Patent ID: 7825849

Claim:
An object detection apparatus comprising a radar that detects position information of an object detected by the radar; an imaging device that detects position information and size information of an object detected by the imaging device; and a fusion processing device that fuses the object detected by the radar and the object detected by the imaging device when the detection results of the radar and the imaging device satisfy a prescribed fusion condition to generate a fusion object having position information and size information and that provisionally fuses the object detected by the radar and the object detected by the imaging device when the detection results of the radar and the imaging device do not satisfy the prescribed fusion condition to generate a provisional fusion object having position information and size information, wherein the fusion processing device includes an updating device that updates size information of a previously acquired fusion object or size information of a previously acquired provisional fusion object to an updated size information, which is a value smaller than a value of the size information of the previously acquired fusion object or the size information of the previously acquired provisional fusion object, the updated size information being predicted based on the size information of the previously acquired fusion or the size information of the previously acquired provisional fusion object when the detection result from the imaging device does not satisfy the prescribed fusion condition with respect to the detection result from the radar.