Patent ID: 8717225

Claim:
An object detection device for a vehicle, comprising: a transmission and reception unit that transmits an electromagnetic wave, and receives a reflected wave which is generated when the electromagnetic wave is reflected by an object around a subject vehicle; a reflecting point computation unit that computes a position of a reflecting point of the electromagnetic wave on the object based on a signal from the transmission and reception unit; a distance computation unit that computes a distance from the subject vehicle to the object based on the position of the reflecting point computed by the reflecting point computation unit; an end point detection unit that detects at least one of an end point on the right side of the object and an end point on the left side of the object based on the position of the reflecting point computed by the reflecting point computation unit; a shielding determination unit that determines whether the end point of the object is shielded by another object when viewed from the subject vehicle based on the computation result of the distance computation unit and the detection result of the end point detection unit; and an end point movement speed computation unit that computes a lateral movement speed of the end point of the object determined as not being shielded by the shielding determination unit.