Patent ID: 8854458

Claim:
An object detection device, comprising: an imaging unit that is mounted on a movable body; an object detection unit that calculates an image displacement of a partial image between two images captured by the imaging unit at different times, and performs detection processing to detect an object from an image based on at least the image displacement; a turning state detection unit that detects a turning state of the movable body; and an electronic control unit (ECU) configured to change a manner of performing the detection processing based on a position in the image in a lateral direction of the movable body, wherein the object detection unit performs first detection processing to detect the object based on a shape of the object, and second detection processing to detect the object based on the image displacement; the ECU is configured to switch between the first detection processing and the second detection processing based on the position in the image in the lateral direction; the ECU is configured to determine whether a positional deviation between the position in the image in the lateral direction and a center position of the image in the lateral direction is less than a first threshold; the ECU is configured to perform the first detection processing in a first detection region in which the positional deviation is less than the first threshold, and performs the second detection processing in a second detection region in which the positional deviation is equal to or greater than the first threshold; the ECU is configured to correct at least one of the first detection processing region and the second detection processing region based on the turning state; and when the movable body is turning, the ECU is configured to set a region centered around a position in which the center position of the image is moved in the lateral direction as the first detection processing region and set the remaining region as the second detection processing region.