Radar device

An object detection device to be mounted in a vehicle, the object detection device comprising:

• a transmitter configured to transmit a transmission signal;
• a receiver configured to receive a plurality of reflection signals that are the transmission signal reflected by a plurality of objects;
• sidewall detection circuitry configured to determine whether or not the vehicle is running on a road having a sidewall based on a plurality of azimuth angles of the plurality of objects with respect to the vehicle, a plurality of reflection intensities of the plurality of reflection signals, and a plurality of Doppler velocities of the plurality of reflection signals;
• multiple reflection position detection circuitry configured to detect a plurality of multiple reflection components among the plurality of reflection signals based on the plurality of azimuth angles of the plurality of objects with respect to the vehicle, the plurality of reflection intensities of the plurality of reflection signals, and the plurality of Doppler velocities of the plurality of reflection signals, when the sidewall detection circuitry determines that the vehicle is running on the road having the sidewall, the plurality of multiple reflection components being reflection signals caused by a multiple reflection between the sidewall and the vehicle;
• detection exclusion range setting circuitry configured to remove the plurality of multiple reflection components from the plurality of reflection signals;
• and
• object detection circuitry configured to detect a target based on the plurality of reflection signals removed of the plurality of multiple reflection components, wherein
• the sidewall detection circuitry determines that the vehicle is running on the road having the sidewall in a case where:
• (i) a first reflection signal with a Doppler velocity of 0 is present in the plurality of reflection signals in a direction perpendicular to a direction of running of the vehicle as a first azimuth angle, and a reflection intensity of the first reflection signal is higher than a predetermined intensity, and
• (ii) a second reflection signal having a second azimuth angle, greater than the first azimuth angle, is present in the plurality of reflection signals, and a reflection intensity of the second reflection signal is lower than the reflection intensity of the first reflection signal.