Object detection apparatus

An object detection apparatus applied to a vehicle having a sensor unit mounted on a predetermined member provided to the vehicle, the sensor unit being provided with an object detection sensor that detects position information of an object present around the vehicle and a tilt sensor that detects a tilt angle as inclination with respect to a predetermined direction, the object detection apparatus comprising:

• a controller configured to:
• determine a detachment state of the predetermined member based on the tilt angle detected by the tilt sensor,
• perform a process of detecting the object based on the position information of the object detected by the object detection sensor in accordance with the determined detachment state of the predetermined member,
• calculate a distance from the vehicle to the object based on the position information of the object and a position of the vehicle,
• determine whether the distance from the vehicle to the object is within a predetermined distance, and
• in response to determining that the distance from the vehicle to the object is within the predetermined distance, transmit a control signal to at least one of a warning device and a braking device.