the light, as a received signal; a converter configured to perform analog-to-digital conversion on the received signal; a splitter provided between the detector and the converter, and configured to split the received signal into a plurality of sub received signals; a plurality of signal lines provided between the splitter and the converter, the plurality of signal lines comprising: a non-delay line configured to send a first sub received signal from among the plurality of sub received signals to the converter; and one or more time-delay lines (226, 228) configured to time-delay sub received signals other than the first sub received signal, from among the plurality of sub received signals, and send the time-delayed sub received signals to the converter; and a processor configured to determine a distance to the object based on a signal output from the converter, wherein the converter is further configured to convert the first sub received signal into a digital signal and convert the time-delayed sub received signals into one or more time-delayed digital signals, wherein a time delay of the time-delayed sub received signals is less than a sampling period of the converter, characterized in that the processor is further configured to generate a plurality of cross-correlation signals between each of the digital signal and the one or more time-delayed digital signals and a transmission signal corresponding to the light, determine a plurality of maximum sampling points from each of the plurality of cross-correlation signals, and determine the distance to the object based on the plurality of maximum sampling points. a detector configured to detect light reflected from an object and output an electrical signal in an analog domain corresponding to the light, as a received signal; a converter configured to perform analog-to-digital conversion on the received signal; a splitter provided between the detector and the converter, and configured to split the received signal into a plurality of sub received signals; a plurality of signal lines provided between the splitter and the converter, the plurality of signal lines comprising: a non-delay line configured to send a first sub received signal from among the plurality of sub received signals to the converter; and one or more time-delay lines (226, 228) configured to time-delay sub received signals other than the first sub received signal, from among the plurality of sub received signals, and send the time-delayed sub received signals to the converter; and a non-delay line configured to send a first sub received signal from among the plurality of sub received signals to the converter; and one or more time-delay lines (226, 228) configured to time-delay sub received signals other than the first sub received signal, from among the plurality of sub received signals, and send the time-delayed sub received signals to the converter; and a processor configured to determine a distance to the object based on a signal output from the converter, wherein the converter is further configured to convert the first sub received signal into a digital signal and convert the time-delayed sub received signals into one or more time-delayed digital signals, wherein a time delay of the time-delayed sub received signals is less than a sampling period of the converter, characterized in that the processor is further configured to generate a plurality of cross-correlation signals between each of the digital signal and the one or more time-delayed digital signals and a transmission signal corresponding to the light, determine a plurality of maximum sampling points from each of the plurality of cross-correlation signals, and determine the distance to the object based on the plurality of maximum sampling points.