Patent ID: 9575179
Date: 2017-02-21
CPC Classifications: G01S

Claim:
1. An object detection apparatus which is installed in a movable body and detects an object present around the movable body, the apparatus comprising: a first detection section, using a processor, transmitting search waves in a moving direction of the movable body, and receives reflected waves of the search waves as detection information of the object, to detect the object; a second detection section, using a processor, transmitting search waves in the moving direction of the movable body from a position different from that of the first detection section, and receives reflected waves of the search waves as detection information of the object, to detect the object; an obstacle determination section, using a processor, determining that an obstacle is blocking a path of the movable body in the moving direction, based on a detection result of the object of the first detection section and a detection result of the object of the second detection section; and a path blocking determination section, using a processor, determining that the obstacle is not entirely blocking the path of the movable body when, in a state where the obstacle determination section determines that the obstacle is present, both the first and second detection sections detect the object for a predetermined time period and thereafter one of the first and second detection sections do not detect the object.