Object detection apparatus and object detection program

An object detection apparatus that detects an object in a detection area based on reflected waves of irradiated electromagnetic waves, the object detection apparatus comprising:

• a memory;
• and
• a processor programmed to:
• measure a plurality of distances to a detected object at a corresponding one of a plurality of irradiation angles, based on the reflected waves of the electromagnetic waves irradiated at the corresponding one of the plurality of irradiation angles;
• determine whether the plurality of measured distances remain unchanged for a prescribed period of time, for the corresponding one of the plurality of irradiation angles;
• store, in the memory, the plurality of distances determined to have remained unchanged as a plurality of stationary object distances in association with the corresponding one of the plurality of irradiation angles;
• compare a plurality of measured current distance and the plurality of stationary object distances stored in the memory for the corresponding one of the plurality of irradiation angles;
• determine whether at least one of the plurality of stationary object distances matching at least one of the plurality of current distances is present among the plurality of stationary object distances stored in the memory;
• and
• delete, from the memory, at least one of the plurality of stationary object distances that is shorter than at least one of the plurality of distances determined to have remained unchanged, among the plurality of stationary object distances stored in the memory that are associated with the corresponding one of the plurality of irradiation angles,
• wherein the object detection apparatus is provided at a fixed position.

An object detection apparatus that detects an object in a detection area based on reflected waves of irradiated electromagnetic waves, the object detection apparatus comprising:

• a memory;
• and
• a processor programmed to:
• measure a plurality of distances to a detected object at a corresponding one of a plurality of irradiation angles, based on the reflected waves of the electromagnetic waves irradiated at the corresponding one of the plurality of irradiation angles;
• determine whether the plurality of measured distances remain unchanged for a prescribed period of time, for the corresponding one of the plurality of irradiation angles;
• store, in the memory, the plurality of distances determined to have remained unchanged as a plurality of stationary object distances in association with the corresponding one of the plurality of irradiation angles;
• compare a plurality of current measured distances and the plurality of stationary object distances stored in the memory for the corresponding one of the plurality of irradiation angles;
• determine whether at least one of the plurality of stationary object distances matching the at least one of the plurality of current distances is present among the plurality of stationary object distances stored in the memory;
• and
• delete, from the memory, at least one of the plurality of stationary object distances that is shorter than at least one of the plurality of current measured distances, among the plurality of stationary object distances stored in the memory that are associated with the corresponding one of the plurality of irradiation angles,
• wherein the object detection apparatus is provided at a fixed position.

A non-transitory computer-readable storage medium storing an object detection program for an object detection apparatus that detects an object in a detection area based on reflected waves of irradiated electromagnetic waves, the object detection program causing a computer to perform:

• a distance measuring process to measure a plurality of distances to a detected object at a corresponding one of a plurality of irradiation angles, based on the reflected waves of the irradiated electromagnetic waves at the corresponding one of the plurality of irradiation angles;
• a stationary-state determining process to determine whether the plurality of measured distances remain unchanged for a prescribed period of time, for the corresponding one of the plurality of irradiation angles;
• a storing process to store, in a memory provided in the computer, the plurality of distances determined to have remained unchanged by the stationary-state determining process as a plurality of stationary object distances in association with the corresponding one of the plurality of irradiation angles;
• and
• a comparison determining process to compare a plurality of measured current distances and the plurality of stationary object distances stored in the memory for the corresponding one of the plurality of irradiation angles, and to determine whether at least one of the plurality of stationary object distances matching the at least one of the plurality of current distances is present among the stationary object distances stored in the memory,
• wherein the comparison determining process initially compares a shortest stationary object distance among the plurality of stationary object distances stored in the memory with the current distance, for the corresponding one of the plurality of irradiation angles, and upon determining that at least one of the plurality of stationary object distances matching at least one of the plurality of current distances is present, stops a comparison between the plurality of current distances and the plurality of stationary object distances that have not yet been compared with the plurality of current measured distances among the plurality of stationary object distances stored in the memory, and
• the object detection apparatus is provided at a fixed position.