Object sensing apparatus and object sensing method

An object sensing apparatus applicable to a moving object including a plurality of ultrasonic sensors to transmit a probing wave and to receive a reflected wave of the probing wave, comprising:

• an object sensing unit to sense the moving object using a direct wave, being a reflected wave received by a sensor having transmitted the probing wave among the plurality of ultrasonic sensors, and an indirect wave, being a reflected wave received by a sensor different from the sensor having transmitted the probing wave among the plurality of ultrasonic sensors;
• and
• a temperature change detection unit to detect a predetermined temperature change state where a temperature change of a predetermined value or more has occurred or a possibility of the temperature change occurs in an ambient temperature of the moving object, wherein
• the object sensing unit performs, when the predetermined temperature change state is detected by the temperature change detection unit, sensing suppression control not to sense the moving object using the indirect wave or to make it difficult to sense the moving object using the indirect wave.