| 摘要 |
An object detecting device (1), wherein a reflection point estimator (S15) estimates a reflection point (4) on an object for a reflected wave using the history of the detection distance of an object and the history of the sensor position. A reflection point corrector (S19 to S22) corrects a low-precision reflection point (41) to a normal reflection point (42) near a corner of the object or a location corresponding to the direction in which the reflected wave arrives in a normal reflection point when an acute historical shape (40) is contained within an historical shape of the reflection point in the vicinity of a corner of the object. |
