Object detection device and recording medium

A non-transitory computer-readable recording medium storing a program causing a computer to:

• receive, from a radar device that transmits a transmission wave and receives a reflected wave that is the transmission wave reflected by an object around a subject vehicle, detection result information indicative of an intensity, an azimuth, and a Doppler velocity of the reflected wave, the Doppler velocity being a velocity obtained from a Doppler frequency shift of the reflected wave, and determine whether the detection result information is first detection result information corresponding to a moving object or second detection result information corresponding to a still object;
• calculate distances from the radar device to respective reflection points of the moving object based on the first detection result information;
• and
• supply, to a predetermined device, reflection point information indicative of the distances of the respective reflection points of the moving object and azimuths of the respective reflection points of the moving object based on the radar device;
• determine that the first reflection point information is to be supplied to the predetermined device in a case where it was determined that the moving object is closer to the radar device than the still object based on second reflection point information indicative of the distances of the respective reflection points of the still object and azimuths of the respective reflection points of the still object viewed from the radar device and the first reflection point information;
• determine whether a density of the reflection points of the still object per unit azimuth is equal to or higher than a predetermined threshold value based on the second reflection point information;
• calculate distances from the radar device to respective reflection points of the still object based on the second detection result information;
• and
• supply the second reflection point information for determining whether the moving object is closer to the radar device than the still object in a case where the density of the reflection points is equal to or higher than the threshold value, and not supply the second reflection point information for determining whether the moving object is closer to the radar device than the still object in a case where the density of the reflection points is equal to or higher than the threshold value in a case where the density of the reflection points is less than the threshold value.