| 摘要 |
<p>PROBLEM TO BE SOLVED: To provide an object detection device configured to prevent false grouping such as false determination of a reflection point group formed across a plurality of objects as one object, when an object ahead of a vehicle is detected by a millimeter-wave radar.SOLUTION: A plurality of reflection points selected from among reflection points detected by a millimeter-wave radar are grouped as one object located ahead of a vehicle. A right-end recognition point and a left-end recognition point are extracted. On the basis of the right-end recognition point and the left-end recognition point, a representative recognition point of the object is calculated and stored. On the basis of the stored representative recognition point, the right-end recognition point, and the left-end recognition point, the amount of change of each of the recognition points is calculated. When the amount of change of the representative recognition point is equal to or larger than a first threshold, the amount of change of the right-end recognition point is equal to or smaller than a second threshold, and the amount of change of the left-end recognition point is equal to or smaller than a third threshold, an estimated width of the object is calculated and updated (stored), on the basis of the stored right-end and left-end recognition points. On the basis of the stored estimated width, grouping is corrected.</p> |
