Object detection apparatus and driving assistance apparatus

An object detection apparatus that detects a target object from a predetermined mounting position, comprising:

• a stereo camera configured to perform an object detection from the predetermined mounting position, and in a case where a target object is detected, acquires a first position of the target object at a first time and a second position of the target object at a second time;
• an electronic control unit configured to:
• estimate a third position of the target object at a third time based on a movement vector from the first position to the second position;
• acquire a feature amount on a mad surface between the second and third positions of the target object;
• set a reference point on the road surface based on the feature amount on the road surface acquired by the electronic control unit;
• and
• calculate movement information of the target object from the second position of the target object acquired by the stereo camera with the reference point set by the electronic control unit as a reference, in a case where the target object is detected by the stereo camera,
• wherein the electronic control unit sets the reference point from the position surrounding a distance direction from adding 1 to 2 times a movement amount a movement amount in the distance direction of the target object detected by the stereo camera to the predetermined mounting position in the distance direction side, from the position in the distance direction of the target object acquired by the stereo camera.